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HAL_Linux: make the spi driver fd part of the manager, not device 

it should be one connection to the kernel per bus, not one per device
mission-4.1.18
Andrew Tridgell 11 years ago
parent
2fd165d023
commit
a46d8dbd51
2 changed files with 48 additions and 69 deletions
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  1. 110
      libraries/AP_HAL_Linux/SPIDriver.cpp
  2. 7
      libraries/AP_HAL_Linux/SPIDriver.h

110
libraries/AP_HAL_Linux/SPIDriver.cpp
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@ -25,17 +25,17 @@ LinuxSPIDeviceDriver LinuxSPIDeviceManager::_device[LINUX_SPI_DEVICE_NUM_DEVICES @@ -25,17 +25,17 @@ LinuxSPIDeviceDriver LinuxSPIDeviceManager::_device[LINUX_SPI_DEVICE_NUM_DEVICES
LinuxSPIDeviceDriver(1, LINUX_SPI_DEVICE_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, LINUX_SPI_DEVICE_MPU9250, SPI_MODE_3, 8, BBB_P9_23, 1*MHZ, 20*MHZ),
LinuxSPIDeviceDriver(0, LINUX_SPI_DEVICE_LSM9DS0, SPI_MODE_0, 8, BBB_P9_17, 6*MHZ, 6*MHZ),
LinuxSPIDeviceDriver(0, LINUX_SPI_DEVICE_LSM9DS0, SPI_MODE_3, 8, BBB_P9_17, 10*MHZ,10*MHZ),
LinuxSPIDeviceDriver(1, LINUX_SPI_DEVICE_FRAM, SPI_MODE_0, 8, BBB_P8_12, 6*MHZ, 6*MHZ)
};
// have a separate semaphore per bus
LinuxSemaphore LinuxSPIDeviceManager::_semaphore[LINUX_SPI_NUM_BUSES];
int LinuxSPIDeviceManager::_fd[LINUX_SPI_NUM_BUSES];
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),
_lowspeed(lowspeed),
@ -47,49 +47,13 @@ LinuxSPIDeviceDriver::LinuxSPIDeviceDriver(uint8_t bus, LinuxSPIDeviceType type, @@ -47,49 +47,13 @@ LinuxSPIDeviceDriver::LinuxSPIDeviceDriver(uint8_t bus, LinuxSPIDeviceType type,
void LinuxSPIDeviceDriver::init()
{
const char *path = _bus==0?"/dev/spidev1.0":"/dev/spidev2.0";
_fd = open(path, O_RDWR);
if (_fd == -1) {
#if SPI_DEBUGGING
hal.console->printf("LinuxSPIDeviceDriver failed opening %s\n", path);
#endif
return;
}
int ret;
ret = ioctl(_fd, SPI_IOC_WR_MODE, &_mode);
if (ret == -1) {
#if SPI_DEBUGGING
hal.console->printf("LinuxSPIDeviceDriver ioctl SPI_IOC_WR_MODE failed\n");
#endif
goto failed;
}
ret = ioctl(_fd, SPI_IOC_WR_BITS_PER_WORD, &_bitsPerWord);
if (ret == -1) {
#if SPI_DEBUGGING
hal.console->printf("LinuxSPIDeviceDriver ioctl SPI_IOC_WR_BITS_PER_WORD failed\n");
#endif
goto failed;
}
ret = ioctl(_fd, SPI_IOC_WR_MAX_SPEED_HZ, &_speed);
if (ret == -1) {
#if SPI_DEBUGGING
hal.console->printf("LinuxSPIDeviceDriver ioctl SPI_IOC_WR_MAX_SPEED_HZ failed\n");
#endif
goto failed;
}
// Init the CS
_cs = hal.gpio->channel(_cs_pin);
if (_cs == NULL) {
hal.scheduler->panic("Unable to instantiate cs pin");
}
_cs->mode(HAL_GPIO_OUTPUT);
_cs->write(HIGH); // do not hold the SPI bus initially
return;
failed:
close(_fd);
_fd = -1;
hal.scheduler->panic("SPI init failed");
}
AP_HAL::Semaphore* LinuxSPIDeviceDriver::get_semaphore()
@ -99,25 +63,7 @@ AP_HAL::Semaphore* LinuxSPIDeviceDriver::get_semaphore() @@ -99,25 +63,7 @@ AP_HAL::Semaphore* LinuxSPIDeviceDriver::get_semaphore()
void LinuxSPIDeviceDriver::transaction(const uint8_t *tx, uint8_t *rx, uint16_t len)
{
cs_assert();
ioctl(_fd, SPI_IOC_WR_MODE, &_mode);
struct spi_ioc_transfer spi[1];
memset(spi, 0, sizeof(spi));
spi[0].tx_buf = (uint64_t)tx;
spi[0].rx_buf = (uint64_t)rx;
spi[0].len = len;
spi[0].delay_usecs = 0;
spi[0].speed_hz = _speed;
spi[0].bits_per_word = _bitsPerWord;
spi[0].cs_change = 0;
if (rx != NULL) {
// keep valgrind happy
memset(rx, 0, len);
}
ioctl(_fd, SPI_IOC_MESSAGE(1), &spi);
cs_release();
LinuxSPIDeviceManager::transaction(*this, tx, rx, len);
}
void LinuxSPIDeviceDriver::set_bus_speed(enum bus_speed speed)
@ -153,6 +99,14 @@ void LinuxSPIDeviceDriver::transfer(const uint8_t *data, uint16_t len) @@ -153,6 +99,14 @@ void LinuxSPIDeviceDriver::transfer(const uint8_t *data, uint16_t len)
void LinuxSPIDeviceManager::init(void *)
{
char path[] = "/dev/spidevN.0";
for (uint8_t i=0; i<LINUX_SPI_NUM_BUSES; i++) {
path[11] = '1' + i;
_fd[i] = open(path, O_RDWR);
if (_fd[i] == -1) {
hal.scheduler->panic("SPIDriver: unable to open SPI bus");
}
}
for (uint8_t i=0; i<LINUX_SPI_DEVICE_NUM_DEVICES; i++) {
_device[i].init();
}
@ -161,28 +115,54 @@ void LinuxSPIDeviceManager::init(void *) @@ -161,28 +115,54 @@ void LinuxSPIDeviceManager::init(void *)
void LinuxSPIDeviceManager::cs_assert(LinuxSPIDeviceType type)
{
for (uint8_t i=0; i<LINUX_SPI_DEVICE_NUM_DEVICES; i++) {
if (_device[i].get_bus() != _device[type].get_bus()) {
if (_device[i]._bus != _device[type]._bus) {
// not the same bus
continue;
}
if (i != type) {
if (_device[i].get_cs()->read() != 1) {
if (_device[i]._cs->read() != 1) {
hal.scheduler->panic("two CS enabled at once");
}
}
}
_device[type].get_cs()->write(0);
_device[type]._cs->write(0);
}
void LinuxSPIDeviceManager::cs_release(LinuxSPIDeviceType type)
{
for (uint8_t i=0; i<LINUX_SPI_DEVICE_NUM_DEVICES; i++) {
if (_device[i].get_bus() != _device[type].get_bus()) {
if (_device[i]._bus != _device[type]._bus) {
// not the same bus
continue;
}
_device[i].get_cs()->write(1);
_device[i]._cs->write(1);
}
}
void LinuxSPIDeviceManager::transaction(LinuxSPIDeviceDriver &driver, const uint8_t *tx, uint8_t *rx, uint16_t len)
{
// we set the mode before we assert the CS line so that the bus is
// in the correct idle state before the chip is selected
ioctl(_fd[driver._bus], SPI_IOC_WR_MODE, &driver._mode);
cs_assert(driver._type);
struct spi_ioc_transfer spi[1];
memset(spi, 0, sizeof(spi));
spi[0].tx_buf = (uint64_t)tx;
spi[0].rx_buf = (uint64_t)rx;
spi[0].len = len;
spi[0].delay_usecs = 0;
spi[0].speed_hz = driver._speed;
spi[0].bits_per_word = driver._bitsPerWord;
spi[0].cs_change = 0;
if (rx != NULL) {
// keep valgrind happy
memset(rx, 0, len);
}
ioctl(_fd[driver._bus], SPI_IOC_MESSAGE(1), &spi);
cs_release(driver._type);
}
/*

