/**
* Init function.
*/
int lsm303_init(SPIDriver *spip) {
uint8_t who_am_i;
// FIXME: interrupt lines will be rearranged!
spiAcquireBus(spip);
who_am_i = lsm303dReadRegister(spip, LSM303D_WHO_AM_I);
if (who_am_i != 0x49) {
spiReleaseBus(spip);
return -1;
}
lsm303dWriteRegister(spip, LSM303D_CTRL0, 0x00);
lsm303dWriteRegister(spip, LSM303D_CTRL2, 0x40); // 194Hz anti-alias filter BW
lsm303dWriteRegister(spip, LSM303D_CTRL3, 0x04); // Acc data-ready on INT1
lsm303dWriteRegister(spip, LSM303D_CTRL4, 0x04); // Mag data-ready on INT2
lsm303dWriteRegister(spip, LSM303D_CTRL5, 0xF4); // Temp sensor enabled, magnetometer high-res, Mag 100Hz
lsm303dWriteRegister(spip, LSM303D_CTRL6, 0x00); // Mag FS ±2 gauss
lsm303dWriteRegister(spip, LSM303D_CTRL7, 0x00);
lsm303dWriteRegister(spip, LSM303D_CTRL1, 0x67); // Acc 100Hz, axes enabled, no data update until MSB and LSB read
spiReleaseBus(spip);
chThdSleepMilliseconds(250);
return 0;
}
static msg_t set_full_scale(void *ip, lis302dl_fs_t fs) {
float newfs, scale;
uint8_t i, cr;
if(fs == LIS302DL_FS_2G) {
newfs = LIS302DL_2G;
}
else if(fs == LIS302DL_FS_8G) {
newfs = LIS302DL_8G;
}
else {
return MSG_RESET;
}
if(newfs != ((LIS302DLDriver *)ip)->fullscale) {
scale = newfs / ((LIS302DLDriver *)ip)->fullscale;
((LIS302DLDriver *)ip)->fullscale = newfs;
#if LIS302DL_USE_SPI
#if LIS302DL_SHARED_SPI
spiAcquireBus(((LIS302DLDriver *)ip)->config->spip);
spiStart(((LIS302DLDriver *)ip)->config->spip,
((LIS302DLDriver *)ip)->config->spicfg);
#endif /* LIS302DL_SHARED_SPI */
lis302dlSPIReadRegister(((LIS302DLDriver *)ip)->config->spip,
LIS302DL_AD_CTRL_REG1, 1, &cr);
#if LIS302DL_SHARED_SPI
spiReleaseBus(((LIS302DLDriver *)ip)->config->spip);
#endif /* LIS302DL_SHARED_SPI */
#endif /* LIS302DL_USE_SPI */
cr &= ~(LIS302DL_CTRL_REG1_FS_MASK);
cr |= fs;
#if LIS302DL_USE_SPI
#if LIS302DL_SHARED_SPI
spiAcquireBus(((LIS302DLDriver *)ip)->config->spip);
spiStart(((LIS302DLDriver *)ip)->config->spip,
((LIS302DLDriver *)ip)->config->spicfg);
#endif /* LIS302DL_SHARED_SPI */
lis302dlSPIWriteRegister(((LIS302DLDriver *)ip)->config->spip,
LIS302DL_AD_CTRL_REG1, 1, &cr);
#if LIS302DL_SHARED_SPI
spiReleaseBus(((LIS302DLDriver *)ip)->config->spip);
#endif /* LIS302DL_SHARED_SPI */
#endif /* LIS302DL_USE_SPI */
/* Scaling sensitivity and bias. Re-calibration is suggested anyway. */
for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++) {
((LIS302DLDriver *)ip)->sensitivity[i] *= scale;
((LIS302DLDriver *)ip)->bias[i] *= scale;
}
}
return MSG_OK;
}
static msg_t wavePlayerThread(void *arg) {
(void)arg;
chRegSetThreadName("blinker");
UINT temp, bufSwitch=1;
codec_pwrCtl(1);
codec_muteCtl(0);
f_read(&f1, buf, PLAYBACK_BUFFER_SIZE, &temp);
bytesToPlay-=temp;
chEvtAddFlags(1);
while(bytesToPlay)
{
