From 162405479b89cb48eea0be802a2a1c227541e5b7 Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Mon, 20 May 2019 12:18:56 -0400
Subject: [PATCH] device drivers lib add linux spi support
---
boards/px4/sitl/default.cmake | 6 +-
boards/px4/sitl/rtps.cmake | 6 +-
boards/px4/sitl/test.cmake | 6 +-
platforms/posix/cmake/sitl_tests.cmake | 2 +-
src/lib/drivers/device/CMakeLists.txt | 4 +-
src/lib/drivers/device/posix/SPI.cpp | 198 +++++++++++++++++++++++++
src/lib/drivers/device/posix/SPI.hpp | 139 ++++++++++++++++-
src/systemcmds/tests/tests_main.c | 3 +-
8 files changed, 348 insertions(+), 16 deletions(-)
create mode 100644 src/lib/drivers/device/posix/SPI.cpp
diff --git a/boards/px4/sitl/default.cmake b/boards/px4/sitl/default.cmake
index c2fd0bfa09..9c01209b5b 100644
--- a/boards/px4/sitl/default.cmake
+++ b/boards/px4/sitl/default.cmake
@@ -8,10 +8,10 @@ px4_add_board(
DRIVERS
#barometer # all available barometer drivers
- batt_smbus
+ #batt_smbus
camera_trigger
- differential_pressure # all available differential pressure drivers
- distance_sensor # all available distance sensor drivers
+ #differential_pressure # all available differential pressure drivers
+ #distance_sensor # all available distance sensor drivers
gps
#imu # all available imu drivers
#magnetometer # all available magnetometer drivers
diff --git a/boards/px4/sitl/rtps.cmake b/boards/px4/sitl/rtps.cmake
index 266f0291b6..edb5bffaba 100644
--- a/boards/px4/sitl/rtps.cmake
+++ b/boards/px4/sitl/rtps.cmake
@@ -8,10 +8,10 @@ px4_add_board(
DRIVERS
#barometer # all available barometer drivers
- batt_smbus
+ #batt_smbus
camera_trigger
- differential_pressure # all available differential pressure drivers
- distance_sensor # all available distance sensor drivers
+ #differential_pressure # all available differential pressure drivers
+ #distance_sensor # all available distance sensor drivers
gps
#imu # all available imu drivers
#magnetometer # all available magnetometer drivers
diff --git a/boards/px4/sitl/test.cmake b/boards/px4/sitl/test.cmake
index 3918af8166..ebf7e878e7 100644
--- a/boards/px4/sitl/test.cmake
+++ b/boards/px4/sitl/test.cmake
@@ -8,10 +8,10 @@ px4_add_board(
DRIVERS
#barometer # all available barometer drivers
- batt_smbus
+ #batt_smbus
camera_trigger
- differential_pressure # all available differential pressure drivers
- distance_sensor # all available distance sensor drivers
+ #differential_pressure # all available differential pressure drivers
+ #distance_sensor # all available distance sensor drivers
gps
#imu # all available imu drivers
#magnetometer # all available magnetometer drivers
diff --git a/platforms/posix/cmake/sitl_tests.cmake b/platforms/posix/cmake/sitl_tests.cmake
index dcba66cb86..a0cef81b26 100644
--- a/platforms/posix/cmake/sitl_tests.cmake
+++ b/platforms/posix/cmake/sitl_tests.cmake
@@ -32,7 +32,7 @@ set(tests
rc
search_min
servo
- sf0x
+ #sf0x
sleep
uorb
versioning
diff --git a/src/lib/drivers/device/CMakeLists.txt b/src/lib/drivers/device/CMakeLists.txt
index e6dca23d79..5162cb39ab 100644
--- a/src/lib/drivers/device/CMakeLists.txt
+++ b/src/lib/drivers/device/CMakeLists.txt
@@ -40,9 +40,11 @@ if (${PX4_PLATFORM} STREQUAL "nuttx")
if ("${CONFIG_SPI}" STREQUAL "y")
list(APPEND SRCS_PLATFORM nuttx/SPI.cpp)
endif()
-else()
+elseif(UNIX AND NOT APPLE AND NOT (${PX4_PLATFORM} MATCHES "qurt")) #TODO: add linux PX4 platform type
+ # Linux I2Cdev and SPIdev
list(APPEND SRCS_PLATFORM
posix/I2C.cpp
+ posix/SPI.cpp
)
endif()
diff --git a/src/lib/drivers/device/posix/SPI.cpp b/src/lib/drivers/device/posix/SPI.cpp
new file mode 100644
index 0000000000..9c021d03e6
--- /dev/null
+++ b/src/lib/drivers/device/posix/SPI.cpp
@@ -0,0 +1,198 @@
+/****************************************************************************
+ *
+ * Copyright (C) 2019 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in
+ * the documentation and/or other materials provided with the
+ * distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ * used to endorse or promote products derived from this software
+ * without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file SPI.cpp
+ *
+ * Base class for devices connected via SPI.
