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ardupilot/libraries/AP_HAL_Linux/SPIDriver.cpp

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#include <AP_Common/AP_Common.h>
#include <AP_HAL/AP_HAL.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
#include "SPIDriver.h"
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <unistd.h>
#include <stdio.h>
#include <stdint.h>
#include <errno.h>
#include <sys/ioctl.h>
#include <linux/spi/spidev.h>
#include "GPIO.h"
using namespace Linux;
extern const AP_HAL::HAL& hal;
#define MHZ (1000U*1000U)
#define KHZ (1000U)
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBOARD
SPIDeviceDriver SPIDeviceManager::_device[] = {
// different SPI tables per board subtype
SPIDeviceDriver("lsm9ds0_am", 1, 0, AP_HAL::SPIDevice_LSM9DS0_AM, SPI_MODE_3, 8, BBB_P9_17, 10*MHZ,10*MHZ),
SPIDeviceDriver("lsm9ds0_g", 1, 0, AP_HAL::SPIDevice_LSM9DS0_G, SPI_MODE_3, 8, BBB_P8_9, 10*MHZ,10*MHZ),
SPIDeviceDriver("ms5611", 2, 0, AP_HAL::SPIDevice_MS5611, SPI_MODE_3, 8, BBB_P9_42, 10*MHZ,10*MHZ),
SPIDeviceDriver("mpu6000", 2, 0, AP_HAL::SPIDevice_MPU6000, SPI_MODE_3, 8, BBB_P9_28, 500*1000, 20*MHZ),
/* MPU9250 is restricted to 1MHz for non-data and interrupt registers */
SPIDeviceDriver("mpu9250", 2, 0, AP_HAL::SPIDevice_MPU9250, SPI_MODE_3, 8, BBB_P9_23, 1*MHZ, 20*MHZ),
SPIDeviceDriver("dataflash", 2, 0, AP_HAL::SPIDevice_Dataflash, SPI_MODE_3, 8, BBB_P8_12, 6*MHZ, 6*MHZ),
};
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE
SPIDeviceDriver SPIDeviceManager::_device[] = {
SPIDeviceDriver("mpu6000", 0, 0, AP_HAL::SPIDevice_MPU6000, SPI_MODE_3, 8, SPI_CS_KERNEL, 1*MHZ, 15*MHZ)
};
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2
SPIDeviceDriver SPIDeviceManager::_device[] = {
/* MPU9250 is restricted to 1MHz for non-data and interrupt registers */
SPIDeviceDriver("mpu9250", 0, 1, AP_HAL::SPIDevice_MPU9250, SPI_MODE_0, 8, SPI_CS_KERNEL, 1*MHZ, 20*MHZ),
SPIDeviceDriver("ublox", 0, 0, AP_HAL::SPIDevice_Ublox, SPI_MODE_0, 8, SPI_CS_KERNEL, 5*MHZ, 5*MHZ),
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2
SPIDeviceDriver("lsm9ds1_m", 0, 2, AP_HAL::SPIDevice_LSM9DS1_M, SPI_MODE_0, 8, SPI_CS_KERNEL, 1*MHZ, 10*MHZ),
#endif
};
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI
SPIDeviceDriver SPIDeviceManager::_device[] = {
/* MPU9250 is restricted to 1MHz for non-data and interrupt registers */
SPIDeviceDriver("mpu9250", 0, 1, AP_HAL::SPIDevice_MPU9250, SPI_MODE_0, 8, SPI_CS_KERNEL, 1*MHZ, 20*MHZ),
SPIDeviceDriver("ms5611", 0, 0, AP_HAL::SPIDevice_MS5611, SPI_MODE_0, 8, SPI_CS_KERNEL, 1*KHZ, 10*MHZ),
};
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
SPIDeviceDriver SPIDeviceManager::_device[] = {
/* MPU9250 is restricted to 1MHz for non-data and interrupt registers */