chEvtWaitOne(1);
if (bufSwitch)
{
codec_audio_send(buf, temp/2);
spiAcquireBus(&SPID1);
f_read(&f1, buf2, PLAYBACK_BUFFER_SIZE, &temp);
spiReleaseBus(&SPID1);
bufSwitch=0;
}
else
{
codec_audio_send(buf2, temp/2);
spiAcquireBus(&SPID1);
f_read(&f1, buf, PLAYBACK_BUFFER_SIZE, &temp);
spiReleaseBus(&SPID1);
bufSwitch=1;
}
bytesToPlay-=temp;
if (chThdShouldTerminate()) break;
}
codec_muteCtl(1);
codec_pwrCtl(0);
playerThread=NULL;
f_close(&f1);
return 0;
}
static void cmd_write(BaseSequentialStream *chp, int argc, char *argv[]) {
(void)argc;
(void)argv;
acquire_bus();
write_index(0x00);
chprintf(chp,"Device ID %x\r\n",read_data());
release_bus();
//chprintf(chp,"GRAM %x\r\n",gdispReadReg(0x22));
/*gdispClear(White);
chThdSleepMilliseconds(3000);
gdispClear(Red);
chThdSleepMilliseconds(3000);
gdispClear(Blue);
chThdSleepMilliseconds(3000);
gdispClear(Green);*/
#if 0
uint8_t c = 0xAA;
uint8_t d = 0x55;
spiAcquireBus(&SPID1); /* Acquire ownership of the bus. */
spiStart(&SPID1, &spicfg); /* Setup transfer parameters. */
spiSelect(&SPID1); /* Slave Select assertion. */
spiSend(&SPID1, 1, &c);
spiSend(&SPID1, 1, &d);
spiUnselect(&SPID1); /* Slave Select de-assertion. */
spiReleaseBus(&SPID1); /* Ownership release. */
#endif
}
static uint32_t getTemperatureStr(char * temperatureStr)
{
float temperature = 0;
float pressure = 0;
spiAcquireBus(&CC3000_SPI_DRIVER);
i2cAcquireBus(&I2C_DRIVER);
i2cStart(&I2C_DRIVER, &i2cConfig);
if (RDY_OK != mplOneShotReadBarometer(&I2C_DRIVER,
MPL3115A2_DEFAULT_ADDR,
&pressure,
&temperature))
{
return 1;
}
i2cStop(&I2C_DRIVER);
i2cReleaseBus(&I2C_DRIVER);
spiReleaseBus(&CC3000_SPI_DRIVER);
temperature += CELSIUS_TO_KELVIN;
snprintf(temperatureStr, TEMPERATURE_STRING_SIZE, "%.2f K", temperature);
temperatureStr[TEMPERATURE_STRING_SIZE-1] = 0;
return 0;
}
static msg_t read_raw(void *ip, int32_t axes[LIS302DL_NUMBER_OF_AXES]) {
uint8_t i, tmp;
osalDbgCheck((ip != NULL) && (axes != NULL));
osalDbgAssert((((LIS302DLDriver *)ip)->state == LIS302DL_READY),
"read_raw(), invalid state");
#if LIS302DL_USE_SPI
osalDbgAssert((((LIS302DLDriver *)ip)->config->spip->state == SPI_READY),
"read_raw(), channel not ready");
#if LIS302DL_SHARED_SPI
spiAcquireBus(((LIS302DLDriver *)ip)->config->spip);
spiStart(((LIS302DLDriver *)ip)->config->spip,
((LIS302DLDriver *)ip)->config->spicfg);
#endif /* LIS302DL_SHARED_SPI */
for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++) {
lis302dlSPIReadRegister(((LIS302DLDriver *)ip)->config->spip,
LIS302DL_AD_OUT_X + (i * 2), 1, &tmp);
axes[i] = (int32_t)((int8_t)tmp);
}
#if LIS302DL_SHARED_SPI
spiReleaseBus(((LIS302DLDriver *)ip)->config->spip);
#endif /* LIS302DL_SHARED_SPI */
#endif /* LIS302DL_USE_SPI */
return MSG_OK;
}
static uint32_t getPressureStr(char * pressureStr)
