mirror of https://github.com/ArduPilot/ardupilot
329 lines
7.7 KiB
C++
329 lines
7.7 KiB
C++
/*
|
|
* 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 <arch/board/board.h>
|
|
#include "board_config.h"
|
|
#include <drivers/device/spi.h>
|
|
#include <stdio.h>
|
|
#include <AP_HAL/AP_HAL.h>
|
|
#include <AP_HAL/utility/OwnPtr.h>
|
|
#include "Scheduler.h"
|
|
#include "Semaphores.h"
|
|
|
|
/*
|
|
NuttX on STM32 doesn't produce the exact SPI bus frequency
|
|
requested. This is a table mapping requested to achieved SPI
|
|
frequency for a 168 MHz processor :
|
|
|
|
2 -> 1.3 MHz
|
|
4 -> 2.6 MHz
|
|
6 -> 5.3 MHz
|
|
8 -> 5.3 MHz
|
|
10 -> 5.3 MHz
|
|
11 -> 10
|
|
12 -> 10
|
|
13 -> 10
|
|
14 -> 10
|
|
16 -> 10
|
|
18 -> 10
|
|
20 -> 10
|
|
21 -> 20
|
|
28 -> 20
|
|
|
|
For a 180 MHz processor :
|
|
|
|
2 -> 1.4 MHz
|
|
4 -> 2.8 MHz
|
|
6 -> 5.6 MHz
|
|
8 -> 5.6 MHz
|
|
10 -> 5.6 MHz
|
|
11 -> 5.6 MHz
|
|
12 -> 11.25 MHz
|
|
13 -> 11.25 MHz
|
|
14 -> 11.25 MHz
|
|
16 -> 11.25 MHz
|
|
18 -> 11.25 MHz
|
|
20 -> 11.25 MHz
|
|
22 -> 11.25 MHz
|
|
24 -> 22.5 MHz
|
|
28 -> 22.5 MHz
|
|
|
|
*/
|
|
|
|
namespace VRBRAIN {
|
|
|
|
#define MHZ (1000U*1000U)
|
|
#define KHZ (1000U)
|
|
|
|
SPIDesc SPIDeviceManager::device_table[] = {
|
|
|
|
#if defined(SPIDEV_MS5611)
|
|
SPIDesc("ms5611", PX4_SPI_BUS_1, (spi_dev_e)SPIDEV_MS5611, SPIDEV_MODE3, 20*MHZ, 20*MHZ),
|
|
#endif
|
|
#if defined(SPIDEV_EXP_MS5611)
|
|
SPIDesc("ms5611_ext", PX4_SPI_BUS_1, (spi_dev_e)SPIDEV_EXP_MS5611, SPIDEV_MODE3, 20*MHZ, 20*MHZ),
|
|
#endif
|
|
#if defined(SPIDEV_EXP_MPU6000)
|
|
SPIDesc("mpu6000_ext", PX4_SPI_BUS_1, (spi_dev_e)SPIDEV_EXP_MPU6000, SPIDEV_MODE3, 500*KHZ, 8*MHZ),
|
|
#endif
|
|
#if defined(SPIDEV_EXP_HMC5983)
|
|
SPIDesc("hmc5983_ext", PX4_SPI_BUS_1, (spi_dev_e)SPIDEV_EXP_HMC5983, SPIDEV_MODE3, 11*MHZ, 11*MHZ),
|
|
#endif
|
|
#if defined(SPIDEV_MPU6000)
|
|
SPIDesc("mpu6000", PX4_SPI_BUS_2, (spi_dev_e)SPIDEV_MPU6000, SPIDEV_MODE3, 500*KHZ, 8*MHZ),
|
|
#endif
|
|
#if defined(SPIDEV_IMU_MS5611)
|
|
SPIDesc("ms5611_imu", PX4_SPI_BUS_2, (spi_dev_e)SPIDEV_IMU_MS5611, SPIDEV_MODE3, 20*MHZ, 20*MHZ),
|
|
#endif
|
|
#if defined(SPIDEV_IMU_MPU6000)
|
|
SPIDesc("mpu6000_imu", PX4_SPI_BUS_2, (spi_dev_e)SPIDEV_IMU_MPU6000, SPIDEV_MODE3, 500*KHZ, 8*MHZ),
