mirror of https://github.com/ArduPilot/ardupilot
299 lines
9.2 KiB
C++
299 lines
9.2 KiB
C++
/*
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* This file is free software: you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
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* Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This file is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "SPIDevice.h"
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#include <arch/board/board.h>
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#include "board_config.h"
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#include <drivers/device/spi.h>
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#include <stdio.h>
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#include <AP_HAL/AP_HAL.h>
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#include <AP_HAL/utility/OwnPtr.h>
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#include "Scheduler.h"
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#include "Semaphores.h"
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/*
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NuttX on STM32 doesn't produce the exact SPI bus frequency
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requested. This is a table mapping requested to achieved SPI
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frequency:
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2 -> 1.3 MHz
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4 -> 2.6 MHz
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6 -> 5.3 MHz
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8 -> 5.3 MHz
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10 -> 5.3 MHz
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11 -> 10
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12 -> 10
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13 -> 10
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14 -> 10
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16 -> 10
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18 -> 10
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20 -> 10
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21 -> 20
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28 -> 20
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*/
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namespace PX4 {
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#define MHZ (1000U*1000U)
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#define KHZ (1000U)
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SPIDesc SPIDeviceManager::device_table[] = {
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#if defined(PX4_SPIDEV_MPU)
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SPIDesc("mpu6000", PX4_SPI_BUS_SENSORS, (spi_dev_e)PX4_SPIDEV_MPU, SPIDEV_MODE3, 500*KHZ, 8*MHZ),
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#endif
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#if defined(PX4_SPIDEV_EXT_BARO)
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SPIDesc("ms5611_ext", PX4_SPI_BUS_EXT, (spi_dev_e)PX4_SPIDEV_EXT_BARO, SPIDEV_MODE3, 20*MHZ, 20*MHZ),
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#endif
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#if defined(PX4_SPIDEV_ICM)
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SPIDesc("icm20608", PX4_SPI_BUS_SENSORS, (spi_dev_e)PX4_SPIDEV_ICM, SPIDEV_MODE3, 500*KHZ, 8*MHZ),
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#endif
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#if defined(PX4_SPIDEV_ACCEL_MAG)
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// ICM20608 on the ACCEL_MAG
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SPIDesc("icm20608-am", PX4_SPI_BUS_SENSORS, (spi_dev_e)PX4_SPIDEV_ACCEL_MAG, SPIDEV_MODE3, 500*KHZ, 8*MHZ),
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#endif
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_PX4_V4
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SPIDesc("ms5611_int", PX4_SPI_BUS_BARO, (spi_dev_e)PX4_SPIDEV_BARO, SPIDEV_MODE3, 20*MHZ, 20*MHZ),
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#endif
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#ifdef PX4_SPIDEV_BARO
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SPIDesc("ms5611", PX4_SPI_BUS_SENSORS, (spi_dev_e)PX4_SPIDEV_BARO, SPIDEV_MODE3, 20*MHZ, 20*MHZ),
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#endif
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#if defined(PX4_SPIDEV_ACCEL_MAG)
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SPIDesc("lsm9ds0_am", PX4_SPI_BUS_SENSORS, (spi_dev_e)PX4_SPIDEV_ACCEL_MAG, SPIDEV_MODE3, 11*MHZ, 11*MHZ),
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#endif
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#ifdef PX4_SPIDEV_EXT_ACCEL_MAG
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SPIDesc("lsm9ds0_ext_am", PX4_SPI_BUS_EXT, (spi_dev_e)PX4_SPIDEV_EXT_ACCEL_MAG, SPIDEV_MODE3, 11*MHZ, 11*MHZ),
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#endif
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#if defined(PX4_SPIDEV_GYRO)
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SPIDesc("lsm9ds0_g", PX4_SPI_BUS_SENSORS, (spi_dev_e)PX4_SPIDEV_GYRO, SPIDEV_MODE3, 11*MHZ, 11*MHZ),
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#endif
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#ifdef PX4_SPIDEV_EXT_GYRO
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SPIDesc("lsm9ds0_ext_g",PX4_SPI_BUS_EXT, (spi_dev_e)PX4_SPIDEV_EXT_GYRO, SPIDEV_MODE3, 11*MHZ, 11*MHZ),
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#endif
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#if defined(PX4_SPIDEV_MPU)
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SPIDesc("mpu9250", PX4_SPI_BUS_SENSORS, (spi_dev_e)PX4_SPIDEV_MPU, SPIDEV_MODE3, 1*MHZ, 8*MHZ),
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SPIDesc("mpu6500", PX4_SPI_BUS_SENSORS, (spi_dev_e)PX4_SPIDEV_MPU, SPIDEV_MODE3, 1*MHZ, 8*MHZ),
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#endif
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#ifdef PX4_SPIDEV_EXT_MPU
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SPIDesc("mpu6000_ext", PX4_SPI_BUS_EXT, (spi_dev_e)PX4_SPIDEV_EXT_MPU, SPIDEV_MODE3, 500*KHZ, 8*MHZ),
