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ardupilot/libraries/AP_HAL_Linux/SPIDevice.cpp

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/*
* Copyright (C) 2015 Intel Corporation. All rights reserved.
*
* This file is free software: you can redistribute it and/or modify it
* under the terms of the GNU General Public License as published by the
* Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This file is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "SPIDevice.h"
#include <assert.h>
#include <errno.h>
#include <fcntl.h>
#include <linux/spi/spidev.h>
#include <stdio.h>
#include <sys/ioctl.h>
#include <sys/stat.h>
#include <sys/types.h>
#include <unistd.h>
#include <vector>
#include <AP_HAL/AP_HAL.h>
#include <AP_HAL/utility/OwnPtr.h>
#include "GPIO.h"
#include "PollerThread.h"
#include "Scheduler.h"
#include "Semaphores.h"
#include "Thread.h"
#include "Util.h"
#define DEBUG 0
extern const AP_HAL::HAL& hal;
namespace Linux {
#define MHZ (1000U*1000U)
#define KHZ (1000U)
#define SPI_CS_KERNEL -1
struct SPIDesc {
SPIDesc(const char *name_, uint16_t bus_, uint16_t subdev_, uint8_t mode_,
uint8_t bits_per_word_, int16_t cs_pin_, uint32_t lowspeed_,
uint32_t highspeed_)
: name(name_), bus(bus_), subdev(subdev_), mode(mode_)
, bits_per_word(bits_per_word_), cs_pin(cs_pin_), lowspeed(lowspeed_)
, highspeed(highspeed_)
{
}
const char *name;
uint16_t bus;
uint16_t subdev;
uint8_t mode;
uint8_t bits_per_word;
int16_t cs_pin;
uint32_t lowspeed;
uint32_t highspeed;
};
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBOARD
SPIDesc SPIDeviceManager::_device[] = {
// different SPI tables per board subtype
SPIDesc("lsm9ds0_am", 1, 0, SPI_MODE_3, 8, BBB_P9_17, 10*MHZ,10*MHZ),
SPIDesc("lsm9ds0_g", 1, 0, SPI_MODE_3, 8, BBB_P8_9, 10*MHZ,10*MHZ),
SPIDesc("ms5611", 2, 0, SPI_MODE_3, 8, BBB_P9_42, 10*MHZ,10*MHZ),
SPIDesc("mpu6000", 2, 0, SPI_MODE_3, 8, BBB_P9_28, 500*1000, 20*MHZ),
SPIDesc("mpu9250", 2, 0, SPI_MODE_3, 8, BBB_P9_23, 1*MHZ, 11*MHZ),
};
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIGATOR
SPIDesc SPIDeviceManager::_device[] = {
SPIDesc("led", 0, 0, SPI_MODE_0, 8, SPI_CS_KERNEL, 6*MHZ, 6*MHZ),
SPIDesc("icm20602", 1, 2, SPI_MODE_0, 8, SPI_CS_KERNEL, 1*MHZ, 10*MHZ),
SPIDesc("mmc5983", 1, 1, SPI_MODE_0, 8, SPI_CS_KERNEL, 1*MHZ, 10*MHZ),
};
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2
SPIDesc SPIDeviceManager::_device[] = {
SPIDesc("mpu9250", 0, 1, SPI_MODE_0, 8, SPI_CS_KERNEL, 1*MHZ, 11*MHZ),
SPIDesc("ublox", 0, 0, SPI_MODE_0, 8, SPI_CS_KERNEL, 5*MHZ, 5*MHZ),
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2
SPIDesc("lsm9ds1_m", 0, 2, 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
SPIDesc SPIDeviceManager::_device[] = {
SPIDesc("mpu9250", 0, 1, SPI_MODE_0, 8, SPI_CS_KERNEL, 1*MHZ, 11*MHZ),
SPIDesc("ms5611", 0, 0, SPI_MODE_0, 8, SPI_CS_KERNEL, 1*KHZ, 10*MHZ),
};
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
