[omap] start basic spi driver

totally untested...

sw/airborne/arch/omap/mcu_periph/spi_arch.c

@@ -0,0 +1,180 @@
+/*
+ * Copyright (C) 2014 Felix Ruess <felix.ruess@gmail.com>
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi 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 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi 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 paparazzi; see the file COPYING.  If not, see
+ * <http://www.gnu.org/licenses/>.
+ */
+
+/**
+ * @file arch/omap/mcu_periph/spi_arch.c
+ *
+ */
+
+#include <stdio.h>
+#include <unistd.h>
+#include <stdlib.h>
+#include <fcntl.h>
+#include <string.h>
+
+#include <sys/ioctl.h>
+#include <linux/spi/spidev.h>
+
+#include "mcu_periph/spi.h"
+
+
+void spi_init_slaves(void)
+{
+  /* for now we assume that each SPI device has it's SLAVE CS already set up
+   * e.g. in pin muxing of BBB
+   */
+}
+
+bool_t spi_submit(struct spi_periph* p, struct spi_transaction* t)
+{
+  int fd = (int)p->reg_addr;
+
+  struct spi_ioc_transfer xfer;
+  memset(&xfer, 0, sizeof xfer);
+
+  /* length in bytes of transaction */
+  uint8_t buf_len = Max(t->input_length, t->output_length);
+
+  /* handle transactions with different input/output length */
+  if (buf_len > t->output_length) {
+    uint8_t tx_buf[buf_len];
+    memset(tx_buf, 0, sizeof tx_buf);
+    /* copy bytes to transmit to larger buffer, rest filled with zero */
+    memcpy(tx_buf, (void*)t->output_buf, t->output_length);
+    xfer.tx_buf = (unsigned long)tx_buf;
+  }
+  else {
+    xfer.tx_buf = (unsigned long)t->output_buf;
+  }
+
+  if (buf_len > t->input_length) {
+    uint8_t rx_buf[buf_len];
+    memset(rx_buf, 0, sizeof rx_buf);
+    xfer.rx_buf = (unsigned long)rx_buf;
+  }
+  else {
+    xfer.rx_buf = (unsigned long)t->input_buf;
+  }
+
+  xfer.len = buf_len;
+  /* fixed speed of 1Mhz for now, use SPIClockDiv?? */
+  xfer.speed_hz = 1000000;
+  xfer.delay_usecs = 0;
+  if (t->dss == SPIDss16bit) {
+    xfer.bits_per_word = 16;
+  } else {
+    xfer.bits_per_word = 8;
+  }
+  if (t->select == SPISelectUnselect || t->select == SPIUnselect) {
+    xfer.cs_change = 1;
+  }
+
+  if (ioctl(fd, SPI_IOC_MESSAGE(1), xfer) < 0) {
+    t->status = SPITransFailed;
+    return FALSE;
+  }
+
+  /* copy recieved data if we had to use an extra rx_buffer */
+  if (buf_len > t->input_length) {
+    memcpy((void*)t->input_buf, (void*)xfer.rx_buf, t->input_length);
+  }
+
+  t->status = SPITransSuccess;
+  return TRUE;
+}
+
+bool_t spi_lock(struct spi_periph* p, uint8_t slave) {
+  // not implemented
+  return FALSE;
+}
+
+bool_t spi_resume(struct spi_periph* p, uint8_t slave) {
+  // not implemented
+  return FALSE;
+}
+
+
+#if USE_SPI0
+void spi0_arch_init(void)
+{
+  int fd = open("/dev/spidev1.0", O_RDWR);
+
+  if (fd < 0) {
+    perror("Could not open SPI device /dev/spidev1.0");
+    spi0.reg_addr = NULL;
+    return;
+  }
+  spi0.reg_addr = (void*)fd;
+
+  /* spi mode */
+  if (ioctl(fd, SPI_IOC_WR_MODE, (SPI_CPOL|SPI_CPHA)) < 0) {
+    perror("SPI0: can't set spi mode");
+  }
+
+  /* set to MSB first */
+  if (ioctl(fd, SPI_IOC_WR_LSB_FIRST, 0) < 0) {
+    perror("SPI0: can't set spi bit justification");
+  }
+
+  /* bits per word default to 8 */
+  if (ioctl(fd, SPI_IOC_WR_BITS_PER_WORD, 8) < 0) {
+    perror("SPI0: can't set bits per word");
+  }
+
+  /* max speed in hz, 1MHz for now */
+  if (ioctl(fd, SPI_IOC_WR_MAX_SPEED_HZ, 1000000) < 0) {
+    perror("SPI0: can't set max speed hz");
+  }
+}
+#endif /* USE_SPI0 */
+
+#if USE_SPI1
+void spi1_arch_init(void)
+{
+  int fd = open("/dev/spidev1.1", O_RDWR);
+
+  if (fd < 0) {
+    perror("Could not open SPI device /dev/spidev1.1");
+    spi1.reg_addr = NULL;
+    return;
+  }
+  spi1.reg_addr = (void*)fd;
+
+  /* spi mode */
+  if (ioctl(fd, SPI_IOC_WR_MODE, (SPI_CPOL|SPI_CPHA)) < 0) {
+    perror("SPI1: can't set spi mode");
+  }
+
+  /* set to MSB first */
+  if (ioctl(fd, SPI_IOC_WR_LSB_FIRST, 0) < 0) {
+    perror("SPI1: can't set spi bit justification");
+  }
+
+  /* bits per word default to 8 */
+  if (ioctl(fd, SPI_IOC_WR_BITS_PER_WORD, 8) < 0) {
+    perror("SPI1: can't set bits per word");
+  }
+
+  /* max speed in hz, 1MHz for now */
+  if (ioctl(fd, SPI_IOC_WR_MAX_SPEED_HZ, 1000000) < 0) {
+    perror("SPI1: can't set max speed hz");
+  }
+}
+#endif /* USE_SPI1 */

sw/airborne/arch/omap/mcu_periph/spi_arch.h

@@ -0,0 +1,30 @@
+/*
+ * Copyright (C) 2014 Felix Ruess <felix.ruess@gmail.com>
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi 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 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi 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 paparazzi; see the file COPYING.  If not, see
+ * <http://www.gnu.org/licenses/>.
+ */
+
+/**
+ * @file arch/omap/mcu_periph/spi_arch.h
+ * Handling of SPI hardware for Linux/OMAP.
+ */
+
+#ifndef SPI_ARCH_H
+#define SPI_ARCH_H
+
+
+#endif // SPI_ARCH_H