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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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242 lines
7.6 KiB
C
242 lines
7.6 KiB
C
/****************************************************************************
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*
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* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file px4same70xplained_spi.c
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*
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* Board-specific SPI functions.
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*/
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/************************************************************************************
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* Included Files
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************************************************************************************/
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#include <px4_config.h>
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#include <stdint.h>
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#include <stdbool.h>
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#include <debug.h>
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#include <nuttx/spi/spi.h>
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#include <arch/board/board.h>
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#include <up_arch.h>
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#include <chip.h>
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#include <sam_spi.h>
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#include <sam_gpio.h>
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#include "board_config.h"
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/************************************************************************************
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* Public Functions
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************************************************************************************/
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/************************************************************************************
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* Name: boad_spi_initialize
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*
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* Description:
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* Called to configure SPI chip select GPIO pins for the PX4_SAME70XPLAINED_V1 board.
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*
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************************************************************************************/
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__EXPORT void board_spi_initialize(void)
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{
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#ifdef CONFIG_SAMV7_SPI0_MASTER
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sam_configgpio(GPIO_SPI_CS_GYRO);
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sam_configgpio(GPIO_SPI_CS_ACCEL_MAG);
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sam_configgpio(GPIO_SPI_CS_BARO);
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sam_configgpio(GPIO_SPI_CS_MPU);
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/* De-activate all peripherals,
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* required for some peripheral
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* state machines
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*/
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sam_gpiowrite(GPIO_SPI_CS_GYRO, 1);
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sam_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
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sam_gpiowrite(GPIO_SPI_CS_BARO, 1);
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sam_gpiowrite(GPIO_SPI_CS_MPU, 1);
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sam_configgpio(GPIO_EXTI_GYRO_DRDY);
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sam_configgpio(GPIO_EXTI_MAG_DRDY);
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sam_configgpio(GPIO_EXTI_ACCEL_DRDY);
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sam_configgpio(GPIO_EXTI_MPU_DRDY);
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#endif
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#ifdef CONFIG_SAMV7_SPI1_MASTER
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sam_configgpio(GPIO_SPI_CS_EXT0);
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sam_configgpio(GPIO_SPI_CS_EXT1);
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sam_configgpio(GPIO_SPI_CS_EXT2);
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sam_configgpio(GPIO_SPI_CS_EXT3);
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sam_gpiowrite(GPIO_SPI_CS_EXT0, 1);
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sam_gpiowrite(GPIO_SPI_CS_EXT1, 1);
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sam_gpiowrite(GPIO_SPI_CS_EXT2, 1);
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sam_gpiowrite(GPIO_SPI_CS_EXT3, 1);
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#endif
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}
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/****************************************************************************
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* Name: sam_spi[0|1]select
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*
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* Description:
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* PIO chip select pins may be programmed by the board specific logic in
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* one of two different ways. First, the pins may be programmed as SPI
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* peripherals. In that case, the pins are completely controlled by the
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* SPI driver. This method still needs to be provided, but it may be only
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* a stub.
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*
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* An alternative way to program the PIO chip select pins is as a normal
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* PIO output. In that case, the automatic control of the CS pins is
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* bypassed and this function must provide control of the chip select.
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* NOTE: In this case, the PIO output pin does *not* have to be the
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* same as the NPCS pin normal associated with the chip select number.
