[mcu_spi] mcu_spi link for classix using new slave mode

It should compile, not sure it actually works...
KevinC1 · Nov 9, 2012 · 3dd4353 · 3dd4353
1 parent 3c97058
commit 3dd4353
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Showing 10 changed files with 84 additions and 35 deletions.
diff --git a/conf/firmwares/subsystems/fixedwing/intermcu_spi.makefile b/conf/firmwares/subsystems/fixedwing/intermcu_spi.makefile
@@ -2,10 +2,17 @@
 
 # InterMCU type SPI
 
+ifeq ($(INTER_MCU_SPI),)
+INTER_MCU_SPI = SPI1
+endif
 
-fbw.CFLAGS 		+= -DMCU_SPI_LINK -DUSE_SPI -DSPI_SLAVE
-fbw.srcs 		+= $(SRC_FIXEDWING)/link_mcu_spi.c mcu_periph/spi.c $(SRC_ARCH)/mcu_periph/spi_arch.c
-ap_srcs			+= $(SRC_FIRMWARE)/fbw_downlink.c
-ap.CFLAGS 		+= -DMCU_SPI_LINK -DUSE_SPI -DSPI_MASTER -DUSE_SPI_SLAVE0
-ap.srcs 		+= $(SRC_FIXEDWING)/link_mcu_spi.c mcu_periph/spi.c $(SRC_ARCH)/mcu_periph/spi_arch.c
-SEPARATE_FBW		= 1
+ifeq ($(INTER_MCU_SLAVE),)
+INTER_MCU_SLAVE = SLAVE0
+endif
+
+fbw.CFLAGS  += -DMCU_SPI_LINK -DUSE_$(INTER_MCU_SPI)_SLAVE -DSPI_SLAVE
+fbw.srcs    += $(SRC_FIXEDWING)/link_mcu_spi.c mcu_periph/spi.c $(SRC_ARCH)/mcu_periph/spi_arch.c
+ap_srcs     += $(SRC_FIRMWARE)/fbw_downlink.c
+ap.CFLAGS   += -DMCU_SPI_LINK -DUSE_$(INTER_MCU_SPI) -DSPI_MASTER -DUSE_SPI_$(INTER_MCU_SLAVE)
+ap.srcs     += $(SRC_FIXEDWING)/link_mcu_spi.c mcu_periph/spi.c $(SRC_ARCH)/mcu_periph/spi_arch.c
+SEPARATE_FBW    = 1
diff --git a/conf/tests_conf.xml b/conf/tests_conf.xml
@@ -186,7 +186,7 @@
    settings=" settings/fixedwing_basic.xml settings/control/ctl_basic.xml settings/estimation/ins_neutrals.xml settings/control/tune_agr_climb.xml settings/modules/dc.xml"
    gui_color="blue"
   />
-  <!--aircraft
+  <aircraft
    name="Classix_XSens"
    ac_id="33"
    airframe="airframes/CDW/classix.xml"
@@ -195,7 +195,7 @@
    flight_plan="flight_plans/versatile.xml"
    settings=" settings/fixedwing_basic.xml settings/control/ctl_basic.xml settings/modules/photogrammetry_calculator.xml settings/modules/dc.xml"
    gui_color="blue"
-  /-->
+  />
   <aircraft
    name="tiny2_chimu_spi"
    ac_id="22"

diff --git a/sw/airborne/boards/classix_1.0.h b/sw/airborne/boards/classix_1.0.h
@@ -76,6 +76,9 @@
 
 #define SPI_SELECT_SLAVE0_PORT 0
 #define SPI_SELECT_SLAVE0_PIN 20
+#define SPI_SELECT_SLAVE0_PINSEL PINSEL1
+#define SPI_SELECT_SLAVE0_PINSEL_BIT 8
+#define SPI_SELECT_SLAVE0_PINSEL_VAL 0
 
 #ifndef SITL
 /* sitl handles this board as a mono-processor one: unfortunately these

diff --git a/sw/airborne/boards/tiny_2.0.h b/sw/airborne/boards/tiny_2.0.h
@@ -156,5 +156,8 @@
 
 #define SPI_SELECT_SLAVE0_PORT 0
 #define SPI_SELECT_SLAVE0_PIN 20
+#define SPI_SELECT_SLAVE0_PINSEL PINSEL1
+#define SPI_SELECT_SLAVE0_PINSEL_BIT 8
+#define SPI_SELECT_SLAVE0_PINSEL_VAL 0
 