{
float pressure;
float temperature;
spiAcquireBus(&CC3000_SPI_DRIVER);
i2cAcquireBus(&I2C_DRIVER);
i2cStart(&I2C_DRIVER, &i2cConfig);
if (RDY_OK != mplOneShotReadBarometer(&I2C_DRIVER,
MPL3115A2_DEFAULT_ADDR,
&pressure,
&temperature))
{
return 1;
}
i2cStop(&I2C_DRIVER);
i2cReleaseBus(&I2C_DRIVER);
spiReleaseBus(&CC3000_SPI_DRIVER);
pressure /= 1000; /* kPa */
snprintf(pressureStr, PRESSURE_STRING_SIZE, "%.2f kPa", pressure);
pressureStr[PRESSURE_STRING_SIZE-1] = 0;
return 0;
}
msg_t Mtd25::spi_write_enable(void) {
msg_t ret = MSG_RESET;
uint8_t tmp;
#if SPI_USE_MUTUAL_EXCLUSION
spiAcquireBus(this->spip);
#endif
/* try to enable write access */
spiSelect(spip);
spiPolledExchange(spip, S25_CMD_WREN);
spiUnselect(spip);
chSysPolledDelayX(10);
/* check result */
spiSelect(spip);
spiPolledExchange(spip, S25_CMD_RDSR1);
tmp = spiPolledExchange(spip, 0);
spiUnselect(spip);
if (tmp & S25_SR1_WEL)
ret = MSG_OK;
else
ret = MSG_RESET;
#if SPI_USE_MUTUAL_EXCLUSION
spiReleaseBus(this->spip);
#endif
return ret;
}
static flash_error_t read(void *instance, flash_address_t addr,
uint8_t *rp, size_t n) {
N25Q128Driver *devp = (N25Q128Driver *)instance;
SPIDriver *spip = devp->config->spip;
osalDbgAssert(devp->state == FLASH_READY, "invalid state");
#if N25Q128_SHARED_SPI == TRUE
spiAcquireBus(spip);
spiStart(spip, devp->config->spicfg);
#endif
devp->state = FLASH_ACTIVE;
/* Read command.*/
spiSelect(spip);
spi_send_cmd_addr(devp, N25Q128_CMD_READ, addr);
spiReceive(spip, n, rp);
spiUnselect(spip);
devp->state = FLASH_READY;
#if N25Q128_SHARED_SPI == TRUE
spiReleaseBus(spip);
#endif
return FLASH_NO_ERROR;
}
/**
* @brief 25XX low level write then read rountine.
*
* @param[in] eepcfg pointer to configuration structure of eeprom file.
* @param[in] txbuf pointer to buffer to be transfered.
* @param[in] txlen number of bytes to be transfered.
* @param[out] rxbuf pointer to buffer to be received.
* @param[in] rxlen number of bytes to be received.
*/
static void ll_25xx_transmit_receive(const SPIEepromFileConfig *eepcfg,
const uint8_t *txbuf, size_t txlen,
uint8_t *rxbuf, size_t rxlen) {
#if SPI_USE_MUTUAL_EXCLUSION
spiAcquireBus(eepcfg->spip);
#endif
spiStart(eepcfg->spip, eepcfg->spicfg);
spiSelect(eepcfg->spip);
#ifdef POLLED_SPI
size_t count = 0;
for( count = 0; count < txlen; ++count )
spiPolledExchange( eepcfg->spip, txbuf[count] );
for( count = 0; count < rxlen; ++count )
rxbuf[count] = spiPolledExchange( eepcfg->spip, 0 );
#else
spiSend(eepcfg->spip, txlen, txbuf);
if (rxlen) /* Check if receive is needed. */
spiReceive(eepcfg->spip, rxlen, rxbuf);
#endif
spiUnselect(eepcfg->spip);
#if SPI_USE_MUTUAL_EXCLUSION
spiReleaseBus(eepcfg->spip);
#endif
}
/**
* @brief Deactivates the L3GD20 Complex Driver peripheral.