+ *
+ */
+
+#include "SPI.hpp"
+
+#ifdef __PX4_LINUX
+
+#include <fcntl.h>
+#include <unistd.h>
+#include <sys/ioctl.h>
+#include <linux/types.h>
+#include <linux/spi/spidev.h>
+
+#include <px4_config.h>
+
+namespace device
+{
+
+SPI::SPI(const char *name, const char *devname, int bus, uint32_t device, enum spi_mode_e mode, uint32_t frequency) :
+ CDev(name, devname),
+ _device(device),
+ _mode(mode),
+ _frequency(frequency)
+{
+ DEVICE_DEBUG("SPI::SPI name = %s devname = %s", name, devname);
+
+ // fill in _device_id fields for a SPI device
+ _device_id.devid_s.bus_type = DeviceBusType_SPI;
+ _device_id.devid_s.bus = bus;
+ _device_id.devid_s.address = (uint8_t)device;
+ // devtype needs to be filled in by the driver
+ _device_id.devid_s.devtype = 0;
+}
+
+SPI::~SPI()
+{
+ if (_fd >= 0) {
+ ::close(_fd);
+ _fd = -1;
+ }
+}
+
+int
+SPI::init()
+{
+ int ret = OK;
+
+ // Open the actual SPI device
+ char dev_path[16];
+ snprintf(dev_path, sizeof(dev_path), "/dev/spidev%i.%i", get_device_bus(), PX4_SPI_DEV_ID(_device));
+ DEVICE_DEBUG("%s", dev_path);
+ _fd = ::open(dev_path, O_RDWR);
+
+ if (_fd < 0) {
+ PX4_ERR("could not open %s", dev_path);
+ return PX4_ERROR;
+ }
+
+ /* call the probe function to check whether the device is present */
+ ret = probe();
+
+ if (ret != OK) {
+ DEVICE_DEBUG("probe failed");
+ return ret;
+ }
+
+ /* do base class init, which will create the device node, etc. */
+ ret = CDev::init();
+
+ if (ret != OK) {
+ DEVICE_DEBUG("cdev init failed");
+ return ret;
+ }
+
+ /* tell the workd where we are */
+ DEVICE_LOG("on SPI bus %d at %d (%u KHz)", get_device_bus(), PX4_SPI_DEV_ID(_device), _frequency / 1000);
+
+ return PX4_OK;
+}
+
+int
+SPI::transfer(uint8_t *send, uint8_t *recv, unsigned len)
+{
+ if ((send == nullptr) && (recv == nullptr)) {
+ return -EINVAL;
+ }
+
+ // set write mode of SPI
+ int result = ::ioctl(_fd, SPI_IOC_WR_MODE, &_mode);
+
+ if (result == -1) {
+ PX4_ERR("can’t set spi mode");
+ return PX4_ERROR;
+ }
+
+ spi_ioc_transfer spi_transfer[1] {}; // datastructures for linux spi interface
+
+ spi_transfer[0].tx_buf = (uint64_t)send;
+ spi_transfer[0].rx_buf = (uint64_t)recv;
+ spi_transfer[0].len = len;
+ spi_transfer[0].speed_hz = _frequency;
+ spi_transfer[0].bits_per_word = 8;
+ //spi_transfer[0].delay_usecs = 10;
+ spi_transfer[0].cs_change = true;
+
+ result = ::ioctl(_fd, SPI_IOC_MESSAGE(1), &spi_transfer);
+
+ if (result != (int)len) {
+ PX4_ERR("write failed. Reported %d bytes written (%s)", result, strerror(errno));
+ return -1;
+ }
+
+ return 0;
+}
+
+int
+SPI::transferhword(uint16_t *send, uint16_t *recv, unsigned len)
+{
+ if ((send == nullptr) && (recv == nullptr)) {
+ return -EINVAL;
