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ardupilot/libraries/AP_HAL_PX4/SPIDevice.cpp

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/*
* This file is free software: you can redistribute it and/or modify it
* under the terms of the GNU General Public License as published by the
* Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This file is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "SPIDevice.h"
#include <arch/board/board.h>
#include "board_config.h"
#include <drivers/device/spi.h>
#include <stdio.h>
#include <AP_HAL/AP_HAL.h>
#include <AP_HAL/utility/OwnPtr.h>
#include "Scheduler.h"
#include "Semaphores.h"
/*
NuttX on STM32 doesn't produce the exact SPI bus frequency
requested. This is a table mapping requested to achieved SPI
frequency:
2 -> 1.3 MHz
4 -> 2.6 MHz
6 -> 5.3 MHz
8 -> 5.3 MHz
10 -> 5.3 MHz
11 -> 10
12 -> 10
13 -> 10
14 -> 10
16 -> 10
18 -> 10
20 -> 10
21 -> 20
28 -> 20
*/
namespace PX4 {
#define MHZ (1000U*1000U)
#define KHZ (1000U)
SPIDesc SPIDeviceManager::device_table[] = {
#if defined(PX4_SPIDEV_MPU)
SPIDesc("mpu6000", PX4_SPI_BUS_SENSORS, (spi_dev_e)PX4_SPIDEV_MPU, SPIDEV_MODE3, 500*KHZ, 8*MHZ),
#endif
#if defined(PX4_SPIDEV_EXT_BARO)
SPIDesc("ms5611_ext", PX4_SPI_BUS_EXT, (spi_dev_e)PX4_SPIDEV_EXT_BARO, SPIDEV_MODE3, 20*MHZ, 20*MHZ),
#endif
#if defined(PX4_SPIDEV_ICM)
SPIDesc("icm20608", PX4_SPI_BUS_SENSORS, (spi_dev_e)PX4_SPIDEV_ICM, SPIDEV_MODE3, 500*KHZ, 8*MHZ),
#endif
#if defined(PX4_SPIDEV_ACCEL_MAG)
// ICM20608 on the ACCEL_MAG
SPIDesc("icm20608-am", PX4_SPI_BUS_SENSORS, (spi_dev_e)PX4_SPIDEV_ACCEL_MAG, SPIDEV_MODE3, 500*KHZ, 8*MHZ),
#endif
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_PX4_V4
SPIDesc("ms5611_int", PX4_SPI_BUS_BARO, (spi_dev_e)PX4_SPIDEV_BARO, SPIDEV_MODE3, 20*MHZ, 20*MHZ),
#endif
#ifdef PX4_SPIDEV_BARO
SPIDesc("ms5611", PX4_SPI_BUS_SENSORS, (spi_dev_e)PX4_SPIDEV_BARO, SPIDEV_MODE3, 20*MHZ, 20*MHZ),
#endif
#if defined(PX4_SPIDEV_ACCEL_MAG)
SPIDesc("lsm9ds0_am", PX4_SPI_BUS_SENSORS, (spi_dev_e)PX4_SPIDEV_ACCEL_MAG, SPIDEV_MODE3, 11*MHZ, 11*MHZ),
#endif
#ifdef PX4_SPIDEV_EXT_ACCEL_MAG
SPIDesc("lsm9ds0_ext_am", PX4_SPI_BUS_EXT, (spi_dev_e)PX4_SPIDEV_EXT_ACCEL_MAG, SPIDEV_MODE3, 11*MHZ, 11*MHZ),
#endif
#if defined(PX4_SPIDEV_GYRO)
SPIDesc("lsm9ds0_g", PX4_SPI_BUS_SENSORS, (spi_dev_e)PX4_SPIDEV_GYRO, SPIDEV_MODE3, 11*MHZ, 11*MHZ),
#endif
#ifdef PX4_SPIDEV_EXT_GYRO
SPIDesc("lsm9ds0_ext_g",PX4_SPI_BUS_EXT, (spi_dev_e)PX4_SPIDEV_EXT_GYRO, SPIDEV_MODE3, 11*MHZ, 11*MHZ),
#endif
#if defined(PX4_SPIDEV_MPU)
SPIDesc("mpu9250", PX4_SPI_BUS_SENSORS, (spi_dev_e)PX4_SPIDEV_MPU, SPIDEV_MODE3, 1*MHZ, 8*MHZ),
SPIDesc("mpu6500", PX4_SPI_BUS_SENSORS, (spi_dev_e)PX4_SPIDEV_MPU, SPIDEV_MODE3, 1*MHZ, 8*MHZ),
