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HAL_Linux: added set_bus_speed() support to SPI driver

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used by MPU6000 driver for setup registers
This commit is contained in:
Andrew Tridgell 2014-07-05 21:14:11 +10:00
parent 3ed4f82cb0
commit 5b438471a7
2 changed files with 23 additions and 8 deletions
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26
libraries/AP_HAL_Linux/SPIDriver.cpp
View File

@ -18,24 +18,28 @@ using namespace Linux;
extern const AP_HAL::HAL& hal;
#define MHZ (1000U*1000U)
LinuxSPIDeviceDriver LinuxSPIDeviceManager::_device[LINUX_SPI_DEVICE_NUM_DEVICES] = {
LinuxSPIDeviceDriver(1, LINUX_SPI_DEVICE_MS5611, SPI_MODE_3, 8, 7, 6*1000*1000), /* SPIDevice_MS5611 */
LinuxSPIDeviceDriver(1, LINUX_SPI_DEVICE_MPU6000, SPI_MODE_3, 8, 113, 20*1000*1000), /* SPIDevice_MPU6000 */
LinuxSPIDeviceDriver(1, LINUX_SPI_DEVICE_MPU9250, SPI_MODE_0, 8, 49, 6*1000*1000), /* SPIDevice_MPU9250 */
LinuxSPIDeviceDriver(0, LINUX_SPI_DEVICE_LSM9DS0, SPI_MODE_0, 8, 5, 6*1000*1000), /* SPIDevice_LSM9DS0 */
LinuxSPIDeviceDriver(1, LINUX_SPI_DEVICE_FRAM, SPI_MODE_0, 8, 44, 6*1000*1000) /* SPIDevice_Dataflash */
LinuxSPIDeviceDriver(1, LINUX_SPI_DEVICE_MS5611, SPI_MODE_3, 8, 7, 6*MHZ, 6*MHZ),
LinuxSPIDeviceDriver(1, LINUX_SPI_DEVICE_MPU6000, SPI_MODE_3, 8, 113, 500*1000, 20*MHZ),
LinuxSPIDeviceDriver(1, LINUX_SPI_DEVICE_MPU9250, SPI_MODE_0, 8, 49, 6*MHZ, 6*MHZ),
LinuxSPIDeviceDriver(0, LINUX_SPI_DEVICE_LSM9DS0, SPI_MODE_0, 8, 5, 6*MHZ, 6*MHZ),
LinuxSPIDeviceDriver(1, LINUX_SPI_DEVICE_FRAM, SPI_MODE_0, 8, 44, 6*MHZ, 6*MHZ)
};
// have a separate semaphore per bus
LinuxSemaphore LinuxSPIDeviceManager::_semaphore[LINUX_SPI_NUM_BUSES];
LinuxSPIDeviceDriver::LinuxSPIDeviceDriver(uint8_t bus, LinuxSPIDeviceType type, uint8_t mode, uint8_t bitsPerWord, uint8_t cs_pin, uint32_t speed):
LinuxSPIDeviceDriver::LinuxSPIDeviceDriver(uint8_t bus, LinuxSPIDeviceType type, uint8_t mode, uint8_t bitsPerWord, uint8_t cs_pin, uint32_t lowspeed, uint32_t highspeed):
_bus(bus),
_type(type),
_fd(-1),
_mode(mode),
_bitsPerWord(bitsPerWord),
_speed(speed),
_lowspeed(lowspeed),
_highspeed(highspeed),
_speed(highspeed),
_cs_pin(cs_pin)
{
}
@ -110,6 +114,14 @@ void LinuxSPIDeviceDriver::transaction(const uint8_t *tx, uint8_t *rx, uint16_t
cs_release();
}
void LinuxSPIDeviceDriver::set_bus_speed(enum bus_speed speed)
{
if (speed == SPI_SPEED_LOW) {
_speed = _lowspeed;
} else {
_speed = _highspeed;
}
}
void LinuxSPIDeviceDriver::cs_assert()
{

5
libraries/AP_HAL_Linux/SPIDriver.h
View File

@ -18,7 +18,7 @@ enum LinuxSPIDeviceType {
class Linux::LinuxSPIDeviceDriver : public AP_HAL::SPIDeviceDriver {
public:
LinuxSPIDeviceDriver(uint8_t bus, LinuxSPIDeviceType type, uint8_t mode, uint8_t bitsPerWord, uint8_t cs_pin, uint32_t speed);
LinuxSPIDeviceDriver(uint8_t bus, LinuxSPIDeviceType type, uint8_t mode, uint8_t bitsPerWord, uint8_t cs_pin, uint32_t lowspeed, uint32_t highspeed);
void init();
AP_HAL::Semaphore *get_semaphore();
void transaction(const uint8_t *tx, uint8_t *rx, uint16_t len);
@ -29,6 +29,7 @@ public:
void transfer (const uint8_t *data, uint16_t len);
uint8_t get_bus(void) const { return _bus; }
void set_bus_speed(enum bus_speed speed);
AP_HAL::DigitalSource *get_cs(void) const { return _cs; }
private:
@ -37,6 +38,8 @@ private:
AP_HAL::DigitalSource *_cs;
uint8_t _mode;
uint8_t _bitsPerWord;
uint32_t _lowspeed;
uint32_t _highspeed;
uint32_t _speed;
LinuxSPIDeviceType _type;
uint8_t _bus;