 #endif /* CONFIG_TINY_H */
diff --git a/sw/airborne/boards/tiny_2.1.h b/sw/airborne/boards/tiny_2.1.h
@@ -191,6 +191,9 @@
 
 #define SPI_SELECT_SLAVE0_PORT 0
 #define SPI_SELECT_SLAVE0_PIN 20
+#define SPI_SELECT_SLAVE0_PINSEL PINSEL1
+#define SPI_SELECT_SLAVE0_PINSEL_BIT 8
+#define SPI_SELECT_SLAVE0_PINSEL_VAL 0
 
 #define SPI1_DRDY_PINSEL PINSEL1
 #define SPI1_DRDY_PINSEL_BIT   0

diff --git a/sw/airborne/boards/umarim_1.0.h b/sw/airborne/boards/umarim_1.0.h
@@ -104,6 +104,9 @@
 /* SPI (SSP) */
 #define SPI_SELECT_SLAVE0_PORT 0
 #define SPI_SELECT_SLAVE0_PIN 20
+#define SPI_SELECT_SLAVE0_PINSEL PINSEL1
+#define SPI_SELECT_SLAVE0_PINSEL_BIT 8
+#define SPI_SELECT_SLAVE0_PINSEL_VAL 0
 
 #define SPI1_DRDY_PINSEL PINSEL1
 #define SPI1_DRDY_PINSEL_BIT   0

diff --git a/sw/airborne/boards/umarim_lite_2.0.h b/sw/airborne/boards/umarim_lite_2.0.h
@@ -104,6 +104,9 @@
 /* SPI (SSP) */
 #define SPI_SELECT_SLAVE0_PORT 0
 #define SPI_SELECT_SLAVE0_PIN 20
+#define SPI_SELECT_SLAVE0_PINSEL PINSEL1
+#define SPI_SELECT_SLAVE0_PINSEL_BIT 8
+#define SPI_SELECT_SLAVE0_PINSEL_VAL 0
 
 #define SPI1_DRDY_PINSEL PINSEL1
 #define SPI1_DRDY_PINSEL_BIT   0

diff --git a/sw/airborne/firmwares/fixedwing/main_fbw.c b/sw/airborne/firmwares/fixedwing/main_fbw.c
@@ -99,6 +99,7 @@ void init_fbw( void ) {
   inter_mcu_init();
 #endif
 #ifdef MCU_SPI_LINK
+  link_mcu_init();
   link_mcu_restart();
 #endif
 

diff --git a/sw/airborne/link_mcu_spi.c b/sw/airborne/link_mcu_spi.c
@@ -23,11 +23,16 @@
  */
 
 #include "link_mcu_spi.h"
-#include "mcu_periph/spi.h"
+
+#ifndef LINK_MCU_SPI_DEV
+#define LINK_MCU_SPI_DEV spi1
+#endif
 
 struct link_mcu_msg link_mcu_from_ap_msg;
 struct link_mcu_msg link_mcu_from_fbw_msg;
 
+struct spi_transaction link_mcu_trans;
+
 bool_t link_mcu_received;
 
 static uint16_t crc = 0;
@@ -46,20 +51,30 @@ static uint16_t crc = 0;
 
 #ifdef FBW
 
+void link_mcu_init(void) {
+
+  link_mcu_trans.cpol = SPICpolIdleLow;
+  link_mcu_trans.cpha = SPICphaEdge2;
+  link_mcu_trans.dss = SPIDss8bit;
+  link_mcu_trans.input_buf = (uint8_t*)&link_mcu_from_ap_msg;
+  link_mcu_trans.output_buf = (uint8_t*)&link_mcu_from_fbw_msg;
+  link_mcu_trans.input_length = LINK_MCU_FRAME_LENGTH;
+  link_mcu_trans.output_length = LINK_MCU_FRAME_LENGTH;
+  spi_slave_register(&(LINK_MCU_SPI_DEV), &link_mcu_trans);
+}
+
 void link_mcu_restart(void) {
   ComputeChecksum(link_mcu_from_fbw_msg);
   link_mcu_from_fbw_msg.checksum = crc;
 
-  spi_buffer_input = (uint8_t*)&link_mcu_from_ap_msg;
-  spi_buffer_output = (uint8_t*)&link_mcu_from_fbw_msg;
-  spi_buffer_length = LINK_MCU_FRAME_LENGTH;
-  SpiStart();
+  // wait for the next transaction
+  spi_slave_wait(&(LINK_MCU_SPI_DEV));
 }
 
 void link_mcu_event_task( void ) {
-  if (spi_message_received) {
+  if (link_mcu_trans.status == SPITransSuccess) {
     /* Got a message on SPI. */
-    spi_message_received = FALSE;
+    link_mcu_trans.status = SPITransDone;
 