|
|
#endif
|
|
#if defined(SPIDEV_IMU_HMC5983)
|
|
SPIDesc("hmc5983_imu", PX4_SPI_BUS_2, (spi_dev_e)SPIDEV_IMU_HMC5983, SPIDEV_MODE3, 11*MHZ, 11*MHZ),
|
|
#endif
|
|
#if defined(SPIDEV_MPU9250)
|
|
SPIDesc("mpu9250", PX4_SPI_BUS_2, (spi_dev_e)SPIDEV_MPU9250, SPIDEV_MODE3, 1*MHZ, 8*MHZ),
|
|
#endif
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
SPIDesc(nullptr, 0, (spi_dev_e)0, (spi_mode_e)0, 0, 0),
|
|
};
|
|
|
|
SPIDevice::SPIDevice(SPIBus &_bus, SPIDesc &_device_desc)
|
|
: bus(_bus)
|
|
, device_desc(_device_desc)
|
|
{
|
|
set_device_bus(_bus.bus);
|
|
set_device_address(_device_desc.device);
|
|
set_speed(AP_HAL::Device::SPEED_LOW);
|
|
SPI_SELECT(bus.dev, device_desc.device, false);
|
|
asprintf(&pname, "SPI:%s:%u:%u",
|
|
device_desc.name,
|
|
(unsigned)bus.bus, (unsigned)device_desc.device);
|
|
perf = perf_alloc(PC_ELAPSED, pname);
|
|
printf("SPI device %s on %u:%u at speed %u mode %u\n",
|
|
device_desc.name,
|
|
(unsigned)bus.bus, (unsigned)device_desc.device,
|
|
(unsigned)frequency, (unsigned)device_desc.mode);
|
|
}
|
|
|
|
SPIDevice::~SPIDevice()
|
|
{
|
|
printf("SPI device %s on %u:%u closed\n", device_desc.name,
|
|
(unsigned)bus.bus, (unsigned)device_desc.device);
|
|
perf_free(perf);
|
|
free(pname);
|
|
}
|
|
|
|
bool SPIDevice::set_speed(AP_HAL::Device::Speed speed)
|
|
{
|
|
switch (speed) {
|
|
case AP_HAL::Device::SPEED_HIGH:
|
|
frequency = device_desc.highspeed;
|
|
break;
|
|
case AP_HAL::Device::SPEED_LOW:
|
|
frequency = device_desc.lowspeed;
|
|
break;
|
|
}
|
|
return true;
|
|
}
|
|
|
|
/*
|
|
low level transfer function
|
|
*/
|
|
void SPIDevice::do_transfer(const uint8_t *send, uint8_t *recv, uint32_t len)
|
|
{
|
|
/*
|
|
to accomodate the method in PX4 drivers of using interrupt
|
|
context for SPI device transfers we need to check if PX4 has
|
|
registered a driver on this bus. If not then we can avoid the
|
|
irqsave/irqrestore and get bus parallelism for DMA enabled
|
|
buses.
|
|
|
|
There is a race in this if a PX4 driver starts while we are
|
|
running this, but that would only happen at early boot and is
|
|
very unlikely
|
|
|
|
yes, this is a nasty hack. Suggestions for a better method
|
|
appreciated.
