mirror of https://github.com/ArduPilot/ardupilot
53 lines
1.6 KiB
C++
53 lines
1.6 KiB
C++
#include <AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
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#include <avr/io.h>
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#include <AP_HAL.h>
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#include "SPIDriver.h"
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#include "SPIDevices.h"
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#include "GPIO.h"
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#include "utility/pins_arduino_mega.h"
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using namespace AP_HAL_AVR;
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extern const AP_HAL::HAL& hal;
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void APM1SPIDeviceManager::init(void* machtnichts) {
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/* dataflow cs is on arduino pin 53, PORTB0 */
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AVRDigitalSource* df_cs = new AVRDigitalSource(_BV(0), PB);
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/* dataflash: divide clock by 2 to 8Mhz, set SPI_MODE_3
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* spcr gets 0x0C to set SPI_MODE_3
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* spsr gets bit SPI2X for clock divider */
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_dataflash = new AVRSPI0DeviceDriver(df_cs, 0x0C, 0x0C, _BV(SPI2X));
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_dataflash->init();
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/* optflow cs is on Arduino pin 34, PORTC3 */
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AVRDigitalSource* opt_cs = new AVRDigitalSource(_BV(3), PC);
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/* optflow: divide clock by 8 to 2Mhz
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* spcr gets bit SPR0, spsr gets bit SPI2X */
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_optflow = new AVRSPI0DeviceDriver(opt_cs, _BV(SPR0), _BV(SPR0), 0);
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_optflow->init();
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/* adc cs is on Arduino pin 33, PORTC4 */
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AVRDigitalSource* adc_cs = new AVRDigitalSource(_BV(4), PC);
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/* adc: ubbr2 gets value of 2 to run at 2.6Mhz
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* (config value cribbed from AP_ADC_ADS7844 driver pre-port) */
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_adc = new AVRSPI2DeviceDriver(adc_cs, 0, 2);
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_adc->init();
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}
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AP_HAL::SPIDeviceDriver* APM1SPIDeviceManager::device(enum AP_HAL::SPIDevice d)
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{
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switch (d) {
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case AP_HAL::SPIDevice_Dataflash:
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return _dataflash;
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case AP_HAL::SPIDevice_ADS7844:
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return _adc;
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case AP_HAL::SPIDevice_ADNS3080_SPI0:
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return _optflow;
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default:
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return NULL;
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};
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}
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#endif
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