+ }
+
+ // set write mode of SPI
+ int result = ::ioctl(_fd, SPI_IOC_WR_MODE, &_mode);
+
+ if (result == -1) {
+ PX4_ERR("can’t set spi mode");
+ return PX4_ERROR;
+ }
+
+ int bits = 16;
+ result = ::ioctl(_fd, SPI_IOC_WR_BITS_PER_WORD, &bits);
+
+ if (result == -1) {
+ PX4_ERR("can’t set 16 bit spi mode");
+ return PX4_ERROR;
+ }
+
+ spi_ioc_transfer spi_transfer[1] {}; // datastructures for linux spi interface
+
+ spi_transfer[0].tx_buf = (uint64_t)send;
+ spi_transfer[0].rx_buf = (uint64_t)recv;
+ spi_transfer[0].len = len * 2;
+ spi_transfer[0].speed_hz = _frequency;
+ //spi_transfer[0].bits_per_word = 8;
+ //spi_transfer[0].delay_usecs = 10;
+ spi_transfer[0].cs_change = true;
+
+ result = ::ioctl(_fd, SPI_IOC_MESSAGE(1), &spi_transfer);
+
+ if (result != (int)(len * 2)) {
+ PX4_ERR("write failed. Reported %d bytes written (%s)", result, strerror(errno));
+ return -1;
+ }
+
+ return 0;
+}
+
+} // namespace device
+
+#endif // __PX4_LINUX
diff --git a/src/lib/drivers/device/posix/SPI.hpp b/src/lib/drivers/device/posix/SPI.hpp
index cf9260a987..6ce5825fc4 100644
--- a/src/lib/drivers/device/posix/SPI.hpp
+++ b/src/lib/drivers/device/posix/SPI.hpp
@@ -1,6 +1,6 @@
/****************************************************************************
*
- * Copyright (C) 2017 PX4 Development Team. All rights reserved.
+ * Copyright (C) 2019 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -32,7 +32,7 @@
****************************************************************************/
/**
- * @file spi.h
+ * @file SPI.hpp
*
* Base class for devices connected via SPI.
*/
@@ -40,13 +40,144 @@
#ifndef _DEVICE_SPI_H
#define _DEVICE_SPI_H
-#include "CDev.hpp"
+#include "../CDev.hpp"
+
+#ifdef __PX4_LINUX
+
+#include <fcntl.h>
+#include <unistd.h>
+#include <sys/ioctl.h>
+#include <linux/types.h>
+#include <linux/spi/spidev.h>
+
+enum spi_mode_e {
+ SPIDEV_MODE0 = SPI_MODE_0, /* CPOL=0 CHPHA=0 */
+ SPIDEV_MODE1 = SPI_MODE_1, /* CPOL=0 CHPHA=1 */
+ SPIDEV_MODE2 = SPI_MODE_2, /* CPOL=1 CHPHA=0 */
+ SPIDEV_MODE3 = SPI_MODE_3 /* CPOL=1 CHPHA=1 */
+};
namespace device __EXPORT
{
-// TODO: implement posix spi
+/**
+ * Abstract class for character device on SPI
+ */
+class __EXPORT SPI : public CDev
+{
+protected:
+ /**
+ * Constructor
+ *
+ * @param name Driver name
+ * @param devname Device node name
+ * @param bus SPI bus on which the device lives
+ * @param device Device handle (used by SPI_SELECT)
+ * @param mode SPI clock/data mode
+ * @param frequency SPI clock frequency
+ */
+ SPI(const char *name, const char *devname, int bus, uint32_t device, enum spi_mode_e mode, uint32_t frequency);
+ virtual ~SPI();
+
+ /**
+ * Locking modes supported by the driver.