SPIDesc SPIDeviceManager::_device[] = {
SPIDesc("mpu9250", 2, 0, SPI_MODE_3, 8, SPI_CS_KERNEL, 1*MHZ, 11*MHZ),
SPIDesc("mpu9250ext", 1, 0, SPI_MODE_3, 8, SPI_CS_KERNEL, 1*MHZ, 11*MHZ),
SPIDesc("ms5611", 2, 1, SPI_MODE_3, 8, SPI_CS_KERNEL, 10*MHZ,10*MHZ),
};
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_POCKET
SPIDesc SPIDeviceManager::_device[] = {
SPIDesc("mpu9250", 2, 1, SPI_MODE_3, 8, SPI_CS_KERNEL, 1*MHZ, 11*MHZ),
SPIDesc("bmp280", 2, 0, SPI_MODE_0, 8, SPI_CS_KERNEL, 10*MHZ,10*MHZ),
};
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OCPOC_ZYNQ
SPIDesc SPIDeviceManager::_device[] = {
/* MPU9250 is restricted to 1MHz for non-data and interrupt registers */
SPIDesc("mpu9250", 1, 0, SPI_MODE_3, 8, SPI_CS_KERNEL, 1*MHZ, 10*MHZ),
SPIDesc("ms5611", 1, 1, SPI_MODE_3, 8, SPI_CS_KERNEL, 1*MHZ, 10*MHZ),
};
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH
SPIDesc SPIDeviceManager::_device[] = {
SPIDesc("mpu9250", 0, 1, SPI_MODE_0, 8, SPI_CS_KERNEL, 1*MHZ, 11*MHZ),
SPIDesc("ublox", 0, 0, SPI_MODE_0, 8, SPI_CS_KERNEL, 5*MHZ, 5*MHZ),
};
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DARK
SPIDesc SPIDeviceManager::_device[] = {
SPIDesc("mpu9250", 0, 1, SPI_MODE_0, 8, SPI_CS_KERNEL, 1*MHZ, 11*MHZ),
};
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
SPIDesc SPIDeviceManager::_device[] = {
SPIDesc("bebop", 1, 0, SPI_MODE_0, 8, SPI_CS_KERNEL, 320*KHZ, 320*KHZ),
};
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_AERO
SPIDesc SPIDeviceManager::_device[] = {
SPIDesc("aeroio", 1, 1, SPI_MODE_0, 8, SPI_CS_KERNEL, 10*MHZ, 10*MHZ),
SPIDesc("bmi160", 3, 0, SPI_MODE_3, 8, SPI_CS_KERNEL, 1*MHZ, 10*MHZ),
};
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_EDGE
SPIDesc SPIDeviceManager::_device[] = {
SPIDesc("mpu60x0", 0, 1, SPI_MODE_0, 8, SPI_CS_KERNEL, 1*MHZ, 11*MHZ),
SPIDesc("mpu60x0ext", 0, 2, SPI_MODE_0, 8, SPI_CS_KERNEL, 1*MHZ, 11*MHZ),
SPIDesc("ms5611", 0, 0, SPI_MODE_0, 8, SPI_CS_KERNEL, 10*MHZ,10*MHZ),
};
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RST_ZYNQ
SPIDesc SPIDeviceManager::_device[] = {
SPIDesc("rst_g", 0, 0, SPI_MODE_3, 8, SPI_CS_KERNEL, 1*MHZ, 10*MHZ),
SPIDesc("lis3mdl", 0, 1, SPI_MODE_3, 8, SPI_CS_KERNEL, 1*MHZ, 10*MHZ),
SPIDesc("rst_a", 0, 2, SPI_MODE_3, 8, SPI_CS_KERNEL, 1*MHZ, 10*MHZ),
SPIDesc("ms5611", 0, 3, SPI_MODE_3, 8, SPI_CS_KERNEL, 1*MHZ, 10*MHZ),
};
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OBAL_V1 && \
defined (HAL_BOARD_SUBTYPE_LINUX_OBAL_V1_MPU_9250_SPI)
SPIDesc SPIDeviceManager::_device[] = {
SPIDesc("mpu9250", 0, 0, SPI_MODE_3, 8, SPI_CS_KERNEL, 1*MHZ, 10*MHZ),
};
#else
// empty device table
SPIDesc SPIDeviceManager::_device[] = {
SPIDesc("**dummy**", 0, 0, SPI_MODE_3, 0, 0, 0 * MHZ, 0 * MHZ),
};
#define LINUX_SPI_DEVICE_NUM_DEVICES 1
#endif
#ifndef LINUX_SPI_DEVICE_NUM_DEVICES
#define LINUX_SPI_DEVICE_NUM_DEVICES ARRAY_SIZE(SPIDeviceManager::_device)
#endif
#define MAX_SUBDEVS 6
