Fix for SPI error
Friedl Ulrich
10 years ago
parent
39d3316a1b
commit
ea4800dae6
@ -0,0 +1,252 @@
|
||||
package generic
|
||||
|
||||
import (
|
||||
"fmt"
|
||||
"os"
|
||||
"sync"
|
||||
"syscall"
|
||||
"unsafe"
|
||||
|
||||
"github.com/golang/glog"
|
||||
"github.com/kidoman/embd"
|
||||
)
|
||||
|
||||
const (
|
||||
spiIOCWrMode = 0x40016B01
|
||||
spiIOCWrBitsPerWord = 0x40016B03
|
||||
spiIOCWrMaxSpeedHz = 0x40046B04
|
||||
|
||||
spiIOCRdMode = 0x80016B01
|
||||
spiIOCRdBitsPerWord = 0x80016B03
|
||||
spiIOCRdMaxSpeedHz = 0x80046B04
|
||||
|
||||
spiIOCMessage0 = 1073769216 //0x40006B00
|
||||
spiIOCIncrementor = 2097152 //0x200000
|
||||
|
||||
defaultDelayms = 0
|
||||
defaultSPIBPW = 8
|
||||
defaultSPISpeed = 1000000
|
||||
)
|
||||
|
||||
type spiIOCTransfer struct {
|
||||
txBuf uint64
|
||||
rxBuf uint64
|
||||
|
||||
length uint32
|
||||
speedHz uint32
|
||||
delayus uint16
|
||||
bitsPerWord uint8
|
||||
}
|
||||
|
||||
type spiBus struct {
|
||||
file *os.File
|
||||
|
||||
spiDevMinor byte
|
||||
|
||||
channel byte
|
||||
mode byte
|
||||
speed int
|
||||
bpw int
|
||||
delayms int
|
||||
|
||||
mu sync.Mutex
|
||||
|
||||
spiTransferData spiIOCTransfer
|
||||
initialized bool
|
||||
|
||||
initializer func() error
|
||||
}
|
||||
|
||||
func spiIOCMessageN(n uint32) uint32 {
|
||||
return (spiIOCMessage0 + (n * spiIOCIncrementor))
|
||||
}
|
||||
|
||||
func NewSPIBus(spiDevMinor, mode, channel byte, speed, bpw, delay int, i func() error) embd.SPIBus {
|
||||
return &spiBus{
|
||||
spiDevMinor: spiDevMinor,
|
||||
mode: mode,
|
||||
channel: channel,
|
||||
speed: speed,
|
||||
bpw: bpw,
|
||||
delayms: delay,
|
||||
initializer: i,
|
||||
}
|
||||
}
|
||||
|
||||
func (b *spiBus) init() error {
|
||||
if b.initialized {
|
||||
return nil
|
||||
}
|
||||
|
||||
if b.initializer != nil {
|
||||
if err := b.initializer(); err != nil {
|
||||
return err
|
||||
}
|
||||
}
|
||||
|
||||
var err error
|
||||
if b.file, err = os.OpenFile(fmt.Sprintf("/dev/spidev%v.%v", b.spiDevMinor, b.channel), os.O_RDWR, os.ModeExclusive); err != nil {
|
||||
return err
|
||||
}
|
||||
glog.V(3).Infof("spi: sucessfully opened file /dev/spidev%v.%v", b.spiDevMinor, b.channel)
|
||||
|
||||
if err = b.setMode(); err != nil {
|
||||
return err
|
||||
}
|
||||
|
||||
b.spiTransferData = spiIOCTransfer{}
|
||||
|
||||
if err = b.setSpeed(); err != nil {
|
||||
return err
|
||||
}
|
||||
|
||||
if err = b.setBPW(); err != nil {
|
||||
return err
|
||||
}
|
||||
|
||||
b.setDelay()
|
||||
|
||||
glog.V(2).Infof("spi: bus %v initialized", b.channel)
|
||||
glog.V(3).Infof("spi: bus %v initialized with spiIOCTransfer as %v", b.channel, b.spiTransferData)
|
||||
|
||||
b.initialized = true
|
||||
return nil
|
||||
}
|
||||
|
||||
func (b *spiBus) setMode() error {
|
||||