|
|
*/
|
|
bool use_irq_save = up_spi_use_irq_save(bus.dev);
|
|
irqstate_t state;
|
|
if (use_irq_save) {
|
|
state = irqsave();
|
|
}
|
|
perf_begin(perf);
|
|
SPI_LOCK(bus.dev, true);
|
|
SPI_SETFREQUENCY(bus.dev, frequency);
|
|
SPI_SETMODE(bus.dev, device_desc.mode);
|
|
SPI_SETBITS(bus.dev, 8);
|
|
SPI_SELECT(bus.dev, device_desc.device, true);
|
|
SPI_EXCHANGE(bus.dev, send, recv, len);
|
|
if (!cs_forced) {
|
|
SPI_SELECT(bus.dev, device_desc.device, false);
|
|
}
|
|
SPI_LOCK(bus.dev, false);
|
|
perf_end(perf);
|
|
if (use_irq_save) {
|
|
irqrestore(state);
|
|
}
|
|
}
|
|
|
|
bool SPIDevice::transfer(const uint8_t *send, uint32_t send_len,
|
|
uint8_t *recv, uint32_t recv_len)
|
|
{
|
|
if (send_len == recv_len && send == recv) {
|
|
// simplest cases, needed for DMA
|
|
do_transfer(send, recv, recv_len);
|
|
return true;
|
|
}
|
|
uint8_t buf[send_len+recv_len];
|
|
if (send_len > 0) {
|
|
memcpy(buf, send, send_len);
|
|
}
|
|
if (recv_len > 0) {
|
|
memset(&buf[send_len], 0, recv_len);
|
|
}
|
|
do_transfer(buf, buf, send_len+recv_len);
|
|
if (recv_len > 0) {
|
|
memcpy(recv, &buf[send_len], recv_len);
|
|
}
|
|
return true;
|
|
}
|
|
|
|
bool SPIDevice::transfer_fullduplex(const uint8_t *send, uint8_t *recv, uint32_t len)
|
|
{
|
|
uint8_t buf[len];
|
|
memcpy(buf, send, len);
|
|
do_transfer(buf, buf, len);
|
|
memcpy(recv, buf, len);
|
|
return true;
|
|
}
|
|
|
|
AP_HAL::Semaphore *SPIDevice::get_semaphore()
|
|
{
|
|
return &bus.semaphore;
|
|
}
|
|
|
|
|
|
AP_HAL::Device::PeriodicHandle SPIDevice::register_periodic_callback(uint32_t period_usec, AP_HAL::Device::PeriodicCb cb)
|
|
{
|
|
return bus.register_periodic_callback(period_usec, cb, this);
|
|
}
|
|
|
|
bool SPIDevice::adjust_periodic_callback(AP_HAL::Device::PeriodicHandle h, uint32_t period_usec)
|
|
{
|
|
return bus.adjust_timer(h, period_usec);
|
|
}
|
|
|
|
/*
|
|
allow for control of SPI chip select pin
|
|
*/
|
|
bool SPIDevice::set_chip_select(bool set)
|
|
{
|
|
cs_forced = set;
|
|
SPI_SELECT(bus.dev, device_desc.device, set);
|
|
return true;
|
|
}
|
|
|
|
|
|
/*
|
|
return a SPIDevice given a string device name
|
|
*/
|
|
AP_HAL::OwnPtr<AP_HAL::SPIDevice>
|
|
SPIDeviceManager::get_device(const char *name)
|
|
{
|
|
/* Find the bus description in the table */
|
|
uint8_t i;
|
|
for (i = 0; device_table[i].name; i++) {
|
|
if (strcmp(device_table[i].name, name) == 0) {
|
|
break;
|
|
}
|
|
}
|
|
if (device_table[i].name == nullptr) {
|
|
return AP_HAL::OwnPtr<AP_HAL::SPIDevice>(nullptr);
|
|
}
|
|
|
|
SPIDesc &desc = device_table[i];
|
|
|
|
// find the bus
|
|
SPIBus *busp;
|
|
for (busp = buses; busp; busp = (SPIBus *)busp->next) {
|
|
if (busp->bus == desc.bus) {
|
|
break;
|
|
}
|
|
}
|
|
if (busp == nullptr) {
|
|
// create a new one
|
|
busp = new SPIBus;
|
|
if (busp == nullptr) {
|
|
return nullptr;
|
|
}
|
|
busp->next = buses;
|
|
busp->bus = desc.bus;
|
|
busp->dev = up_spiinitialize(desc.bus);
|
|
buses = busp;
|
|
}
|
|
|
|
return AP_HAL::OwnPtr<AP_HAL::SPIDevice>(new SPIDevice(*busp, desc));
|
|
}
|
|
|
|
}
|