mirror of https://github.com/ArduPilot/ardupilot
68 lines
2.2 KiB
C++
68 lines
2.2 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 "SPIDriver.h"
|
|
#include "SPIDevices.h"
|
|
#include "pins_arduino_mega.h"
|
|
using namespace AP_HAL_AVR;
|
|
|
|
extern const AP_HAL::HAL& hal;
|
|
|
|
void APM2SPIDeviceManager::init(void* machtnichts) {
|
|
|
|
/* ms5611 cs is on Arduino pin 40, PORTG1 */
|
|
AVRDigitalSource* ms5611_cs = new AVRDigitalSource(_BV(1), PG);
|
|
/* ms5611: divide clock by 32 to 500khz
|
|
* spcr gets bit SPR1, spsr gets bit SPI2X */
|
|
_ms5611 = new AVRSPI0DeviceDriver(ms5611_cs, _BV(SPR1), _BV(SPI2X));
|
|
_ms5611->init();
|
|
|
|
/* ms5611 cs is on Arduino pin 53, PORTB0 */
|
|
AVRDigitalSource* mpu6k_cs = new AVRDigitalSource(_BV(0), PB);
|
|
/* mpu6k: divide clock by 32 to 500khz
|
|
* spcr gets bit SPR1, spsr gets bit SPI2X */
|
|
_mpu6k = new AVRSPI0DeviceDriver(mpu6k_cs, _BV(SPR1), _BV(SPI2X));
|
|
_mpu6k->init();
|
|
|
|
/* optflow cs is on Arduino pin A3, PORTF3 */
|
|
AVRDigitalSource* optflow_cs = new AVRDigitalSource(_BV(3), PF);
|
|
/* optflow: divide clock by 8 to 2Mhz
|
|
* spcr gets bit SPR0, spsr gets bit SPI2X */
|
|
_optflow_spi0 = new AVRSPI0DeviceDriver(optflow_cs, _BV(SPR0), _BV(SPI2X));
|
|
_optflow_spi0->init();
|
|
|
|
/* Dataflash CS is on Arduino pin 28, PORTA6 */
|
|
AVRDigitalSource* df_cs = new AVRDigitalSource(_BV(6), PA);
|
|
/* dataflash uses mode 0 and a clock of 8mhz
|
|
* ucsr3c = 0
|
|
* ubrr3 = 0 */
|
|
_dataflash = new AVRSPI3DeviceDriver(df_cs, 0, 0);
|
|
_dataflash->init();
|
|
|
|
/* XXX need correct mode and baud */
|
|
_optflow_spi3 = new AVRSPI3DeviceDriver(optflow_cs, 0, 0);
|
|
_optflow_spi3->init();
|
|
}
|
|
|
|
AP_HAL::SPIDeviceDriver* APM2SPIDeviceManager::device(enum AP_HAL::SPIDevice d)
|
|
{
|
|
switch (d) {
|
|
case AP_HAL::SPIDevice_Dataflash:
|
|
return _dataflash;
|
|
case AP_HAL::SPIDevice_MS5611:
|
|
return _ms5611;
|
|
case AP_HAL::SPIDevice_MPU6000:
|
|
return _mpu6k;
|
|
case AP_HAL::SPIDevice_ADNS3080_SPI0:
|
|
return _optflow_spi0;
|
|
case AP_HAL::SPIDevice_ADNS3080_SPI3:
|
|
return _optflow_spi3;
|
|
default:
|
|
return NULL;
|
|
};
|
|
}
|
|
|
|
#endif
|