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HAL_Linux: Add CS capabilities to the SPI driver.

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This commit is contained in:
Víctor Mayoral Vilches 2014-06-03 10:59:39 +02:00 committed by Andrew Tridgell
parent bae84e2942
commit 651cb58ebc
2 changed files with 34 additions and 12 deletions
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40
libraries/AP_HAL_Linux/SPIDriver.cpp
View File

@ -10,16 +10,24 @@
#include <stdint.h> #include <stdint.h>
#include <sys/ioctl.h> #include <sys/ioctl.h>
#include <linux/spi/spidev.h> #include <linux/spi/spidev.h>
#include "GPIO.h"
using namespace Linux; using namespace Linux;
LinuxSPIDeviceDriver::LinuxSPIDeviceDriver(const char *spipath, uint8_t mode, uint8_t bitsPerWord, uint32_t speed) : extern const AP_HAL::HAL& hal;
#define SPI0_BUS_SPEED 1000000
#define SPI1_BUS_SPEED 2600000
LinuxSPIDeviceDriver::LinuxSPIDeviceDriver(const char *spipath, uint8_t mode, uint8_t bitsPerWord, uint8_t cs_pin, uint32_t speed):
_spipath(spipath), _spipath(spipath),
_fd(-1), _fd(-1),
_mode(mode), _mode(mode),
_bitsPerWord(bitsPerWord), _bitsPerWord(bitsPerWord),
_speed(speed) _speed(speed),
{} _cs_pin(cs_pin)
{
}
void LinuxSPIDeviceDriver::init() void LinuxSPIDeviceDriver::init()
{ {
@ -58,6 +66,10 @@ void LinuxSPIDeviceDriver::init()
goto failed; goto failed;
} }
// Init the CS
_cs = hal.gpio->channel(_cs_pin);
_cs->mode(GPIO_OUT);
_cs->write(HIGH); // do not hold the SPI bus initially
return; return;
failed: failed:
@ -72,6 +84,7 @@ AP_HAL::Semaphore* LinuxSPIDeviceDriver::get_semaphore()
void LinuxSPIDeviceDriver::transaction(const uint8_t *tx, uint8_t *rx, uint16_t len) void LinuxSPIDeviceDriver::transaction(const uint8_t *tx, uint8_t *rx, uint16_t len)
{ {
cs_assert();
struct spi_ioc_transfer spi[1]; struct spi_ioc_transfer spi[1];
spi[0].tx_buf = (uint64_t)tx; spi[0].tx_buf = (uint64_t)tx;
spi[0].rx_buf = (uint64_t)rx; spi[0].rx_buf = (uint64_t)rx;
@ -82,15 +95,18 @@ void LinuxSPIDeviceDriver::transaction(const uint8_t *tx, uint8_t *rx, uint16_t
spi[0].cs_change = 0; spi[0].cs_change = 0;
ioctl(_fd, SPI_IOC_MESSAGE(1), &spi); ioctl(_fd, SPI_IOC_MESSAGE(1), &spi);
cs_release();
} }
void LinuxSPIDeviceDriver::cs_assert() void LinuxSPIDeviceDriver::cs_assert()
{ {
_cs->write(0);
} }
void LinuxSPIDeviceDriver::cs_release() void LinuxSPIDeviceDriver::cs_release()
{ {
_cs->write(1);
} }
uint8_t LinuxSPIDeviceDriver::transfer(uint8_t data) uint8_t LinuxSPIDeviceDriver::transfer(uint8_t data)
@ -106,14 +122,18 @@ void LinuxSPIDeviceDriver::transfer(const uint8_t *data, uint16_t len)
} }
LinuxSPIDeviceManager::LinuxSPIDeviceManager() : LinuxSPIDeviceManager::LinuxSPIDeviceManager() :
_device_cs0("/dev/spidev1.0", SPI_MODE_0, 8, 2600000), _device_cs0("/dev/spidev2.0", SPI_MODE_0, 8, 7, SPI1_BUS_SPEED), /* SPIDevice_MS5611 */
_device_cs1("/dev/spidev2.0", SPI_MODE_0, 8, 1000000) _device_cs1("/dev/spidev2.0", SPI_MODE_0, 8, 113, SPI1_BUS_SPEED), /* SPIDevice_MPU6000 */
_device_cs2("/dev/spidev2.0", SPI_MODE_0, 8, 49, SPI1_BUS_SPEED), /* SPIDevice_MPU9250 */
_device_cs3("/dev/spidev1.0", SPI_MODE_0, 8, 5,SPI0_BUS_SPEED) /* SPIDevice_LSM9DS0 */
{} {}
void LinuxSPIDeviceManager::init(void *) void LinuxSPIDeviceManager::init(void *)
{ {
_device_cs0.init(); _device_cs0.init();
_device_cs1.init(); _device_cs1.init();
_device_cs2.init();
_device_cs3.init();
} }
/* /*
@ -122,16 +142,14 @@ void LinuxSPIDeviceManager::init(void *)
AP_HAL::SPIDeviceDriver* LinuxSPIDeviceManager::device(enum AP_HAL::SPIDevice dev) AP_HAL::SPIDeviceDriver* LinuxSPIDeviceManager::device(enum AP_HAL::SPIDevice dev)
{ {
switch (dev) { switch (dev) {
case AP_HAL::SPIDevice_ADS7844:
return &_device_cs0;
case AP_HAL::SPIDevice_MPU6000: case AP_HAL::SPIDevice_MPU6000:
return &_device_cs1; return &_device_cs1;
case AP_HAL::SPIDevice_MPU9250: case AP_HAL::SPIDevice_MPU9250:
return &_device_cs1; return &_device_cs2;
case AP_HAL::SPIDevice_MS5611: case AP_HAL::SPIDevice_MS5611:
return &_device_cs1; return &_device_cs0;
case AP_HAL::SPIDevice_LSM9DS0: case AP_HAL::SPIDevice_LSM9DS0:
return &_device_cs0; return &_device_cs3;
} }
return NULL; return NULL;
} }

