mirror of https://github.com/ArduPilot/ardupilot
139 lines
3.2 KiB
C++
139 lines
3.2 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
|
|
#include <AP_HAL/AP_HAL.h>
|
|
#if (CONFIG_HAL_BOARD == HAL_BOARD_APM1 || CONFIG_HAL_BOARD == HAL_BOARD_APM2)
|
|
|
|
#include <avr/io.h>
|
|
|
|
#include <AP_HAL/AP_HAL.h>
|
|
#include "SPIDevices.h"
|
|
#include "GPIO.h"
|
|
#include "Semaphores.h"
|
|
#include "utility/pins_arduino_mega.h"
|
|
using namespace AP_HAL_AVR;
|
|
|
|
extern const AP_HAL::HAL& hal;
|
|
|
|
AVRSemaphore AVRSPI2DeviceDriver::_semaphore;
|
|
|
|
void AVRSPI2DeviceDriver::init() {
|
|
AVRDigitalSource spi2_miso(_BV(0), PH);
|
|
spi2_miso.mode(HAL_GPIO_INPUT);
|
|
|
|
AVRDigitalSource spi2_mosi(_BV(1), PH);
|
|
spi2_mosi.mode(HAL_GPIO_OUTPUT);
|
|
|
|
AVRDigitalSource spi2_sck(_BV(2), PH);
|
|
spi2_sck.mode(HAL_GPIO_OUTPUT);
|
|
|
|
/* UMSELn1 and UMSELn2: USART in SPI Master mode */
|
|
UCSR2C = _BV(UMSEL21) | _BV(UMSEL20);
|
|
/* Enable RX and TX. */
|
|
UCSR2B = _BV(RXEN2) | _BV(TXEN2);
|
|
|
|
/* Setup chip select pin */
|
|
_cs_pin->mode(HAL_GPIO_OUTPUT);
|
|
_cs_pin->write(1);
|
|
}
|
|
|
|
AP_HAL::Semaphore* AVRSPI2DeviceDriver::get_semaphore() {
|
|
return &_semaphore;
|
|
}
|
|
|
|
inline void AVRSPI2DeviceDriver::_cs_assert() {
|
|
/* set the device UCSRnC configuration bits.
|
|
* only sets data order, clock phase, and clock polarity bits (lowest
|
|
* three bits) */
|
|
const uint8_t new_ucsr2c = (UCSR2C & ~0x07) | (_ucsr2c & (0x07));
|
|
UCSR2C = new_ucsr2c;
|
|
/* set the device baud rate */
|
|
UBRR2 = _ubrr2;
|
|
|
|
_cs_pin->write(0);
|
|
}
|
|
|
|
inline void AVRSPI2DeviceDriver::_cs_release() {
|
|
_cs_pin->write(1);
|
|
}
|
|
|
|
inline uint8_t AVRSPI2DeviceDriver::_transfer(uint8_t data) {
|
|
/* Wait for empty transmit buffer */
|
|
while ( !( UCSR2A & _BV(UDRE2)) ) ;
|
|
|
|
/* Put data into buffer, sends the data */
|
|
UDR2 = data;
|
|
|
|
/* Wait for data to be received */
|
|
while ( !(UCSR2A & _BV(RXC2)) ) ;
|
|
|
|
/* Get and return received data from buffer */
|
|
return UDR2;
|
|
}
|
|
|
|
/**
|
|
a specialist transfer function for the APM1 ADC
|
|
*/
|
|
void AVRSPI2DeviceDriver::_transfer17(const uint8_t *tx, uint8_t *rx)
|
|
{
|
|
#define TRANSFER1(i) do { while ( !( UCSR2A & _BV(UDRE2)) ); \
|
|
UDR2 = tx[i]; \
|
|
while ( !(UCSR2A & _BV(RXC2)) ) ; \
|
|
rx[i] = UDR2; } while (0)
|
|
TRANSFER1(0);
|
|
TRANSFER1(1);
|
|
TRANSFER1(2);
|
|
TRANSFER1(3);
|
|
TRANSFER1(4);
|
|
TRANSFER1(5);
|
|
TRANSFER1(6);
|
|
TRANSFER1(7);
|
|
TRANSFER1(8);
|
|
TRANSFER1(9);
|
|
TRANSFER1(10);
|
|
TRANSFER1(11);
|
|
TRANSFER1(12);
|
|
TRANSFER1(13);
|
|
TRANSFER1(14);
|
|
TRANSFER1(15);
|
|
TRANSFER1(16);
|
|
}
|
|
|
|
void AVRSPI2DeviceDriver::transaction(const uint8_t *tx, uint8_t *rx,
|
|
uint16_t len) {
|
|
_cs_assert();
|
|
if (rx == NULL) {
|
|
for (uint16_t i = 0; i < len; i++) {
|
|
_transfer(tx[i]);
|
|
}
|
|
} else {
|
|
while (len >= 17) {
|
|
_transfer17(tx, rx);
|
|
tx += 17;
|
|
rx += 17;
|
|
len -= 17;
|
|
}
|
|
for (uint16_t i = 0; i < len; i++) {
|
|
rx[i] = _transfer(tx[i]);
|
|
}
|
|
}
|
|
_cs_release();
|
|
}
|
|
|
|
void AVRSPI2DeviceDriver::cs_assert() {
|
|
_cs_assert();
|
|
}
|
|
|
|
void AVRSPI2DeviceDriver::cs_release() {
|
|
_cs_release();
|
|
}
|
|
|
|
uint8_t AVRSPI2DeviceDriver::transfer(uint8_t data) {
|
|
return _transfer(data);
|
|
}
|
|
|
|
void AVRSPI2DeviceDriver::transfer(const uint8_t *data, uint16_t len) {
|
|
while (len--)
|
|
_transfer(*data++);
|
|
}
|
|
|
|
#endif
|