const uint8_t SPIDeviceManager::_n_device_desc = LINUX_SPI_DEVICE_NUM_DEVICES;
/* Private struct to maintain for each bus */
class SPIBus : public TimerPollable::WrapperCb {
public:
SPIBus(uint16_t bus_);
~SPIBus();
/*
* TimerPollable::WrapperCb methods to take
* and release semaphore while calling the callback
*/
void start_cb() override;
void end_cb() override;
void open(uint16_t subdev);
PollerThread thread;
Semaphore sem;
int fd[MAX_SUBDEVS];
uint16_t bus;
int16_t last_mode = -1;
uint8_t ref;
};
SPIBus::SPIBus(uint16_t bus_)
: bus(bus_)
{
memset(fd, -1, sizeof(fd));
}
SPIBus::~SPIBus()
{
for (unsigned i = 0; i < MAX_SUBDEVS; i++) {
::close(fd[i]);
}
}
void SPIBus::start_cb()
{
sem.take_blocking();
}
void SPIBus::end_cb()
{
sem.give();
}
void SPIBus::open(uint16_t subdev)
{
/* Already open by another device */
if (fd[subdev] >= 0) {
return;
}
char path[32];
snprintf(path, sizeof(path), "/dev/spidev%u.%u", bus, subdev);
fd[subdev] = ::open(path, O_RDWR | O_CLOEXEC);
if (fd[subdev] < 0) {
AP_HAL::panic("SPI: unable to open SPI bus %s: %s",
path, strerror(errno));
}
}
SPIDevice::SPIDevice(SPIBus &bus, SPIDesc &device_desc)
: _bus(bus)
, _desc(device_desc)
{
set_device_bus(_bus.bus);
set_device_address(_desc.subdev);
_speed = _desc.highspeed;
if (_desc.cs_pin != SPI_CS_KERNEL) {
_cs = hal.gpio->channel(_desc.cs_pin);
if (!_cs) {
AP_HAL::panic("Unable to instantiate cs pin");
}
_cs->mode(HAL_GPIO_OUTPUT);
// do not hold the SPI bus initially
_cs_release();
}
}
SPIDevice::~SPIDevice()
{
// Unregister itself from the SPIDeviceManager
SPIDeviceManager::from(hal.spi)->_unregister(_bus);
}
bool SPIDevice::set_speed(AP_HAL::Device::Speed speed)
{
switch (speed) {
case AP_HAL::Device::SPEED_HIGH:
_speed = _desc.highspeed;
break;
case AP_HAL::Device::SPEED_LOW:
_speed = _desc.lowspeed;
break;
}
return true;
}
bool SPIDevice::transfer(const uint8_t *send, uint32_t send_len,
uint8_t *recv, uint32_t recv_len)
{
struct spi_ioc_transfer msgs[2] = { };
unsigned nmsgs = 0;
int fd = _bus.fd[_desc.subdev];
if (send && send_len != 0) {
msgs[nmsgs].tx_buf = (uint64_t) send;
msgs[nmsgs].rx_buf = 0;
msgs[nmsgs].len = send_len;
msgs[nmsgs].speed_hz = _speed;
msgs[nmsgs].delay_usecs = 0;
msgs[nmsgs].bits_per_word = _desc.bits_per_word;
msgs[nmsgs].cs_change = 0;
nmsgs++;
}
if (recv && recv_len != 0) {
msgs[nmsgs].tx_buf = 0;
msgs[nmsgs].rx_buf = (uint64_t) recv;
msgs[nmsgs].len = recv_len;
msgs[nmsgs].speed_hz = _speed;
msgs[nmsgs].delay_usecs = 0;
msgs[nmsgs].bits_per_word = _desc.bits_per_word;
msgs[nmsgs].cs_change = 0;
nmsgs++;
}
if (!nmsgs) {
return false;
}
#if DEBUG
if (_desc.mode == _bus.last_mode) {
/*
the mode in the kernel is not tied to the file descriptor,
so there is a chance some other process has changed it since
we last used the bus. We want to report when this happens so
the user has a chance of figuring out when there is
conflicted use of the SPI bus. Unfortunately this costs us
an extra syscall per transfer.
