mirror of https://github.com/ArduPilot/ardupilot
68 lines
2.1 KiB
C++
68 lines
2.1 KiB
C++
#include <AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
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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 "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 APM2SPIDeviceManager::init(void* machtnichts) {
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/* ms5611 cs is on Arduino pin 40, PORTG1 */
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AVRDigitalSource* ms5611_cs = new AVRDigitalSource(_BV(1), PG);
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/* ms5611: divide clock by 32 to 500khz
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* spcr gets bit SPR1, spsr gets bit SPI2X */
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_ms5611 = new AVRSPI0DeviceDriver(ms5611_cs, _BV(SPR1), _BV(SPI2X));
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_ms5611->init();
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/* ms5611 cs is on Arduino pin 53, PORTB0 */
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AVRDigitalSource* mpu6k_cs = new AVRDigitalSource(_BV(0), PB);
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/* mpu6k: divide clock by 32 to 500khz
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* spcr gets bit SPR1, spsr gets bit SPI2X */
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_mpu6k = new AVRSPI0DeviceDriver(mpu6k_cs, _BV(SPR1), _BV(SPI2X));
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_mpu6k->init();
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/* optflow cs is on Arduino pin A3, PORTF3 */
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AVRDigitalSource* optflow_cs = new AVRDigitalSource(_BV(3), PF);
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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_spi0 = new AVRSPI0DeviceDriver(optflow_cs, _BV(SPR0), _BV(SPI2X));
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_optflow_spi0->init();
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/* Dataflash CS is on Arduino pin 28, PORTA6 */
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AVRDigitalSource* df_cs = new AVRDigitalSource(_BV(6), PA);
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/* dataflash uses mode 0 and a clock of 8mhz
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* ucsr3c = 0
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* ubrr3 = 0 */
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_dataflash = new AVRSPI3DeviceDriver(df_cs, 0, 0);
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_dataflash->init();
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/* XXX need correct mode and baud */
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_optflow_spi3 = new AVRSPI3DeviceDriver(optflow_cs, 0, 0);
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_optflow_spi3->init();
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}
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AP_HAL::SPIDeviceDriver* APM2SPIDeviceManager::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_MS5611:
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return _ms5611;
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case AP_HAL::SPIDevice_MPU6000:
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return _mpu6k;
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case AP_HAL::SPIDevice_ADNS3080_SPI0:
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return _optflow_spi0;
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case AP_HAL::SPIDevice_ADNS3080_SPI3:
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return _optflow_spi3;
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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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