7
libraries/AP_HAL_Linux/SPIDriver.h
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@ -18,6 +18,7 @@ enum LinuxSPIDeviceType { @@ -18,6 +18,7 @@ enum LinuxSPIDeviceType {
class Linux::LinuxSPIDeviceDriver : public AP_HAL::SPIDeviceDriver {
public:
friend class Linux::LinuxSPIDeviceManager;
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();
@ -27,13 +28,9 @@ public: @@ -27,13 +28,9 @@ public:
void cs_release();
uint8_t transfer (uint8_t data);
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:
int _fd;
uint8_t _cs_pin;
AP_HAL::DigitalSource *_cs;
uint8_t _mode;
@ -54,10 +51,12 @@ public: @@ -54,10 +51,12 @@ public:
static void cs_assert(enum LinuxSPIDeviceType type);
static void cs_release(enum LinuxSPIDeviceType type);
static void transaction(LinuxSPIDeviceDriver &driver, const uint8_t *tx, uint8_t *rx, uint16_t len);
private:
static LinuxSPIDeviceDriver _device[LINUX_SPI_DEVICE_NUM_DEVICES];
static LinuxSemaphore _semaphore[LINUX_SPI_NUM_BUSES];
static int _fd[LINUX_SPI_NUM_BUSES];
};
#endif // __AP_HAL_LINUX_SPIDRIVER_H__

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