mirror of https://github.com/ArduPilot/ardupilot
100 lines
2.3 KiB
C++
100 lines
2.3 KiB
C++
#include <AP_HAL.h>
|
|
#if (CONFIG_HAL_BOARD == HAL_BOARD_APM1 || CONFIG_HAL_BOARD == HAL_BOARD_APM2)
|
|
|
|
#include <avr/io.h>
|
|
|
|
#include <AP_HAL.h>
|
|
#include "SPIDevices.h"
|
|
#include "GPIO.h"
|
|
#include "Semaphore.h"
|
|
#include "pins_arduino_mega.h"
|
|
using namespace AP_HAL_AVR;
|
|
|
|
extern const AP_HAL::HAL& hal;
|
|
|
|
#define SPI0_MISO_PIN 50
|
|
#define SPI0_MOSI_PIN 51
|
|
#define SPI0_SCK_PIN 52
|
|
|
|
AVRSemaphore AVRSPI0DeviceDriver::_semaphore;
|
|
|
|
static volatile bool spi0_transferflag = false;
|
|
|
|
void AVRSPI0DeviceDriver::init() {
|
|
hal.gpio->pinMode(SPI0_MISO_PIN, GPIO_INPUT);
|
|
hal.gpio->pinMode(SPI0_MOSI_PIN, GPIO_OUTPUT);
|
|
hal.gpio->pinMode(SPI0_SCK_PIN, GPIO_OUTPUT);
|
|
|
|
_cs_pin->mode(GPIO_OUTPUT);
|
|
_cs_pin->write(1);
|
|
|
|
/* Enable the SPI0 peripheral as a master */
|
|
SPCR = _BV(SPE) | _BV(MSTR);
|
|
}
|
|
|
|
AP_HAL::Semaphore* AVRSPI0DeviceDriver::get_semaphore() {
|
|
return &_semaphore;
|
|
}
|
|
|
|
inline void AVRSPI0DeviceDriver::_cs_assert() {
|
|
const uint8_t valid_spcr_mask =
|
|
(_BV(CPOL) | _BV(CPHA) | _BV(SPR1) | _BV(SPR0));
|
|
uint8_t new_spcr = SPCR | (_spcr & valid_spcr_mask);
|
|
SPCR = new_spcr;
|
|
|
|
const uint8_t valid_spsr_mask = _BV(SPI2X);
|
|
uint8_t new_spsr = SPSR | (_spsr & valid_spsr_mask);
|
|
SPSR = new_spsr;
|
|
|
|
_cs_pin->write(0);
|
|
}
|
|
|
|
inline void AVRSPI0DeviceDriver::_cs_release() {
|
|
_cs_pin->write(1);
|
|
}
|
|
|
|
inline uint8_t AVRSPI0DeviceDriver::_transfer(uint8_t data) {
|
|
if (spi0_transferflag) {
|
|
hal.scheduler->panic(PSTR("PANIC: SPI0 transfer collision"));
|
|
}
|
|
spi0_transferflag = true;
|
|
SPDR = data;
|
|
if (SPSR & _BV(WCOL)) {
|
|
hal.scheduler->panic(PSTR("PANIC: SPI0 write collision"));
|
|
return 0;
|
|
}
|
|
while(!(SPSR & _BV(SPIF)));
|
|
uint8_t read_spdr = SPDR;
|
|
spi0_transferflag = false;
|
|
return read_spdr;
|
|
}
|
|
|
|
void AVRSPI0DeviceDriver::transaction(const uint8_t *tx, uint8_t *rx,
|
|
uint16_t len) {
|
|
_cs_assert();
|
|
if (rx == NULL) {
|
|
for (uint16_t i = 0; i < len; i++) {
|
|
_transfer(tx[i]);
|
|
}
|
|
} else {
|
|
for (uint16_t i = 0; i < len; i++) {
|
|
rx[i] = _transfer(tx[i]);
|
|
}
|
|
}
|
|
_cs_release();
|
|
}
|
|
|
|
void AVRSPI0DeviceDriver::cs_assert() {
|
|
_cs_assert();
|
|
}
|
|
|
|
void AVRSPI0DeviceDriver::cs_release() {
|
|
_cs_release();
|
|
}
|
|
|
|
uint8_t AVRSPI0DeviceDriver::transfer(uint8_t data) {
|
|
return _transfer(data);
|
|
}
|
|
|
|
#endif
|