*
* @param[in] devp pointer to the @p L3GD20Driver object
*
* @api
*/
void l3gd20Stop(L3GD20Driver *devp) {
uint8_t cr1;
osalDbgCheck(devp != NULL);
osalDbgAssert((devp->state == L3GD20_STOP) || (devp->state == L3GD20_READY),
"l3gd20Stop(), invalid state");
if (devp->state == L3GD20_READY) {
/* Disabling all axes and enabling power down mode.*/
cr1 = 0;
#if L3GD20_USE_SPI
#if L3GD20_SHARED_SPI
spiAcquireBus(devp->config->spip);
spiStart(devp->config->spip,
devp->config->spicfg);
#endif /* L3GD20_SHARED_SPI */
l3gd20SPIWriteRegister(devp->config->spip, L3GD20_AD_CTRL_REG1,
1, &cr1);
spiStop(devp->config->spip);
#if L3GD20_SHARED_SPI
spiReleaseBus(devp->config->spip);
#endif /* L3GD20_SHARED_SPI */
#endif /* L3GD20_USE_SPI */
}
devp->state = L3GD20_STOP;
}
static void adis16405_read_multiple(int base_addr, int num, uint16_t* rx_buff) {
spiAcquireBus(&ADIS16405_SPID);
spiStart(&ADIS16405_SPID, &spi_cfg);
for (int i = 0; i < num; i++)
rx_buff[i] = internal_adis16405_read_u16(base_addr + i * 2);
spiReleaseBus(&ADIS16405_SPID);
}
static void
xflash_txn_end()
{
spiUnselect(SPI_FLASH);
#if SPI_USE_MUTUAL_EXCLUSION
spiReleaseBus(SPI_FLASH);
#endif
}
void gyro_write_register (uint8_t address, uint8_t data) {
address = address & (~0x80); /* Clear the write bit (bit 7) */
spiAcquireBus(&SPID1); /* Acquire ownership of the bus. */
spiStart(&SPID1, &gyro_cfg); /* Setup transfer parameters. */
spiSelect(&SPID1); /* Slave Select assertion. */
spiSend(&SPID1, 1, &address); /* Send the address byte */
spiSend(&SPID1, 1, &data);
spiUnselect(&SPID1); /* Slave Select de-assertion. */
spiReleaseBus(&SPID1); /* Ownership release. */
}
/** * @brief Sends a byte through the SPI interface and return the byte
* received from the SPI bus.
* @param byte : byte to send.
* @retval : The value of the received byte.
*/
void sendByte3310( uint8_t byte )
{
spiAcquireBus( &SPI_3310 ); // Acquire ownership of the bus.
spiStart( &SPI_3310, &spicfg ); // Setup transfer parameters.
spiSelect( &SPI_3310 ); // Slave Select assertion.
spiStartSend( &SPI_3310, 1, &byte );
//spiExchange( &SPI_3310, 512,
// txbuf, rxbuf ); // Atomic transfer operations.
spiUnselect( &SPI_3310 ); // Slave Select de-assertion.
spiReleaseBus( &SPI_3310 ); // Ownership release.
}
uint16_t A4960::writeReg(const uint8_t addr, const uint16_t data) {
const uint16_t txData = (uint16_t(addr & 0x7) << 13) | 0x1000 | (data & 0xfff);
uint16_t rxData;
spiAcquireBus(spip);
spiSelect(spip);
spiExchange(spip, 1, &txData, &rxData);
spiUnselect(spip);
spiReleaseBus(spip);
return rxData;
}
void sendArray3310( uint8_t * data, int cnt )
{
spiAcquireBus( &SPID1 ); // Acquire ownership of the bus.
spiStart( &SPID1, &spicfg ); // Setup transfer parameters.
spiSelect( &SPID1 ); // Slave Select assertion.
//spiExchange( &SPID1, 512,
// txbuf, rxbuf ); // Atomic transfer operations.
spiStartSend( &SPI_3310, cnt, data );
spiUnselect( &SPID1 ); // Slave Select de-assertion.
spiReleaseBus( &SPID1 ); // Ownership release.