#endif
#ifdef PX4_SPIDEV_EXT_MPU
SPIDesc("mpu6000_ext", PX4_SPI_BUS_EXT, (spi_dev_e)PX4_SPIDEV_EXT_MPU, SPIDEV_MODE3, 500*KHZ, 8*MHZ),
SPIDesc("mpu9250_ext", PX4_SPI_BUS_EXT, (spi_dev_e)PX4_SPIDEV_EXT_MPU, SPIDEV_MODE3, 1*MHZ, 8*MHZ),
SPIDesc("icm20608_ext", PX4_SPI_BUS_EXT, (spi_dev_e)PX4_SPIDEV_EXT_MPU, SPIDEV_MODE3, 1*MHZ, 8*MHZ),
#endif
#ifdef PX4_SPIDEV_HMC
SPIDesc("hmc5843", PX4_SPI_BUS_SENSORS, (spi_dev_e)PX4_SPIDEV_HMC, SPIDEV_MODE3, 11*MHZ, 11*MHZ),
#endif
#ifdef PX4_SPI_BUS_EXT
#ifdef PX4_SPIDEV_EXT0
SPIDesc("external0m0", PX4_SPI_BUS_EXT, (spi_dev_e)PX4_SPIDEV_EXT0, SPIDEV_MODE0, 2*MHZ, 2*MHZ),
SPIDesc("external0m1", PX4_SPI_BUS_EXT, (spi_dev_e)PX4_SPIDEV_EXT0, SPIDEV_MODE1, 2*MHZ, 2*MHZ),
SPIDesc("external0m2", PX4_SPI_BUS_EXT, (spi_dev_e)PX4_SPIDEV_EXT0, SPIDEV_MODE2, 2*MHZ, 2*MHZ),
SPIDesc("external0m3", PX4_SPI_BUS_EXT, (spi_dev_e)PX4_SPIDEV_EXT0, SPIDEV_MODE3, 2*MHZ, 2*MHZ),
#endif
#ifdef PX4_SPIDEV_EXT1
SPIDesc("external1", PX4_SPI_BUS_EXT, (spi_dev_e)PX4_SPIDEV_EXT1, SPIDEV_MODE3, 2*MHZ, 2*MHZ),
#endif
#ifdef PX4_SPIDEV_EXT2
SPIDesc("external2", PX4_SPI_BUS_EXT, (spi_dev_e)PX4_SPIDEV_EXT2, SPIDEV_MODE3, 2*MHZ, 2*MHZ),
#endif
#ifdef PX4_SPIDEV_EXT3
SPIDesc("external3", PX4_SPI_BUS_EXT, (spi_dev_e)PX4_SPIDEV_EXT3, SPIDEV_MODE3, 2*MHZ, 2*MHZ),
#endif
#endif
SPIDesc(nullptr, 0, (spi_dev_e)0, (spi_mode_e)0, 0, 0),
};
SPIDevice::SPIDevice(SPIBus &_bus, SPIDesc &_device_desc)
: bus(_bus)
, device_desc(_device_desc)
{
set_device_bus(_bus.bus);
set_device_address(_device_desc.device);
set_speed(AP_HAL::Device::SPEED_LOW);
SPI_SELECT(bus.dev, device_desc.device, false);
asprintf(&pname, "SPI:%s:%u:%u",
device_desc.name,
(unsigned)bus.bus, (unsigned)device_desc.device);
perf = perf_alloc(PC_ELAPSED, pname);
printf("SPI device %s on %u:%u at speed %u mode %u\n",
device_desc.name,
(unsigned)bus.bus, (unsigned)device_desc.device,
(unsigned)frequency, (unsigned)device_desc.mode);
}
SPIDevice::~SPIDevice()
{
printf("SPI device %s on %u:%u closed\n", device_desc.name,
(unsigned)bus.bus, (unsigned)device_desc.device);
perf_free(perf);
free(pname);
}
bool SPIDevice::set_speed(AP_HAL::Device::Speed speed)
{
switch (speed) {
case AP_HAL::Device::SPEED_HIGH:
frequency = device_desc.highspeed;
break;
case AP_HAL::Device::SPEED_LOW:
frequency = device_desc.lowspeed;
break;
}
return true;
}
/*
low level transfer function
*/
void SPIDevice::do_transfer(const uint8_t *send, uint8_t *recv, uint32_t len)
{
/*
to accomodate the method in PX4 drivers of using interrupt
context for SPI device transfers we need to check if PX4 has
registered a driver on this bus. If not then we can avoid the
irqsave/irqrestore and get bus parallelism for DMA enabled
buses.
