linux: Convert linux SPI code to use the generic spicmds.c code

Use the generic spi send/receive code on Linux.  Update the replicape
code to use the updated command format.

Also, update the replicape code to turn off the stepper motors on a
shutdown event.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2018-05-04 20:23:58 -04:00
parent 31ae74c56c
commit f70fefa06f
4 changed files with 53 additions and 24 deletions

View File

@ -7,8 +7,7 @@ import logging
import pins, mcu import pins, mcu
REPLICAPE_MAX_CURRENT = 3.84 REPLICAPE_MAX_CURRENT = 3.84
REPLICAPE_SHIFT_REGISTER_BUS = 1 REPLICAPE_SHIFT_REGISTER_BUS = 0x0101
REPLICAPE_SHIFT_REGISTER_DEVICE = 1
REPLICAPE_PCA9685_BUS = 2 REPLICAPE_PCA9685_BUS = 2
REPLICAPE_PCA9685_ADDRESS = 0x70 REPLICAPE_PCA9685_ADDRESS = 0x70
REPLICAPE_PCA9685_CYCLE_TIME = .001 REPLICAPE_PCA9685_CYCLE_TIME = .001
@ -137,7 +136,7 @@ class Replicape:
"power_fan0": (pca9685_pwm, 7), "power_fan1": (pca9685_pwm, 8), "power_fan0": (pca9685_pwm, 7), "power_fan1": (pca9685_pwm, 8),
"power_fan2": (pca9685_pwm, 9), "power_fan3": (pca9685_pwm, 10) } "power_fan2": (pca9685_pwm, 9), "power_fan3": (pca9685_pwm, 10) }
# Setup stepper config # Setup stepper config
self.send_spi_cmd = None self.spi_send_cmd = None
self.last_stepper_time = 0. self.last_stepper_time = 0.
self.stepper_dacs = {} self.stepper_dacs = {}
shift_registers = [1, 0, 0, 1, 1] shift_registers = [1, 0, 0, 1, 1]
@ -177,13 +176,18 @@ class Replicape:
shift_registers[4] &= ~1 shift_registers[4] &= ~1
self.sr_enabled = tuple(reversed(shift_registers)) self.sr_enabled = tuple(reversed(shift_registers))
self.host_mcu.add_config_object(self) self.host_mcu.add_config_object(self)
self.host_mcu.add_config_cmd("send_spi bus=%d dev=%d msg=%s" % ( self.sr_oid = self.host_mcu.create_oid()
REPLICAPE_SHIFT_REGISTER_BUS, REPLICAPE_SHIFT_REGISTER_DEVICE, str_sr_disabled = "".join(["%02x" % (x,) for x in self.sr_disabled])
"".join(["%02x" % (x,) for x in self.sr_disabled]))) self.host_mcu.add_config_cmd(
"config_spi_without_cs oid=%d bus=%d mode=0 rate=50000000"
" shutdown_msg=%s" % (
self.sr_oid, REPLICAPE_SHIFT_REGISTER_BUS, str_sr_disabled))
self.host_mcu.add_config_cmd("spi_send oid=%d data=%s" % (
self.sr_oid, str_sr_disabled), is_init=True)
def build_config(self): def build_config(self):
cmd_queue = self.host_mcu.alloc_command_queue() cmd_queue = self.host_mcu.alloc_command_queue()
self.send_spi_cmd = self.host_mcu.lookup_command( self.spi_send_cmd = self.host_mcu.lookup_command(
"send_spi bus=%u dev=%u msg=%*s", cq=cmd_queue) "spi_send oid=%c data=%*s", cq=cmd_queue)
def note_pwm_start_value(self, channel, start_value, shutdown_value): def note_pwm_start_value(self, channel, start_value, shutdown_value):
self.mcu_pwm_start_value |= not not start_value self.mcu_pwm_start_value |= not not start_value
self.mcu_pwm_shutdown_value |= not not shutdown_value self.mcu_pwm_shutdown_value |= not not shutdown_value
@ -215,10 +219,8 @@ class Replicape:
return return
print_time = max(print_time, self.last_stepper_time + PIN_MIN_TIME) print_time = max(print_time, self.last_stepper_time + PIN_MIN_TIME)
clock = self.host_mcu.print_time_to_clock(print_time) clock = self.host_mcu.print_time_to_clock(print_time)
# XXX - the send_spi message should be scheduled # XXX - the spi_send message should be scheduled
self.send_spi_cmd.send([REPLICAPE_SHIFT_REGISTER_BUS, self.spi_send_cmd.send([self.sr_oid, sr], minclock=clock, reqclock=clock)
REPLICAPE_SHIFT_REGISTER_DEVICE, sr],
minclock=clock, reqclock=clock)
def setup_pin(self, pin_params): def setup_pin(self, pin_params):
pin = pin_params['pin'] pin = pin_params['pin']
if pin not in self.pins: if pin not in self.pins:

