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HAL_ChibiOS: support 6 SPI buses

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Andrew Tridgell committed 2018-06-06 07:15:41 +10:00
1 parent 4ad757b4d1
commit eca634ec62
2 files changed
+15 -6
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libraries/AP_HAL_ChibiOS/SPIDevice.cpp
+14 -6
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@@ -36,10 +36,12 @@ extern const AP_HAL::HAL& hal;
#define SPI2_CLOCK STM32_PCLK1
#define SPI3_CLOCK STM32_PCLK1
#define SPI4_CLOCK STM32_PCLK2
#define SPI5_CLOCK STM32_PCLK2
#define SPI6_CLOCK STM32_PCLK2
// expected bus clock speeds
static const uint32_t bus_clocks[4] = {
SPI1_CLOCK, SPI2_CLOCK, SPI3_CLOCK, SPI4_CLOCK
static const uint32_t bus_clocks[6] = {
SPI1_CLOCK, SPI2_CLOCK, SPI3_CLOCK, SPI4_CLOCK, SPI5_CLOCK, SPI6_CLOCK
};
static const struct SPIDriverInfo {
@@ -177,10 +179,9 @@ bool SPIDevice::clock_pulse(uint32_t n)
return true;
}
uint16_t SPIDevice::derive_freq_flag(uint32_t _frequency)
uint16_t SPIDevice::derive_freq_flag_bus(uint8_t busid, uint32_t _frequency)
{
uint32_t spi_clock_freq = SPI1_CLOCK;
uint8_t busid = spi_devices[device_desc.bus].busid;
if (busid > 0 && busid-1 < ARRAY_SIZE_SIMPLE(bus_clocks)) {
spi_clock_freq = bus_clocks[busid-1] / 2;
}
@@ -198,6 +199,12 @@ uint16_t SPIDevice::derive_freq_flag(uint32_t _frequency)
return i * SPI_CR1_BR_0;
}
uint16_t SPIDevice::derive_freq_flag(uint32_t _frequency)
{
uint8_t busid = spi_devices[device_desc.bus].busid;
return derive_freq_flag_bus(busid, _frequency);
}
bool SPIDevice::transfer(const uint8_t *send, uint32_t send_len,
uint8_t *recv, uint32_t recv_len)
{
@@ -360,8 +367,9 @@ void SPIDevice::test_clock_freq(void)
uint8_t *buf = (uint8_t *)hal.util->malloc_type(len, AP_HAL::Util::MEM_DMA_SAFE);
for (uint8_t i=0; i<ARRAY_SIZE_SIMPLE(spi_devices); i++) {
SPIConfig spicfg {};
const uint32_t target_freq = 2000000UL;
// use a clock divisor of 256 for maximum resolution
spicfg.cr1 = SPI_CR1_BR_2 | SPI_CR1_BR_1 | SPI_CR1_BR_0; // clock / 256
spicfg.cr1 = derive_freq_flag_bus(spi_devices[i].busid, target_freq);
spiAcquireBus(spi_devices[i].driver);
spiStart(spi_devices[i].driver, &spicfg);
uint32_t t0 = AP_HAL::micros();
@@ -369,7 +377,7 @@ void SPIDevice::test_clock_freq(void)
uint32_t t1 = AP_HAL::micros();
spiStop(spi_devices[i].driver);
spiReleaseBus(spi_devices[i].driver);
hal.console->printf("SPI[%u] clock=%u\n", spi_devices[i].busid, unsigned(256ULL * 1000000ULL * len * 8ULL / uint64_t(t1 - t0)));
hal.console->printf("SPI[%u] clock=%u\n", spi_devices[i].busid, unsigned(1000000ULL * len * 8ULL / uint64_t(t1 - t0)));
}
hal.util->free_type(buf, len, AP_HAL::Util::MEM_DMA_SAFE);
}