*/
uint8_t current_mode;
if (ioctl(fd, SPI_IOC_RD_MODE, &current_mode) < 0) {
hal.console->printf("SPIDevice: error on getting mode fd=%d (%s)\n",
fd, strerror(errno));
_bus.last_mode = -1;
} else if (current_mode != _bus.last_mode) {
hal.console->printf("SPIDevice: bus mode conflict fd=%d mode=%u/%u\n",
fd, (unsigned)_bus.last_mode, (unsigned)current_mode);
_bus.last_mode = -1;
}
}
#endif
int r;
if (_desc.mode != _bus.last_mode) {
r = ioctl(fd, SPI_IOC_WR_MODE, &_desc.mode);
if (r < 0) {
hal.console->printf("SPIDevice: error on setting mode fd=%d (%s)\n",
fd, strerror(errno));
return false;
}
_bus.last_mode = _desc.mode;
}
_cs_assert();
r = ioctl(fd, SPI_IOC_MESSAGE(nmsgs), &msgs);
_cs_release();
if (r == -1) {
hal.console->printf("SPIDevice: error transferring data fd=%d (%s)\n",
fd, strerror(errno));
return false;
}
return true;
}
bool SPIDevice::transfer_fullduplex(const uint8_t *send, uint8_t *recv,
uint32_t len)
{
struct spi_ioc_transfer msgs[1] = { };
int fd = _bus.fd[_desc.subdev];
if (!send || !recv || len == 0) {
return false;
}
msgs[0].tx_buf = (uint64_t) send;
msgs[0].rx_buf = (uint64_t) recv;
msgs[0].len = len;
msgs[0].speed_hz = _speed;
msgs[0].delay_usecs = 0;
msgs[0].bits_per_word = _desc.bits_per_word;
msgs[0].cs_change = 0;
int r = ioctl(fd, SPI_IOC_WR_MODE, &_desc.mode);
if (r < 0) {
hal.console->printf("SPIDevice: error on setting mode fd=%d (%s)\n",
fd, strerror(errno));
return false;
}
_cs_assert();
r = ioctl(fd, SPI_IOC_MESSAGE(1), &msgs);
_cs_release();
if (r == -1) {
hal.console->printf("SPIDevice: error transferring data fd=%d (%s)\n",
fd, strerror(errno));
return false;
}
return true;
}
void SPIDevice::_cs_assert()
{
if (_desc.cs_pin == SPI_CS_KERNEL) {
return;
}
_cs->write(0);
}
void SPIDevice::_cs_release()
{
if (_desc.cs_pin == SPI_CS_KERNEL) {
return;
}
_cs->write(1);
}
AP_HAL::Semaphore *SPIDevice::get_semaphore()
{
return &_bus.sem;
}
AP_HAL::Device::PeriodicHandle SPIDevice::register_periodic_callback(
uint32_t period_usec, AP_HAL::Device::PeriodicCb cb)
{
TimerPollable *p = _bus.thread.add_timer(cb, &_bus, period_usec);
if (!p) {
AP_HAL::panic("Could not create periodic callback");
}
if (!_bus.thread.is_started()) {
char name[16];
snprintf(name, sizeof(name), "ap-spi-%u", _bus.bus);
_bus.thread.set_stack_size(AP_LINUX_SENSORS_STACK_SIZE);
_bus.thread.start(name, AP_LINUX_SENSORS_SCHED_POLICY,
AP_LINUX_SENSORS_SCHED_PRIO);
}
return static_cast<AP_HAL::Device::PeriodicHandle>(p);
}
bool SPIDevice::adjust_periodic_callback(
AP_HAL::Device::PeriodicHandle h, uint32_t period_usec)
{
return _bus.thread.adjust_timer(static_cast<TimerPollable*>(h), period_usec);
}
AP_HAL::OwnPtr<AP_HAL::SPIDevice>
SPIDeviceManager::get_device(const char *name)
{
SPIDesc *desc = nullptr;
/* Find the bus description in the table */
for (uint8_t i = 0; i < _n_device_desc; i++) {
if (!strcmp(_device[i].name, name)) {
desc = &_device[i];
break;
}
}
if (!desc) {
return AP_HAL::OwnPtr<AP_HAL::SPIDevice>(nullptr);
}
/* Find if bus already exists */
for (uint8_t i = 0, n = _buses.size(); i < n; i++) {
if (_buses[i]->bus == desc->bus) {
return _create_device(*_buses[i], *desc);
}
}
/* Bus not found for this device, create a new one */
AP_HAL::OwnPtr<SPIBus> b{new SPIBus(desc->bus)};
if (!b) {
return nullptr;
}
auto dev = _create_device(*b, *desc);
if (!dev) {
return nullptr;
}
_buses.push_back(b.leak());
return dev;
}
uint8_t SPIDeviceManager::get_count()
{
return _n_device_desc;
}
const char* SPIDeviceManager::get_device_name(uint8_t idx)
{
return _device[idx].name;
}
/* Create a new device increasing the bus reference */
AP_HAL::OwnPtr<AP_HAL::SPIDevice>
SPIDeviceManager::_create_device(SPIBus &b, SPIDesc &desc) const
{
// Ensure bus is open
b.open(desc.subdev);
auto dev = AP_HAL::OwnPtr<AP_HAL::SPIDevice>(new SPIDevice(b, desc));
if (!dev) {
return nullptr;
}
b.ref++;
return dev;
}
void SPIDeviceManager::_unregister(SPIBus &b)
{
if (b.ref == 0 || --b.ref > 0) {
return;
}
for (auto it = _buses.begin(); it != _buses.end(); it++) {
if ((*it)->bus == b.bus) {
_buses.erase(it);
delete &b;
break;
}
}
}
void SPIDeviceManager::teardown()
{
for (auto it = _buses.begin(); it != _buses.end(); it++) {
/* Try to stop thread - it may not even be started yet */
(*it)->thread.stop();
}
for (auto it = _buses.begin(); it != _buses.end(); it++) {
/* Try to join thread - failing is normal if thread was not started */
(*it)->thread.join();
}
}
}
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