SPIDeviceDriver("mpu9250", 2, 0, AP_HAL::SPIDevice_MPU9250, SPI_MODE_3, 8, SPI_CS_KERNEL, 1*MHZ, 20*MHZ),
SPIDeviceDriver("mpu9250ext", 1, 0, AP_HAL::SPIDevice_MPU9250, SPI_MODE_3, 8, SPI_CS_KERNEL, 1*MHZ, 20*MHZ),
SPIDeviceDriver("ms5611", 2, 1, AP_HAL::SPIDevice_MS5611, SPI_MODE_3, 8, SPI_CS_KERNEL, 10*MHZ,10*MHZ),
};
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT
SPIDeviceDriver SPIDeviceManager::_device[] = {
/* MPU9250 is restricted to 1MHz for non-data and interrupt registers */
SPIDeviceDriver("mpu6000", 0, 0, AP_HAL::SPIDevice_MPU6000, SPI_MODE_3, 8, RPI_GPIO_25, 1*MHZ, 20*MHZ),
SPIDeviceDriver("ms5611", 0, 0, AP_HAL::SPIDevice_MS5611, SPI_MODE_3, 8, RPI_GPIO_23, 10*MHZ, 10*MHZ),
SPIDeviceDriver("lsm9ds0_am", 0, 0, AP_HAL::SPIDevice_LSM9DS0_AM, SPI_MODE_3, 8, RPI_GPIO_22, 10*MHZ, 10*MHZ),
SPIDeviceDriver("lsm9ds0_g", 0, 0, AP_HAL::SPIDevice_LSM9DS0_G, SPI_MODE_3, 8, RPI_GPIO_12, 10*MHZ, 10*MHZ),
SPIDeviceDriver("dataflash", 0, 0, AP_HAL::SPIDevice_Dataflash, SPI_MODE_3, 8, RPI_GPIO_5, 6*MHZ, 6*MHZ),
SPIDeviceDriver("raspio", 0, 0, AP_HAL::SPIDevice_RASPIO, SPI_MODE_3, 8, RPI_GPIO_7, 10*MHZ, 10*MHZ),
};
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH
SPIDeviceDriver SPIDeviceManager::_device[] = {
SPIDeviceDriver("mpu9250", 0, 0, AP_HAL::SPIDevice_MPU9250, SPI_MODE_0, 8, RPI_GPIO_7, 1*MHZ, 20*MHZ),
SPIDeviceDriver("ublox", 0, 0, AP_HAL::SPIDevice_Ublox, SPI_MODE_0, 8, RPI_GPIO_8, 250*KHZ, 5*MHZ),
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
SPIDeviceDriver SPIDeviceManager::_device[] = {
SPIDeviceDriver("bebop", 1, 0, AP_HAL::SPIDevice_Bebop, SPI_MODE_0, 8, SPI_CS_KERNEL, 320*KHZ, 320*KHZ),
};
#else
// empty device table
SPIDeviceDriver SPIDeviceManager::_device[] = { };
#define LINUX_SPI_DEVICE_NUM_DEVICES 0
#endif
#ifndef LINUX_SPI_DEVICE_NUM_DEVICES
#define LINUX_SPI_DEVICE_NUM_DEVICES ARRAY_SIZE(SPIDeviceManager::_device)
#endif
const uint8_t SPIDeviceManager::_n_device_desc = LINUX_SPI_DEVICE_NUM_DEVICES;
SPIDeviceDriver::SPIDeviceDriver(const char *name, uint16_t bus, uint16_t subdev, enum AP_HAL::SPIDeviceType type, uint8_t mode, uint8_t bitsPerWord, int16_t cs_pin, uint32_t lowspeed, uint32_t highspeed):
_name(name),
_bus(bus),
_subdev(subdev),
_type(type),
_mode(mode),
_bitsPerWord(bitsPerWord),
_lowspeed(lowspeed),
_highspeed(highspeed),
_speed(highspeed),
_cs_pin(cs_pin),
_cs(NULL)
{
}
void SPIDeviceDriver::init()
{
// Init the CS
if(_cs_pin != SPI_CS_KERNEL) {
_cs = hal.gpio->channel(_cs_pin);
if (_cs == NULL) {
AP_HAL::panic("Unable to instantiate cs pin");
}
_cs->mode(HAL_GPIO_OUTPUT);
_cs->write(1); // do not hold the SPI bus initially
} else {
// FIXME Anything we need to do here for kernel-managed CS?