     /* A message has been received */
     ComputeChecksum(link_mcu_from_ap_msg);
@@ -69,6 +84,11 @@ void link_mcu_event_task( void ) {
     else
       fbw_state->nb_err++;
   }
+  if (link_mcu_trans.status == SPITransFailed) {
+    link_mcu_trans.status = SPITransDone;
+    link_mcu_received = TRUE;
+    fbw_state->nb_err++;
+  }
 }
 
 #endif /* FBW */
@@ -78,40 +98,50 @@ void link_mcu_event_task( void ) {
 /*****************************************************************************/
 #ifdef AP
 
+#ifndef LINK_MCU_SLAVE_IDX
+#define LINK_MCU_SLAVE_IDX SPI_SLAVE0
+#endif
+
 uint8_t link_mcu_nb_err;
 uint8_t link_mcu_fbw_nb_err;
 
 void link_mcu_init(void) {
   link_mcu_nb_err = 0;
+
+  link_mcu_trans.cpol = SPICpolIdleLow;
+  link_mcu_trans.cpha = SPICphaEdge2;
+  link_mcu_trans.dss = SPIDss8bit;
+  link_mcu_trans.select = SPISelectUnselect;
+  link_mcu_trans.slave_idx = LINK_MCU_SLAVE_IDX;
+  link_mcu_trans.input_buf = (uint8_t*)&link_mcu_from_fbw_msg;
+  link_mcu_trans.output_buf = (uint8_t*)&link_mcu_from_ap_msg;
+  link_mcu_trans.input_length = LINK_MCU_FRAME_LENGTH;
+  link_mcu_trans.output_length = LINK_MCU_FRAME_LENGTH;
 }
 
 void link_mcu_send(void) {
 
-  if (!SpiCheckAvailable()) {
-    SpiOverRun();
-    return;
-  }
-
   ComputeChecksum(link_mcu_from_ap_msg);
   link_mcu_from_ap_msg.checksum = crc;
-  spi_buffer_input = (uint8_t*)&link_mcu_from_fbw_msg;
-  spi_buffer_output = (uint8_t*)&link_mcu_from_ap_msg;
-  spi_buffer_length = LINK_MCU_FRAME_LENGTH;
-  SpiSelectSlave0();
-  SpiStart();
+  spi_submit(&(LINK_MCU_SPI_DEV), &link_mcu_trans);
 }
 
 void link_mcu_event_task( void ) {
-  if (spi_message_received) {
+  if (link_mcu_trans.status == SPITransSuccess) {
     /* Got a message on SPI. */
-    spi_message_received = FALSE;
+    link_mcu_trans.status = SPITransDone;
     /* A message has been received */
     ComputeChecksum(link_mcu_from_fbw_msg);
     if (link_mcu_from_fbw_msg.checksum == crc)
       inter_mcu_received_fbw = TRUE;
     else
       link_mcu_nb_err++;
   }
+  if (link_mcu_trans.status == SPITransFailed) {
+    link_mcu_trans.status = SPITransDone;
+    link_mcu_received = TRUE;
+    link_mcu_nb_err++;
+  }
 }
 
 #endif /* AP */
diff --git a/sw/airborne/link_mcu_spi.h b/sw/airborne/link_mcu_spi.h
@@ -31,6 +31,7 @@
 
 #include <inttypes.h>
 #include "inter_mcu.h"
+#include "mcu_periph/spi.h"
 
 #ifndef SITL
 #include "link_mcu_hw.h"
@@ -47,26 +48,21 @@ struct link_mcu_msg {
 extern struct link_mcu_msg link_mcu_from_ap_msg;
 extern struct link_mcu_msg link_mcu_from_fbw_msg;
 
+extern struct spi_transaction link_mcu_trans;
+
 extern bool_t link_mcu_received;
 
+extern void link_mcu_init(void);
 extern void link_mcu_event_task( void );
 
-#if defined MCU_SPI_LINK && !USE_SPI
-#define USE_SPI 1
-#endif
-
-
 #ifdef FBW
-#define SPI_SLAVE 1
 extern void link_mcu_restart(void);
 #endif /* FBW */
 
 #ifdef AP
-#define SPI_MASTER 1
 extern uint8_t link_mcu_nb_err;
 extern uint8_t link_mcu_fbw_nb_err;
 
-extern void link_mcu_init(void);
 extern void link_mcu_send(void);
 #endif /* AP */