+ */
+ enum LockMode {
+ LOCK_PREEMPTION, /**< the default; lock against all forms of preemption. */
+ LOCK_THREADS, /**< lock only against other threads, using SPI_LOCK */
+ LOCK_NONE /**< perform no locking, only safe if the bus is entirely private */
+ };
+
+ virtual int init();
+
+ /**
+ * Check for the presence of the device on the bus.
+ */
+ virtual int probe() { return PX4_OK; }
+
+ /**
+ * Perform a SPI transfer.
+ *
+ * If called from interrupt context, this interface does not lock
+ * the bus and may interfere with non-interrupt-context callers.
+ *
+ * Clients in a mixed interrupt/non-interrupt configuration must
+ * ensure appropriate interlocking.
+ *
+ * At least one of send or recv must be non-null.
+ *
+ * @param send Bytes to send to the device, or nullptr if
+ * no data is to be sent.
+ * @param recv Buffer for receiving bytes from the device,
+ * or nullptr if no bytes are to be received.
+ * @param len Number of bytes to transfer.
+ * @return OK if the exchange was successful, -errno
+ * otherwise.
+ */
+ int transfer(uint8_t *send, uint8_t *recv, unsigned len);
+
+ /**
+ * Perform a SPI 16 bit transfer.
+ *
+ * If called from interrupt context, this interface does not lock
+ * the bus and may interfere with non-interrupt-context callers.
+ *
+ * Clients in a mixed interrupt/non-interrupt configuration must
+ * ensure appropriate interlocking.
+ *
+ * At least one of send or recv must be non-null.
+ *
+ * @param send Words to send to the device, or nullptr if
+ * no data is to be sent.
+ * @param recv Words for receiving bytes from the device,
+ * or nullptr if no bytes are to be received.
+ * @param len Number of words to transfer.
+ * @return OK if the exchange was successful, -errno
+ * otherwise.
+ */
+ int transferhword(uint16_t *send, uint16_t *recv, unsigned len);
+
+ /**
+ * Set the SPI bus frequency
+ * This is used to change frequency on the fly. Some sensors
+ * (such as the MPU6000) need a lower frequency for setup
+ * registers and can handle higher frequency for sensor
+ * value registers
+ *
+ * @param frequency Frequency to set (Hz)
+ */
+ void set_frequency(uint32_t frequency) { _frequency = frequency; }
+ uint32_t get_frequency() { return _frequency; }
+
+ /**
+ * Set the SPI bus locking mode
+ *
+ * This set the SPI locking mode. For devices competing with NuttX SPI
+ * drivers on a bus the right lock mode is LOCK_THREADS.
+ *
+ * @param mode Locking mode
+ */
+ void set_lockmode(enum LockMode mode) {}
+
+private:
+ int _fd{-1};
+
+ uint32_t _device;
+ enum spi_mode_e _mode;
+ uint32_t _frequency;
+
+ /* this class does not allow copying */
+ SPI(const SPI &);
+ SPI operator=(const SPI &);
+
+protected:
+
+ bool external() { return px4_spi_bus_external(get_device_bus()); }
+
+};
} // namespace device
+#endif // __PX4_LINUX
+
#endif /* _DEVICE_SPI_H */
diff --git a/src/systemcmds/tests/tests_main.c b/src/systemcmds/tests/tests_main.c
index 14cf01836b..becf7becad 100644
--- a/src/systemcmds/tests/tests_main.c
+++ b/src/systemcmds/tests/tests_main.c
@@ -128,8 +128,9 @@ const struct {
{"controllib", controllib_test_main, 0},
#ifndef __PX4_NUTTX
{"mavlink", mavlink_tests_main, 0},
-#endif
+#else
{"sf0x", sf0x_tests_main, 0},
+#endif
{"uorb", uorb_tests_main, 0},
{NULL, NULL, 0}
--
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