}
}
AP_HAL::Semaphore *SPIDeviceDriver::get_semaphore()
{
return _fake_dev->get_semaphore();
}
bool SPIDeviceDriver::transaction(const uint8_t *tx, uint8_t *rx, uint16_t len)
{
return SPIDeviceManager::transaction(*this, tx, rx, len);
}
void SPIDeviceDriver::set_bus_speed(enum bus_speed speed)
{
if (speed == SPI_SPEED_LOW) {
_speed = _lowspeed;
} else {
_speed = _highspeed;
}
}
void SPIDeviceDriver::cs_assert()
{
SPIDeviceManager::cs_assert(_type);
}
void SPIDeviceDriver::cs_release()
{
SPIDeviceManager::cs_release(_type);
}
uint8_t SPIDeviceDriver::transfer(uint8_t data)
{
uint8_t v = 0;
transaction(&data, &v, 1);
return v;
}
void SPIDeviceDriver::transfer(const uint8_t *data, uint16_t len)
{
transaction(data, NULL, len);
}
void SPIDeviceManager::init()
{
for (uint8_t i=0; i<LINUX_SPI_DEVICE_NUM_DEVICES; i++) {
_device[i]._fake_dev = SPIDeviceManager::from(hal.spi)->get_device(_device[i]);
if (!_device[i]._fake_dev) {
AP_HAL::panic("SPIDriver: couldn't use spidev%u.%u for %s",
_device[i]._bus, _device[i]._subdev, _device[i]._name);
}
_device[i].init();
}
}
void SPIDeviceManager::cs_assert(enum AP_HAL::SPIDeviceType type)
{
uint16_t bus = 0, i;
for (i=0; i<LINUX_SPI_DEVICE_NUM_DEVICES; i++) {
if (_device[i]._type == type) {
bus = _device[i]._bus;
break;
}
}
if (i == LINUX_SPI_DEVICE_NUM_DEVICES) {
AP_HAL::panic("Bad device type");
}
// Kernel-mode CS handling
if(_device[i]._cs_pin == SPI_CS_KERNEL)
return;
for (i=0; i<LINUX_SPI_DEVICE_NUM_DEVICES; i++) {
if (_device[i]._bus != bus) {
// not the same bus
continue;
}
if (_device[i]._type != type) {
if (_device[i]._cs->read() != 1) {
hal.console->printf("two CS enabled at once i=%u %u and %u\n",
(unsigned)i, (unsigned)type, (unsigned)_device[i]._type);
}
}
}
for (i=0; i<LINUX_SPI_DEVICE_NUM_DEVICES; i++) {
if (_device[i]._type == type) {
_device[i]._cs->write(0);
}
}
}
void SPIDeviceManager::cs_release(enum AP_HAL::SPIDeviceType type)
{
uint16_t bus = 0, i;
for (i=0; i<LINUX_SPI_DEVICE_NUM_DEVICES; i++) {
if (_device[i]._type == type) {
bus = _device[i]._bus;
break;
}
}
if (i == LINUX_SPI_DEVICE_NUM_DEVICES) {
AP_HAL::panic("Bad device type");
}
// Kernel-mode CS handling
if(_device[i]._cs_pin == SPI_CS_KERNEL)
return;
for (i=0; i<LINUX_SPI_DEVICE_NUM_DEVICES; i++) {
if (_device[i]._bus != bus) {
// not the same bus
continue;
}
_device[i]._cs->write(1);
}
}
bool SPIDeviceManager::transaction(SPIDeviceDriver &driver, const uint8_t *tx, uint8_t *rx, uint16_t len)
{
int r;
// we set the mode before we assert the CS line so that the bus is
// in the correct idle state before the chip is selected
int fd = driver._fake_dev->get_fd();
r = ioctl(fd, SPI_IOC_WR_MODE, &driver._mode);
if (r == -1) {
hal.console->printf("SPI: error on setting mode\n");
return false;
}
cs_assert(driver._type);
struct spi_ioc_transfer spi[1];
memset(spi, 0, sizeof(spi));
spi[0].tx_buf = (uint64_t)tx;
spi[0].rx_buf = (uint64_t)rx;
spi[0].len = len;
spi[0].delay_usecs = 0;
spi[0].speed_hz = driver._speed;
spi[0].bits_per_word = driver._bitsPerWord;
spi[0].cs_change = 0;
if (rx != NULL) {
// keep valgrind happy
memset(rx, 0, len);
}
r = ioctl(fd, SPI_IOC_MESSAGE(1), &spi);
cs_release(driver._type);
if (r == -1) {
hal.console->printf("SPI: error on doing transaction\n");
return false;
}
return true;
}
/*
return a SPIDeviceDriver for a particular device
*/
AP_HAL::SPIDeviceDriver *SPIDeviceManager::device(enum AP_HAL::SPIDeviceType dev, uint8_t index)
{
uint8_t count = 0;
for (uint8_t i=0; i<LINUX_SPI_DEVICE_NUM_DEVICES; i++) {
if (_device[i]._type == dev) {
if (count == index) {
return &_device[i];
} else {
count++;
}
}
}
return NULL;
}
#endif // CONFIG_HAL_BOARD
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