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SPIDesc("mpu9250_ext", PX4_SPI_BUS_EXT, (spi_dev_e)PX4_SPIDEV_EXT_MPU, SPIDEV_MODE3, 1*MHZ, 8*MHZ),
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SPIDesc("icm20608_ext", PX4_SPI_BUS_EXT, (spi_dev_e)PX4_SPIDEV_EXT_MPU, SPIDEV_MODE3, 1*MHZ, 8*MHZ),
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#endif
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#ifdef PX4_SPIDEV_HMC
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SPIDesc("hmc5843", PX4_SPI_BUS_SENSORS, (spi_dev_e)PX4_SPIDEV_HMC, SPIDEV_MODE3, 11*MHZ, 11*MHZ),
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#endif
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#ifdef PX4_SPI_BUS_EXT
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#ifdef PX4_SPIDEV_EXT0
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SPIDesc("external0m0", PX4_SPI_BUS_EXT, (spi_dev_e)PX4_SPIDEV_EXT0, SPIDEV_MODE0, 2*MHZ, 2*MHZ),
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SPIDesc("external0m1", PX4_SPI_BUS_EXT, (spi_dev_e)PX4_SPIDEV_EXT0, SPIDEV_MODE1, 2*MHZ, 2*MHZ),
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SPIDesc("external0m2", PX4_SPI_BUS_EXT, (spi_dev_e)PX4_SPIDEV_EXT0, SPIDEV_MODE2, 2*MHZ, 2*MHZ),
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SPIDesc("external0m3", PX4_SPI_BUS_EXT, (spi_dev_e)PX4_SPIDEV_EXT0, SPIDEV_MODE3, 2*MHZ, 2*MHZ),
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#endif
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#ifdef PX4_SPIDEV_EXT1
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SPIDesc("external1", PX4_SPI_BUS_EXT, (spi_dev_e)PX4_SPIDEV_EXT1, SPIDEV_MODE3, 2*MHZ, 2*MHZ),
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#endif
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#ifdef PX4_SPIDEV_EXT2
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SPIDesc("external2", PX4_SPI_BUS_EXT, (spi_dev_e)PX4_SPIDEV_EXT2, SPIDEV_MODE3, 2*MHZ, 2*MHZ),
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#endif
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#ifdef PX4_SPIDEV_EXT3
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SPIDesc("external3", PX4_SPI_BUS_EXT, (spi_dev_e)PX4_SPIDEV_EXT3, SPIDEV_MODE3, 2*MHZ, 2*MHZ),
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#endif
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#endif
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SPIDesc(nullptr, 0, (spi_dev_e)0, (spi_mode_e)0, 0, 0),
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};
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SPIDevice::SPIDevice(SPIBus &_bus, SPIDesc &_device_desc)
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: bus(_bus)
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, device_desc(_device_desc)
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{
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set_device_bus(_bus.bus);
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set_device_address(_device_desc.device);
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set_speed(AP_HAL::Device::SPEED_LOW);
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SPI_SELECT(bus.dev, device_desc.device, false);
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asprintf(&pname, "SPI:%s:%u:%u",
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device_desc.name,
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(unsigned)bus.bus, (unsigned)device_desc.device);
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perf = perf_alloc(PC_ELAPSED, pname);
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printf("SPI device %s on %u:%u at speed %u mode %u\n",
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device_desc.name,
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(unsigned)bus.bus, (unsigned)device_desc.device,
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(unsigned)frequency, (unsigned)device_desc.mode);
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}
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SPIDevice::~SPIDevice()
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{
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printf("SPI device %s on %u:%u closed\n", device_desc.name,
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(unsigned)bus.bus, (unsigned)device_desc.device);
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perf_free(perf);
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free(pname);
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}
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bool SPIDevice::set_speed(AP_HAL::Device::Speed speed)
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{
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switch (speed) {
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case AP_HAL::Device::SPEED_HIGH:
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frequency = device_desc.highspeed;
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break;
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case AP_HAL::Device::SPEED_LOW:
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frequency = device_desc.lowspeed;
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break;
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}
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return true;
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}
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/*
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low level transfer function
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*/
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void SPIDevice::do_transfer(const uint8_t *send, uint8_t *recv, uint32_t len)
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{
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/*
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to accomodate the method in PX4 drivers of using interrupt
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context for SPI device transfers we need to check if PX4 has
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registered a driver on this bus. If not then we can avoid the
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irqsave/irqrestore and get bus parallelism for DMA enabled
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buses.