}
uint8_t fm25l16_exchange(int len)
{
spiAcquireBus(&SPID1); /* Acquire ownership of the bus. */
spiStart(&SPID1, &hs_spicfg); /* Setup transfer parameters. */
spiSelect(&SPID1); /* Slave Select assertion. */
spiExchange(&SPID1, len,
txbuf, rxbuf); /* Atomic transfer operations. */
spiUnselect(&SPID1); /* Slave Select de-assertion. */
spiReleaseBus(&SPID1); /* Ownership release. */
return len;
}
uint16_t A4960::readReg(const uint8_t addr) {
const uint16_t txData = (uint16_t(addr & 0x7) << 13);
uint16_t rxData;
spiAcquireBus(spip);
spiSelect(spip);
spiExchange(spip, 1, &txData, &rxData);
spiUnselect(spip);
spiReleaseBus(spip);
return rxData;
}
uint8_t fm25l16_write_read(uint8_t cmd)
{
spiAcquireBus(&SPID1); /* Acquire ownership of the bus. */
spiStart(&SPID1, &hs_spicfg); /* Setup transfer parameters. */
spiSelect(&SPID1); /* Slave Select assertion. */
tx_ch = cmd;
spiExchange(&SPID1, 1,
&tx_ch, &rx_ch); /* Atomic transfer operations. */
spiUnselect(&SPID1); /* Slave Select de-assertion. */
spiReleaseBus(&SPID1); /* Ownership release. */
return rx_ch;
}
uint8_t gyro_read_register (uint8_t address) {
uint8_t receive_data;
address = address | 0x80; /* Set the read bit (bit 7) */
spiAcquireBus(&SPID1); /* Acquire ownership of the bus. */
spiStart(&SPID1, &gyro_cfg); /* Setup transfer parameters. */
spiSelect(&SPID1); /* Slave Select assertion. */
spiSend(&SPID1, 1, &address); /* Send the address byte */
spiReceive(&SPID1, 1,&receive_data);
spiUnselect(&SPID1); /* Slave Select de-assertion. */
spiReleaseBus(&SPID1); /* Ownership release. */
return (receive_data);
}
uint8_t writeByteSPI(uint8_t txbyte)
{
uint8_t rxbyte = 0;
spiAcquireBus(&SPID1); /* Acquire ownership of the bus. */
spiStart(&SPID1, spicfg); /* Setup transfer parameters. */
spiSelect(&SPID1); /* Slave Select assertion. */
spiExchange(&SPID1, 1,
&txbyte, &rxbyte); /* Atomic transfer operations. */
spiUnselect(&SPID1); /* Slave Select de-assertion. */
spiReleaseBus(&SPID1);
chThdSleepMilliseconds(1);
return rxbyte;
}
/*! \brief Process information from a adis_spi_cb event
*
*/
void adis_spi_cb_txdone_handler(eventid_t id) {
(void) id;
switch(adis_driver.reg) {
case ADIS_PRODUCT_ID:
spiUnselect(adis_driver.spi_instance);
spiReleaseBus(adis_driver.spi_instance);
adis_tstall_delay();
spiAcquireBus(adis_driver.spi_instance);
spiSelect(adis_driver.spi_instance);
spiStartReceive(adis_driver.spi_instance, adis_driver.rx_numbytes, adis_driver.adis_rxbuf);
adis_driver.state = ADIS_RX_PEND;
break;
case ADIS_GLOB_CMD:
spiStartReceive(adis_driver.spi_instance, adis_driver.rx_numbytes, adis_driver.adis_rxbuf);
adis_driver.state = ADIS_RX_PEND;
break;
default:
spiUnselect(adis_driver.spi_instance);
spiReleaseBus(adis_driver.spi_instance);
adis_driver.state = ADIS_IDLE;
break;
}
}
int max6675_get_temp(const struct max6675 *max)
{
uint16_t read;
spiAcquireBus(max->driver);
spiStart(max->driver, &max->config);
spiSelect(max->driver);
spiReceive(max->driver, 1, &read);
