From a09fbb41715c66dd7c2e7b70b5fe16fccb85e49b Mon Sep 17 00:00:00 2001
From: Mikhail Avkhimenia <mikhail.avkhimenia@emlid.com>
Date: Tue, 12 Aug 2014 13:59:21 +0400
Subject: [PATCH] HAL_Linux: Add SPI configuration for Navio

This changes the SPI bus number to be zero based on Linux
---
 libraries/AP_HAL_Linux/SPIDriver.cpp | 25 +++++++++++++++----------
 libraries/AP_HAL_Linux/SPIDriver.h   |  3 +++
 2 files changed, 18 insertions(+), 10 deletions(-)

diff --git a/libraries/AP_HAL_Linux/SPIDriver.cpp b/libraries/AP_HAL_Linux/SPIDriver.cpp
index f64995983f..7dc0694c8d 100644
--- a/libraries/AP_HAL_Linux/SPIDriver.cpp
+++ b/libraries/AP_HAL_Linux/SPIDriver.cpp
@@ -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);
 }
diff --git a/libraries/AP_HAL_Linux/SPIDriver.h b/libraries/AP_HAL_Linux/SPIDriver.h
index 9073712d22..afbb472d3a 100644
--- a/libraries/AP_HAL_Linux/SPIDriver.h
+++ b/libraries/AP_HAL_Linux/SPIDriver.h
@@ -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