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HAL_Linux: Add SPI configuration for Navio

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This changes the SPI bus number to be zero based on Linux
This commit is contained in:
Mikhail Avkhimenia 2014-08-12 13:59:21 +04:00 committed by Andrew Tridgell
parent 83bbee491c
commit a09fbb4171
2 changed files with 18 additions and 10 deletions
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25
libraries/AP_HAL_Linux/SPIDriver.cpp
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@ -23,13 +23,18 @@ extern const AP_HAL::HAL& hal;
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLE
LinuxSPIDeviceDriver LinuxSPIDeviceManager::_device[LINUX_SPI_DEVICE_NUM_DEVICES] = {
// different SPI tables per board subtype
LinuxSPIDeviceDriver(0, AP_HAL::SPIDevice_LSM9DS0_AM, SPI_MODE_3, 8, BBB_P9_17, 10*MHZ,10*MHZ),
LinuxSPIDeviceDriver(0, AP_HAL::SPIDevice_LSM9DS0_G, SPI_MODE_3, 8, BBB_P8_9, 10*MHZ,10*MHZ),
LinuxSPIDeviceDriver(1, AP_HAL::SPIDevice_MS5611, SPI_MODE_3, 8, BBB_P9_42, 6*MHZ, 6*MHZ),
LinuxSPIDeviceDriver(1, AP_HAL::SPIDevice_MPU6000, SPI_MODE_3, 8, BBB_P9_28, 500*1000, 20*MHZ),
LinuxSPIDeviceDriver(1, AP_HAL::SPIDevice_LSM9DS0_AM, SPI_MODE_3, 8, BBB_P9_17, 10*MHZ,10*MHZ),
LinuxSPIDeviceDriver(1, AP_HAL::SPIDevice_LSM9DS0_G, SPI_MODE_3, 8, BBB_P8_9, 10*MHZ,10*MHZ),
LinuxSPIDeviceDriver(2, AP_HAL::SPIDevice_MS5611, SPI_MODE_3, 8, BBB_P9_42, 6*MHZ, 6*MHZ),
LinuxSPIDeviceDriver(2, AP_HAL::SPIDevice_MPU6000, SPI_MODE_3, 8, BBB_P9_28, 500*1000, 20*MHZ),
/* MPU9250 is restricted to 1MHz for non-data and interrupt registers */
LinuxSPIDeviceDriver(1, AP_HAL::SPIDevice_MPU9250, SPI_MODE_3, 8, BBB_P9_23, 1*MHZ, 20*MHZ),
LinuxSPIDeviceDriver(1, AP_HAL::SPIDevice_Dataflash, SPI_MODE_3, 8, BBB_P8_12, 6*MHZ, 6*MHZ),
LinuxSPIDeviceDriver(2, AP_HAL::SPIDevice_MPU9250, SPI_MODE_3, 8, BBB_P9_23, 1*MHZ, 20*MHZ),
LinuxSPIDeviceDriver(2, AP_HAL::SPIDevice_Dataflash, SPI_MODE_3, 8, BBB_P8_12, 6*MHZ, 6*MHZ),
};
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO
LinuxSPIDeviceDriver LinuxSPIDeviceManager::_device[LINUX_SPI_DEVICE_NUM_DEVICES] = {
/* MPU9250 is restricted to 1MHz for non-data and interrupt registers */
LinuxSPIDeviceDriver(0, AP_HAL::SPIDevice_MPU9250, SPI_MODE_3, 8, RPI_GPIO_7, 1*MHZ, 16*MHZ),
};
#else
// empty device table
@ -44,12 +49,12 @@ LinuxSPIDeviceDriver::LinuxSPIDeviceDriver(uint8_t bus, enum AP_HAL::SPIDevice t
_bus(bus),
_type(type),
_mode(mode),
_bitsPerWord(bitsPerWord),
_bitsPerWord(bitsPerWord),
_lowspeed(lowspeed),
_highspeed(highspeed),
_speed(highspeed),
_cs_pin(cs_pin)
{
{
}
void LinuxSPIDeviceDriver::init()
@ -108,7 +113,7 @@ void LinuxSPIDeviceManager::init(void *)
{
char path[] = "/dev/spidevN.0";
for (uint8_t i=0; i<LINUX_SPI_NUM_BUSES; i++) {
path[11] = '1' + i;
path[11] = '0' + i;
_fd[i] = open(path, O_RDWR);
if (_fd[i] == -1) {
hal.scheduler->panic("SPIDriver: unable to open SPI bus");
@ -192,7 +197,7 @@ void LinuxSPIDeviceManager::transaction(LinuxSPIDeviceDriver &driver, const uint
// keep valgrind happy
memset(rx, 0, len);
}
ioctl(_fd[driver._bus], SPI_IOC_MESSAGE(1), &spi);
cs_release(driver._type);
}

3
libraries/AP_HAL_Linux/SPIDriver.h
View File

@ -8,6 +8,9 @@
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLE
#define LINUX_SPI_NUM_BUSES 2
#define LINUX_SPI_DEVICE_NUM_DEVICES 6
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO
#define LINUX_SPI_NUM_BUSES 1
#define LINUX_SPI_DEVICE_NUM_DEVICES 1
#else
#define LINUX_SPI_NUM_BUSES 0
#define LINUX_SPI_DEVICE_NUM_DEVICES 0