spiUnselect(max->driver);
spiStop(max->driver);
spiReleaseBus(max->driver);
return (read >> 3) * 250;
}
static void adis16405_write_u8(uint8_t addr, uint8_t val) {
uint16_t txbuf[1] = {
((((uint16_t)addr | 0x80) << 8) | val)
};
spiAcquireBus(&ADIS16405_SPID);
spiStart(&ADIS16405_SPID, &spi_cfg);
spiSelect(&ADIS16405_SPID);
spiSend(&ADIS16405_SPID, 1, (void*)txbuf);
spiUnselect(&ADIS16405_SPID);
spiReleaseBus(&ADIS16405_SPID);
}
static THD_FUNCTION(spi_thread_2, p) {
(void)p;
chRegSetThreadName("SPI thread 2");
while (true) {
spiAcquireBus(&PORTAB_SPI1); /* Acquire ownership of the bus. */
palWriteLine(PORTAB_LINE_LED1, PORTAB_LED_OFF);
spiStart(&PORTAB_SPI1, &ls_spicfg); /* Setup transfer parameters. */
spiSelect(&PORTAB_SPI1); /* Slave Select assertion. */
spiExchange(&PORTAB_SPI1, 512,
txbuf, rxbuf); /* Atomic transfer operations. */
spiUnselect(&PORTAB_SPI1); /* Slave Select de-assertion. */
spiReleaseBus(&PORTAB_SPI1); /* Ownership release. */
}
}
static THD_FUNCTION(spi_thread_2, p) {
(void)p;
chRegSetThreadName("SPI thread 2");
while (true) {
spiAcquireBus(&SPID2); /* Acquire ownership of the bus. */
palClearPad(GPIOA, GPIOA_LED_GREEN);/* LED OFF. */
spiStart(&SPID2, &ls_spicfg); /* Setup transfer parameters. */
spiSelect(&SPID2); /* Slave Select assertion. */
spiExchange(&SPID2, 512,
txbuf, rxbuf); /* Atomic transfer operations. */
spiUnselect(&SPID2); /* Slave Select de-assertion. */
spiReleaseBus(&SPID2); /* Ownership release. */
}
}
static THD_FUNCTION(spi_thread_1, p)
{
(void)p;
chRegSetThreadName("SPI thread 1");
while (TRUE) {
spiAcquireBus(&SPID1); /* Acquire ownership of the bus. */
palSetPad(GPIOF, GPIOF_LED_GREEN); /* LED ON. */
spiStart(&SPID1, &hs_spicfg); /* Setup transfer parameters. */
spiSelect(&SPID1); /* Slave Select assertion. */
spiExchange(&SPID1, 512,
txbuf, rxbuf); /* Atomic transfer operations. */
spiUnselect(&SPID1); /* Slave Select de-assertion. */
spiReleaseBus(&SPID1); /* Ownership release. */
}
}
static msg_t spi_thread_2(void *p) {
(void)p;
chRegSetThreadName("SPI thread 2");
while (TRUE) {
spiAcquireBus(&SPID1); /* Acquire ownership of the bus. */
palSetPad(IOPORT3, GPIOC_LED); /* LED OFF. */
spiStart(&SPID1, &ls_spicfg); /* Setup transfer parameters. */
spiSelect(&SPID1); /* Slave Select assertion. */
spiExchange(&SPID1, 512,
txbuf, rxbuf); /* Atomic transfer operations. */
spiUnselect(&SPID1); /* Slave Select de-assertion. */
spiReleaseBus(&SPID1); /* Ownership release. */
}
return 0;
}
static msg_t spi_thread_1(void *p) {
(void)p;
chRegSetThreadName("SPI thread 1");
while (TRUE) {
spiAcquireBus(&SPID2); /* Acquire ownership of the bus. */
palClearPad(PORT11, P11_LED1); /* LED ON. */
spiStart(&SPID2, &hs_spicfg); /* Setup transfer parameters. */
spiSelect(&SPID2); /* Slave Select assertion. */
spiExchange(&SPID2, 512,
txbuf, rxbuf); /* Atomic transfer operations. */
spiUnselect(&SPID2); /* Slave Select de-assertion. */
spiReleaseBus(&SPID2); /* Ownership release. */
}
return 0;
}