mirror of https://github.com/ArduPilot/ardupilot
125 lines
3.0 KiB
C++
125 lines
3.0 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#include <AP_HAL/AP_HAL.h>
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#if (CONFIG_HAL_BOARD == HAL_BOARD_APM1 || CONFIG_HAL_BOARD == HAL_BOARD_APM2)
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#include <avr/io.h>
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#include <AP_HAL/AP_HAL.h>
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#include "SPIDevices.h"
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#include "GPIO.h"
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#include "Semaphores.h"
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#include "utility/pins_arduino_mega.h"
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using namespace AP_HAL_AVR;
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#define SPI3_MOSI 14
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#define SPI3_MISO 15
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extern const AP_HAL::HAL& hal;
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AVRSemaphore AVRSPI3DeviceDriver::_semaphore;
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void AVRSPI3DeviceDriver::init() {
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/* the spi3 (USART3) sck pin PORTJ2 is not enumerated
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* by the arduino pin numbers, so we access it directly
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* with AVRDigitalSource. */
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AVRDigitalSource spi3_sck(_BV(2), PJ);
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spi3_sck.mode(HAL_GPIO_OUTPUT);
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hal.gpio->pinMode(SPI3_MOSI, HAL_GPIO_OUTPUT);
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hal.gpio->pinMode(SPI3_MISO, HAL_GPIO_INPUT);
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/* UMSELn1 and UMSELn2: USART in SPI Master mode */
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UCSR3C = _BV(UMSEL31) | _BV(UMSEL30);
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/* Enable RX and TX. */
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UCSR3B = _BV(RXEN3) | _BV(TXEN3);
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/* Setup chip select pin */
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_cs_pin->mode(HAL_GPIO_OUTPUT);
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_cs_pin->write(1);
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}
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AP_HAL::Semaphore* AVRSPI3DeviceDriver::get_semaphore() {
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return &_semaphore;
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}
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void AVRSPI3DeviceDriver::_cs_assert()
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{
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/* set the device UCSRnC configuration bits.
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* only sets data order, clock phase, and clock polarity bits (lowest
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* three bits) */
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const uint8_t new_ucsr3c = (UCSR3C & ~0x07) | (_ucsr3c & (0x07));
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UCSR3C = new_ucsr3c;
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/* set the device baud rate */
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UBRR3 = _ubrr3;
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_cs_pin->write(0);
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}
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void AVRSPI3DeviceDriver::_cs_release() {
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_cs_pin->write(1);
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}
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uint8_t AVRSPI3DeviceDriver::_transfer(uint8_t data) {
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/* Wait for empty transmit buffer */
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while ( !( UCSR3A & _BV(UDRE3)) ) ;
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/* Put data into buffer, sends the data */
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UDR3 = data;
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/* Wait for data to be received */
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while ( !(UCSR3A & _BV(RXC3)) ) ;
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/* Get and return received data from buffer */
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return UDR3;
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}
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void AVRSPI3DeviceDriver::_transfer(const uint8_t *data, uint16_t len) {
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while (len--) {
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/* Wait for empty transmit buffer */
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while ( !( UCSR3A & _BV(UDRE3)) ) ;
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/* Put data into buffer, sends the data */
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UDR3 = *data++;
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/* Wait for data to be received */
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while ( !(UCSR3A & _BV(RXC3)) ) ;
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// dummy read of UDR3 to complete
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UDR3;
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}
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}
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bool AVRSPI3DeviceDriver::transaction(const uint8_t *tx, uint8_t *rx,
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uint16_t len) {
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_cs_assert();
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if (rx == NULL) {
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_transfer(tx, len);
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} else {
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for (uint16_t i = 0; i < len; i++) {
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rx[i] = _transfer(tx[i]);
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}
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}
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_cs_release();
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return true;
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}
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void AVRSPI3DeviceDriver::cs_assert() {
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_cs_assert();
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}
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void AVRSPI3DeviceDriver::cs_release() {
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_cs_release();
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}
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uint8_t AVRSPI3DeviceDriver::transfer(uint8_t data) {
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return _transfer(data);
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}
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void AVRSPI3DeviceDriver::transfer(const uint8_t *data, uint16_t len) {
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_transfer(data, len);
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}
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#endif
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