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There is a race in this if a PX4 driver starts while we are
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running this, but that would only happen at early boot and is
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very unlikely
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yes, this is a nasty hack. Suggestions for a better method
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appreciated.
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*/
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bool use_irq_save = up_spi_use_irq_save(bus.dev);
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irqstate_t state;
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if (use_irq_save) {
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state = irqsave();
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}
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perf_begin(perf);
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SPI_LOCK(bus.dev, true);
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SPI_SETFREQUENCY(bus.dev, frequency);
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SPI_SETMODE(bus.dev, device_desc.mode);
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SPI_SETBITS(bus.dev, 8);
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SPI_SELECT(bus.dev, device_desc.device, true);
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SPI_EXCHANGE(bus.dev, send, recv, len);
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if (!cs_forced) {
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SPI_SELECT(bus.dev, device_desc.device, false);
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}
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SPI_LOCK(bus.dev, false);
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perf_end(perf);
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if (use_irq_save) {
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irqrestore(state);
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}
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}
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bool SPIDevice::transfer(const uint8_t *send, uint32_t send_len,
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uint8_t *recv, uint32_t recv_len)
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{
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if (send_len == recv_len && send == recv) {
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// simplest cases, needed for DMA
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do_transfer(send, recv, recv_len);
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return true;
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}
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uint8_t buf[send_len+recv_len];
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if (send_len > 0) {
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memcpy(buf, send, send_len);
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}
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if (recv_len > 0) {
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memset(&buf[send_len], 0, recv_len);
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}
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do_transfer(buf, buf, send_len+recv_len);
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if (recv_len > 0) {
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memcpy(recv, &buf[send_len], recv_len);
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}
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return true;
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}
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bool SPIDevice::transfer_fullduplex(const uint8_t *send, uint8_t *recv, uint32_t len)
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{
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uint8_t buf[len];
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memcpy(buf, send, len);
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do_transfer(buf, buf, len);
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memcpy(recv, buf, len);
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return true;
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}
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AP_HAL::Semaphore *SPIDevice::get_semaphore()
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{
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return &bus.semaphore;
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}
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AP_HAL::Device::PeriodicHandle SPIDevice::register_periodic_callback(uint32_t period_usec, AP_HAL::Device::PeriodicCb cb)
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{
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return bus.register_periodic_callback(period_usec, cb, this);
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}
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bool SPIDevice::adjust_periodic_callback(AP_HAL::Device::PeriodicHandle h, uint32_t period_usec)
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{
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return bus.adjust_timer(h, period_usec);
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}
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/*
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allow for control of SPI chip select pin
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*/
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bool SPIDevice::set_chip_select(bool set)
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{
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cs_forced = set;
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SPI_SELECT(bus.dev, device_desc.device, set);
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return true;
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}
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/*
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return a SPIDevice given a string device name
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*/
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AP_HAL::OwnPtr<AP_HAL::SPIDevice>
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SPIDeviceManager::get_device(const char *name)
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{
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/* Find the bus description in the table */
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uint8_t i;
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for (i = 0; device_table[i].name; i++) {
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if (strcmp(device_table[i].name, name) == 0) {
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break;
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}
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}
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if (device_table[i].name == nullptr) {
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printf("SPI: Invalid device name: %s\n", name);
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return AP_HAL::OwnPtr<AP_HAL::SPIDevice>(nullptr);
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}
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SPIDesc &desc = device_table[i];
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// find the bus
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SPIBus *busp;
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for (busp = buses; busp; busp = (SPIBus *)busp->next) {
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if (busp->bus == desc.bus) {
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break;
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}
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}
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if (busp == nullptr) {
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// create a new one
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busp = new SPIBus;
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if (busp == nullptr) {
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return nullptr;
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}
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busp->next = buses;
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busp->bus = desc.bus;
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busp->dev = up_spiinitialize(desc.bus);
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buses = busp;
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}
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return AP_HAL::OwnPtr<AP_HAL::SPIDevice>(new SPIDevice(*busp, desc));
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}
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}
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