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@ -7,6 +7,7 @@ config LINUX_SELECT
bool bool
default y default y
select HAVE_GPIO_ADC select HAVE_GPIO_ADC
select HAVE_GPIO_SPI
config BOARD_DIRECTORY config BOARD_DIRECTORY
string string

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@ -3,6 +3,13 @@
#include <stdint.h> // uint8_t #include <stdint.h> // uint8_t
struct gpio_out {
uint32_t pin;
};
struct gpio_out gpio_out_setup(uint8_t pin, uint8_t val);
void gpio_out_toggle(struct gpio_out g);
void gpio_out_write(struct gpio_out g, uint8_t val);
struct gpio_adc { struct gpio_adc {
int fd; int fd;
}; };
@ -11,4 +18,11 @@ uint32_t gpio_adc_sample(struct gpio_adc g);
uint16_t gpio_adc_read(struct gpio_adc g); uint16_t gpio_adc_read(struct gpio_adc g);
void gpio_adc_cancel_sample(struct gpio_adc g); void gpio_adc_cancel_sample(struct gpio_adc g);
struct spi_config {
int fd;
};
struct spi_config spi_setup(uint32_t bus, uint8_t mode, uint32_t rate);
void spi_transfer(struct spi_config config, uint8_t receive_data
, uint8_t len, uint8_t *data);
#endif // gpio.h #endif // gpio.h

View File

@ -1,6 +1,6 @@
// Communicating with an SPI device via linux spidev // Very basic shift-register support via a Linux SPI device
// //
// Copyright (C) 2017 Kevin O'Connor <kevin@koconnor.net> // Copyright (C) 2017-2018 Kevin O'Connor <kevin@koconnor.net>
// //
// This file may be distributed under the terms of the GNU GPLv3 license. // This file may be distributed under the terms of the GNU GPLv3 license.
@ -8,6 +8,7 @@
#include <stdio.h> // snprintf #include <stdio.h> // snprintf
#include <unistd.h> // write #include <unistd.h> // write
#include "command.h" // DECL_COMMAND #include "command.h" // DECL_COMMAND
#include "gpio.h" // spi_setup
#include "internal.h" // report_errno #include "internal.h" // report_errno
#include "sched.h" // shutdown #include "sched.h" // shutdown
@ -47,22 +48,33 @@ spi_open(uint32_t bus, uint32_t dev)
return fd; return fd;
} }
static void struct spi_config
spi_write(int fd, char *data, int len) spi_setup(uint32_t bus, uint8_t mode, uint32_t rate)
{ {
int ret = write(fd, data, len); int bus_id = (bus >> 8) & 0xff, dev_id = bus & 0xff;
int fd = spi_open(bus_id, dev_id);
return (struct spi_config) { fd };
}
void
spi_transfer(struct spi_config config, uint8_t receive_data
, uint8_t len, uint8_t *data)
{
int ret = write(config.fd, data, len);
if (ret < 0) { if (ret < 0) {
report_errno("write spi", ret); report_errno("write spi", ret);
shutdown("Unable to write to spi"); shutdown("Unable to write to spi");
} }
} }
void // Dummy versions of gpio_out functions
command_send_spi(uint32_t *args) struct gpio_out
gpio_out_setup(uint8_t pin, uint8_t val)
{
shutdown("gpio_out_setup not supported");
}
void
gpio_out_write(struct gpio_out g, uint8_t val)
{ {
int fd = spi_open(args[0], args[1]);
uint8_t len = args[2];
char *msg = (void*)(size_t)args[3];
spi_write(fd, msg, len);
} }
DECL_COMMAND(command_send_spi, "send_spi bus=%u dev=%u msg=%*s");