There is a race in this if a PX4 driver starts while we are
running this, but that would only happen at early boot and is
very unlikely
yes, this is a nasty hack. Suggestions for a better method
appreciated.
*/
bool use_irq_save = up_spi_use_irq_save(bus.dev);
irqstate_t state;
if (use_irq_save) {
state = irqsave();
}
perf_begin(perf);
SPI_LOCK(bus.dev, true);
SPI_SETFREQUENCY(bus.dev, frequency);
SPI_SETMODE(bus.dev, device_desc.mode);
SPI_SETBITS(bus.dev, 8);
SPI_SELECT(bus.dev, device_desc.device, true);
SPI_EXCHANGE(bus.dev, send, recv, len);
if (!cs_forced) {
SPI_SELECT(bus.dev, device_desc.device, false);
}
SPI_LOCK(bus.dev, false);
perf_end(perf);
if (use_irq_save) {
irqrestore(state);
}
}
bool SPIDevice::transfer(const uint8_t *send, uint32_t send_len,
uint8_t *recv, uint32_t recv_len)
{
if (send_len == recv_len && send == recv) {
// simplest cases, needed for DMA
do_transfer(send, recv, recv_len);
return true;
}
uint8_t buf[send_len+recv_len];
if (send_len > 0) {
memcpy(buf, send, send_len);
}
if (recv_len > 0) {
memset(&buf[send_len], 0, recv_len);
}
do_transfer(buf, buf, send_len+recv_len);
if (recv_len > 0) {
memcpy(recv, &buf[send_len], recv_len);
}
return true;
}
bool SPIDevice::transfer_fullduplex(const uint8_t *send, uint8_t *recv, uint32_t len)
{
uint8_t buf[len];
memcpy(buf, send, len);
do_transfer(buf, buf, len);
memcpy(recv, buf, len);
return true;
}
AP_HAL::Semaphore *SPIDevice::get_semaphore()
{
return &bus.semaphore;
}
AP_HAL::Device::PeriodicHandle SPIDevice::register_periodic_callback(uint32_t period_usec, AP_HAL::Device::PeriodicCb cb)
{
return bus.register_periodic_callback(period_usec, cb, this);
}
bool SPIDevice::adjust_periodic_callback(AP_HAL::Device::PeriodicHandle h, uint32_t period_usec)
{
return bus.adjust_timer(h, period_usec);
}
/*
allow for control of SPI chip select pin
*/
bool SPIDevice::set_chip_select(bool set)
{
cs_forced = set;
SPI_SELECT(bus.dev, device_desc.device, set);
return true;
}
/*
return a SPIDevice given a string device name
*/
AP_HAL::OwnPtr<AP_HAL::SPIDevice>
SPIDeviceManager::get_device(const char *name)
{
/* Find the bus description in the table */
uint8_t i;
for (i = 0; device_table[i].name; i++) {
if (strcmp(device_table[i].name, name) == 0) {
break;
}
}
if (device_table[i].name == nullptr) {
printf("SPI: Invalid device name: %s\n", name);
return AP_HAL::OwnPtr<AP_HAL::SPIDevice>(nullptr);
}
SPIDesc &desc = device_table[i];
// find the bus
SPIBus *busp;
for (busp = buses; busp; busp = (SPIBus *)busp->next) {
if (busp->bus == desc.bus) {
break;
}
}
if (busp == nullptr) {
// create a new one
busp = new SPIBus;
if (busp == nullptr) {
return nullptr;
}
busp->next = buses;
busp->bus = desc.bus;
busp->dev = up_spiinitialize(desc.bus);
buses = busp;
}
return AP_HAL::OwnPtr<AP_HAL::SPIDevice>(new SPIDevice(*busp, desc));
}
}