6
libraries/AP_HAL_Linux/SPIDriver.h
View File

@ -7,7 +7,7 @@
class Linux::LinuxSPIDeviceDriver : public AP_HAL::SPIDeviceDriver { class Linux::LinuxSPIDeviceDriver : public AP_HAL::SPIDeviceDriver {
public: public:
LinuxSPIDeviceDriver(const char *spipath, uint8_t mode, uint8_t bitsPerWord, uint32_t speed); LinuxSPIDeviceDriver(const char *spipath, uint8_t mode, uint8_t bitsPerWord, uint8_t cs_pin, uint32_t speed);
void init(); void init();
AP_HAL::Semaphore* get_semaphore(); AP_HAL::Semaphore* get_semaphore();
void transaction(const uint8_t *tx, uint8_t *rx, uint16_t len); void transaction(const uint8_t *tx, uint8_t *rx, uint16_t len);
@ -20,6 +20,8 @@ private:
LinuxSemaphore _semaphore; LinuxSemaphore _semaphore;
const char *_spipath; const char *_spipath;
int _fd; int _fd;
uint8_t _cs_pin;
AP_HAL::DigitalSource *_cs;
uint8_t _mode; uint8_t _mode;
uint8_t _bitsPerWord; uint8_t _bitsPerWord;
uint32_t _speed; uint32_t _speed;
@ -33,6 +35,8 @@ public:
private: private:
LinuxSPIDeviceDriver _device_cs0; LinuxSPIDeviceDriver _device_cs0;
LinuxSPIDeviceDriver _device_cs1; LinuxSPIDeviceDriver _device_cs1;
LinuxSPIDeviceDriver _device_cs2;
LinuxSPIDeviceDriver _device_cs3;
}; };
#endif // __AP_HAL_LINUX_SPIDRIVER_H__ #endif // __AP_HAL_LINUX_SPIDRIVER_H__