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105 lines
2.4 KiB
105 lines
2.4 KiB
#include <AP_HAL.h> |
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#if (CONFIG_HAL_BOARD == HAL_BOARD_APM1 || CONFIG_HAL_BOARD == HAL_BOARD_APM2) |
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#include <avr/io.h> |
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#include <AP_HAL.h> |
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#include "SPIDevices.h" |
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#include "GPIO.h" |
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#include "Semaphores.h" |
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#include "pins_arduino_mega.h" |
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using namespace AP_HAL_AVR; |
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extern const AP_HAL::HAL& hal; |
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#define SPI0_MISO_PIN 50 |
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#define SPI0_MOSI_PIN 51 |
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#define SPI0_SCK_PIN 52 |
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AVRSemaphore AVRSPI0DeviceDriver::_semaphore; |
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static volatile bool spi0_transferflag = false; |
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void AVRSPI0DeviceDriver::init() { |
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hal.gpio->pinMode(SPI0_MISO_PIN, GPIO_INPUT); |
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hal.gpio->pinMode(SPI0_MOSI_PIN, GPIO_OUTPUT); |
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hal.gpio->pinMode(SPI0_SCK_PIN, GPIO_OUTPUT); |
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_cs_pin->mode(GPIO_OUTPUT); |
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_cs_pin->write(1); |
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/* Enable the SPI0 peripheral as a master */ |
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SPCR = _BV(SPE) | _BV(MSTR); |
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} |
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AP_HAL::Semaphore* AVRSPI0DeviceDriver::get_semaphore() { |
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return &_semaphore; |
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} |
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inline void AVRSPI0DeviceDriver::_cs_assert() { |
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const uint8_t valid_spcr_mask = |
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(_BV(CPOL) | _BV(CPHA) | _BV(SPR1) | _BV(SPR0)); |
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uint8_t new_spcr = SPCR | (_spcr & valid_spcr_mask); |
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SPCR = new_spcr; |
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const uint8_t valid_spsr_mask = _BV(SPI2X); |
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uint8_t new_spsr = SPSR | (_spsr & valid_spsr_mask); |
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SPSR = new_spsr; |
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_cs_pin->write(0); |
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} |
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inline void AVRSPI0DeviceDriver::_cs_release() { |
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_cs_pin->write(1); |
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} |
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inline uint8_t AVRSPI0DeviceDriver::_transfer(uint8_t data) { |
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if (spi0_transferflag) { |
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hal.scheduler->panic(PSTR("PANIC: SPI0 transfer collision")); |
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} |
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spi0_transferflag = true; |
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SPDR = data; |
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if (SPSR & _BV(WCOL)) { |
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hal.scheduler->panic(PSTR("PANIC: SPI0 write collision")); |
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return 0; |
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} |
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while(!(SPSR & _BV(SPIF))); |
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uint8_t read_spdr = SPDR; |
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spi0_transferflag = false; |
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return read_spdr; |
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} |
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void AVRSPI0DeviceDriver::transfer(const uint8_t *tx, uint16_t len) { |
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for (uint16_t i = 0; i < len; i++) { |
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_transfer(tx[i]); |
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} |
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} |
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void AVRSPI0DeviceDriver::transaction(const uint8_t *tx, uint8_t *rx, |
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uint16_t len) { |
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_cs_assert(); |
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if (rx == NULL) { |
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for (uint16_t i = 0; i < len; i++) { |
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_transfer(tx[i]); |
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} |
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} else { |
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for (uint16_t i = 0; i < len; i++) { |
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rx[i] = _transfer(tx[i]); |
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} |
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} |
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_cs_release(); |
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} |
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void AVRSPI0DeviceDriver::cs_assert() { |
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_cs_assert(); |
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} |
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void AVRSPI0DeviceDriver::cs_release() { |
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_cs_release(); |
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} |
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uint8_t AVRSPI0DeviceDriver::transfer(uint8_t data) { |
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return _transfer(data); |
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} |
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#endif
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