HAL_Linux: setup for all 6 SPI devices for PXF cape

libraries/AP_HAL_Linux/SPIDriver.cpp

@@ -23,12 +23,13 @@ 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(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(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),
     /* 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(0, AP_HAL::SPIDevice_LSM9DS0, SPI_MODE_3, 8, BBB_P9_17,  10*MHZ,10*MHZ),
-    LinuxSPIDeviceDriver(1, AP_HAL::SPIDevice_Dataflash,SPI_MODE_0, 8, BBB_P8_12,  6*MHZ, 6*MHZ)
+    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),
 };
 #else
 // empty device table
@@ -137,7 +138,8 @@ void LinuxSPIDeviceManager::cs_assert(enum AP_HAL::SPIDevice type)
         }
         if (_device[i]._type != type) {
             if (_device[i]._cs->read() != 1) {
-                hal.scheduler->panic("two CS enabled at once");
+                hal.console->printf("two CS enabled at once i=%u %u and %u\n",
+                                    (unsigned)i, (unsigned)type, (unsigned)_device[i]._type);
             }
         }
     }

libraries/AP_HAL_Linux/SPIDriver.h

@@ -7,7 +7,7 @@
 
 #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 5
+#define LINUX_SPI_DEVICE_NUM_DEVICES 6
 #else
 #define LINUX_SPI_NUM_BUSES 0
 #define LINUX_SPI_DEVICE_NUM_DEVICES 0

libraries/AP_HAL_Linux/examples/BusTest/BusTest.pde

@@ -24,9 +24,12 @@ static struct {
     enum AP_HAL::SPIDevice dev;
     uint8_t whoami_reg;
 } whoami_list[] = {
-    { "MPU9250", AP_HAL::SPIDevice_MPU9250, 0x75 | 0x80 },
-    { "LSM9DSO", AP_HAL::SPIDevice_LSM9DS0, 0x0f | 0x80 },
-    { "MPU6000", AP_HAL::SPIDevice_MPU6000, 0x75 | 0x80 },
+    { "MS5611",     AP_HAL::SPIDevice_MS5611,     0x00 | 0x80 },
+    { "MPU9250",    AP_HAL::SPIDevice_MPU9250,    0x75 | 0x80 },
+    { "MPU6000",    AP_HAL::SPIDevice_MPU6000,    0x75 | 0x80 },
+    { "FRAM",       AP_HAL::SPIDevice_Dataflash,  0x00 | 0x80 },
+    { "LSM9DS0_AM", AP_HAL::SPIDevice_LSM9DS0_AM, 0x0F | 0x80 },
+    { "LSM9DS0_G",  AP_HAL::SPIDevice_LSM9DS0_G,  0x0F | 0x80 },
 };
 
 void loop(void)
@@ -55,7 +58,7 @@ void loop(void)
         hal.console->printf("WHO_AM_I for %s: 0x%02x\n", whoami_list[i].name, (unsigned)rx[1]);
         spi_sem->give();
     }        
-    hal.scheduler->delay(2000);
+    hal.scheduler->delay(200);
 }
 
 AP_HAL_MAIN();