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*
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* Input Parameters:
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* devid - Identifies the (logical) device
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* selected - TRUE:Select the device, FALSE:De-select the device
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*
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* Returned Values:
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* None
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*
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****************************************************************************/
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#ifdef CONFIG_SAMV7_SPI0_MASTER
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void sam_spi0select(uint32_t devid, bool selected)
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{
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switch (devid) {
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case PX4_SPIDEV_GYRO:
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/* Making sure the other peripherals are not selected */
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sam_gpiowrite(GPIO_SPI_CS_GYRO, !selected);
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sam_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
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sam_gpiowrite(GPIO_SPI_CS_BARO, 1);
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sam_gpiowrite(GPIO_SPI_CS_MPU, 1);
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break;
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case PX4_SPIDEV_ACCEL_MAG:
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/* Making sure the other peripherals are not selected */
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sam_gpiowrite(GPIO_SPI_CS_GYRO, 1);
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sam_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, !selected);
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sam_gpiowrite(GPIO_SPI_CS_BARO, 1);
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sam_gpiowrite(GPIO_SPI_CS_MPU, 1);
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break;
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case PX4_SPIDEV_BARO:
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/* Making sure the other peripherals are not selected */
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sam_gpiowrite(GPIO_SPI_CS_GYRO, 1);
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sam_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
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sam_gpiowrite(GPIO_SPI_CS_BARO, !selected);
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sam_gpiowrite(GPIO_SPI_CS_MPU, 1);
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break;
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case PX4_SPIDEV_MPU:
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/* Making sure the other peripherals are not selected */
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sam_gpiowrite(GPIO_SPI_CS_GYRO, 1);
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sam_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
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sam_gpiowrite(GPIO_SPI_CS_BARO, 1);
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sam_gpiowrite(GPIO_SPI_CS_MPU, !selected);
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break;
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default:
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break;
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}
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}
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#endif
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#ifdef CONFIG_SAMV7_SPI1_MASTER
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void sam_spi1select(uint32_t devid, bool selected)
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{
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switch (devid) {
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case PX4_SPIDEV_EXT0:
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/* Making sure the other peripherals are not selected */
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sam_gpiowrite(GPIO_SPI_CS_EXT0, !selected);
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sam_gpiowrite(GPIO_SPI_CS_EXT1, 1);
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sam_gpiowrite(GPIO_SPI_CS_EXT2, 1);
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sam_gpiowrite(GPIO_SPI_CS_EXT3, 1);
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break;
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case PX4_SPIDEV_EXT1:
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/* Making sure the other peripherals are not selected */
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sam_gpiowrite(GPIO_SPI_CS_EXT0, 1);
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sam_gpiowrite(GPIO_SPI_CS_EXT1, !selected);
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sam_gpiowrite(GPIO_SPI_CS_EXT2, 1);
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sam_gpiowrite(GPIO_SPI_CS_EXT3, 1);
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break;
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case PX4_SPIDEV_EXT2:
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/* Making sure the other peripherals are not selected */
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sam_gpiowrite(GPIO_SPI_CS_EXT0, 1);
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sam_gpiowrite(GPIO_SPI_CS_EXT1, 1);
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sam_gpiowrite(GPIO_SPI_CS_EXT2, !selected);
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sam_gpiowrite(GPIO_SPI_CS_EXT3, 1);
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break;
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case PX4_SPIDEV_EXT3:
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/* Making sure the other peripherals are not selected */
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sam_gpiowrite(GPIO_SPI_CS_EXT0, 1);
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sam_gpiowrite(GPIO_SPI_CS_EXT1, 1);
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sam_gpiowrite(GPIO_SPI_CS_EXT2, 1);
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sam_gpiowrite(GPIO_SPI_CS_EXT3, !selected);
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break;
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default:
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break;
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}
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}
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#endif
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/****************************************************************************
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* Name: sam_spi[0|1]status
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*
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* Description:
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* Return status information associated with the SPI device.
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*
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* Input Parameters:
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* devid - Identifies the (logical) device
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*
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* Returned Values:
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* Bit-encoded SPI status (see include/nuttx/spi/spi.h.
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*
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****************************************************************************/
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#ifdef CONFIG_SAMV7_SPI0_MASTER
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uint8_t sam_spi0status(FAR struct spi_dev_s *dev, uint32_t devid)
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{
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return SPI_STATUS_PRESENT;
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}
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#endif
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#ifdef CONFIG_SAMV7_SPI1_MASTER
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uint8_t sam_spi1status(FAR struct spi_dev_s *dev, uint32_t devid)
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{
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return SPI_STATUS_PRESENT;
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}
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#endif
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