mirror of https://github.com/ArduPilot/ardupilot
109 lines
2.4 KiB
C++
109 lines
2.4 KiB
C++
/*
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* SPIDriver.cpp --- AP_HAL_SMACCM SPI driver.
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*
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* Copyright (C) 2012, Galois, Inc.
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* All Rights Reserved.
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*
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* This software is released under the "BSD3" license. Read the file
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* "LICENSE" for more information.
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*/
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#include "SPIDriver.h"
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#include <FreeRTOS.h>
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#include <hwf4/spi.h>
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using namespace SMACCM;
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extern const AP_HAL::HAL& hal;
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//////////////////////////////////////////////////////////////////////
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// SPI Device Driver
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SMACCMSPIDeviceDriver::SMACCMSPIDeviceDriver(spi_bus *bus, spi_device *device)
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: _bus(bus), _device(device)
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{
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}
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void SMACCMSPIDeviceDriver::init()
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{
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_semaphore.init();
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}
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AP_HAL::Semaphore* SMACCMSPIDeviceDriver::get_semaphore()
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{
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return &_semaphore;
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}
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void SMACCMSPIDeviceDriver::transaction(const uint8_t *tx, uint8_t *rx, uint16_t len)
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{
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if (spi_transfer(_bus, _device, 1000, tx, rx, len) < 0) {
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hal.scheduler->panic("PANIC: SPI transaction timeout.");
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}
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}
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// XXX these methods are not implemented
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void SMACCMSPIDeviceDriver::cs_assert()
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{
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}
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void SMACCMSPIDeviceDriver::cs_release()
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{
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}
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uint8_t SMACCMSPIDeviceDriver::transfer (uint8_t data)
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{
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return 0;
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}
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//////////////////////////////////////////////////////////////////////
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// SPI Device Instances
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// SPIDevice_Dataflash (I2C device in PX4FMU)
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// SPIDevice_ADS7844 (not present in PX4FMU)
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// SPIDevice_MS5611 (I2C device in PX4FMU)
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// SPIDevice_MPU6000 (on SPI1)
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static spi_device g_mpu6000_spi_dev = {
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pin_b0, // chip_select
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false, // chip_select_active
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SPI_BAUD_DIV_128, // baud XXX check frequency
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SPI_CLOCK_POLARITY_LOW, // clock_polarity
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SPI_CLOCK_PHASE_1, // clock_phase
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SPI_BIT_ORDER_MSB_FIRST // bit_order
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};
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static SMACCMSPIDeviceDriver g_mpu6000_dev(spi1, &g_mpu6000_spi_dev);
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// SPIDevice_ADNS3080_SPI0 (not present in PX4FMU)
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// SPIDevice_ADNS3080_SPI3 (not present in PX4FMU)
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//////////////////////////////////////////////////////////////////////
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// SPI Device Manager
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SMACCMSPIDeviceManager::SMACCMSPIDeviceManager()
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{
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}
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// Initialize all SPI busses and devices.
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void SMACCMSPIDeviceManager::init(void *)
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{
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spi_init(spi1);
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spi_device_init(&g_mpu6000_spi_dev);
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g_mpu6000_dev.init();
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}
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AP_HAL::SPIDeviceDriver* SMACCMSPIDeviceManager::device(AP_HAL::SPIDevice dev)
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{
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switch (dev) {
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case AP_HAL::SPIDevice_MPU6000:
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return &g_mpu6000_dev;
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default:
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return NULL;
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}
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}
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