var mode = uint8(b.mode)
|
||||
glog.V(3).Infof("spi: setting spi mode to %v", mode)
|
||||
|
||||
_, _, errno := syscall.Syscall(syscall.SYS_IOCTL, b.file.Fd(), spiIOCWrMode, uintptr(unsafe.Pointer(&mode)))
|
||||
if errno != 0 {
|
||||
err := syscall.Errno(errno)
|
||||
glog.V(3).Infof("spi: failed to set mode due to %v", err.Error())
|
||||
return err
|
||||
}
|
||||
glog.V(3).Infof("spi: mode set to %v", mode)
|
||||
return nil
|
||||
}
|
||||
|
||||
func (b *spiBus) setSpeed() error {
|
||||
var speed uint32 = defaultSPISpeed
|
||||
if b.speed > 0 {
|
||||
speed = uint32(b.speed)
|
||||
}
|
||||
|
||||
glog.V(3).Infof("spi: setting spi speedMax to %v", speed)
|
||||
_, _, errno := syscall.Syscall(syscall.SYS_IOCTL, b.file.Fd(), spiIOCWrMaxSpeedHz, uintptr(unsafe.Pointer(&speed)))
|
||||
if errno != 0 {
|
||||
err := syscall.Errno(errno)
|
||||
glog.V(3).Infof("spi: failed to set speedMax due to %v", err.Error())
|
||||
return err
|
||||
}
|
||||
glog.V(3).Infof("spi: speedMax set to %v", speed)
|
||||
b.spiTransferData.speedHz = speed
|
||||
|
||||
return nil
|
||||
}
|
||||
|
||||
func (b *spiBus) setBPW() error {
|
||||
var bpw uint8 = defaultSPIBPW
|
||||
if b.bpw > 0 {
|
||||
bpw = uint8(b.bpw)
|
||||
}
|
||||
|
||||
glog.V(3).Infof("spi: setting spi bpw to %v", bpw)
|
||||
_, _, errno := syscall.Syscall(syscall.SYS_IOCTL, b.file.Fd(), spiIOCWrBitsPerWord, uintptr(unsafe.Pointer(&bpw)))
|
||||
if errno != 0 {
|
||||
err := syscall.Errno(errno)
|
||||
glog.V(3).Infof("spi: failed to set bpw due to %v", err.Error())
|
||||
return err
|
||||
}
|
||||
glog.V(3).Infof("spi: bpw set to %v", bpw)
|
||||
b.spiTransferData.bitsPerWord = uint8(bpw)
|
||||
return nil
|
||||
}
|
||||
|
||||
func (b *spiBus) setDelay() {
|
||||
var delay uint16 = defaultDelayms
|
||||
if b.delayms > 0 {
|
||||
delay = uint16(b.delayms)
|
||||
}
|
||||
|
||||
glog.V(3).Infof("spi: delayms set to %v", delay)
|
||||
b.spiTransferData.delayus = delay
|
||||
}
|
||||
|
||||
func (b *spiBus) TransferAndRecieveData(dataBuffer []uint8) error {
|
||||
if err := b.init(); err != nil {
|
||||
return err
|
||||
}
|
||||
|
||||
len := len(dataBuffer)
|
||||
dataCarrier := b.spiTransferData
|
||||
|
||||
dataCarrier.length = uint32(len)
|
||||
dataCarrier.txBuf = uint64(uintptr(unsafe.Pointer(&dataBuffer[0])))
|
||||
dataCarrier.rxBuf = uint64(uintptr(unsafe.Pointer(&dataBuffer[0])))
|
||||
|
||||
glog.V(3).Infof("spi: sending dataBuffer %v with carrier %v", dataBuffer, dataCarrier)
|
||||
_, _, errno := syscall.Syscall(syscall.SYS_IOCTL, b.file.Fd(), uintptr(spiIOCMessageN(1)), uintptr(unsafe.Pointer(&dataCarrier)))
|
||||
if errno != 0 {
|
||||
err := syscall.Errno(errno)
|
||||
glog.V(3).Infof("spi: failed to read due to %v", err.Error())
|
||||
return err
|
||||
}
|
||||
glog.V(3).Infof("spi: read into dataBuffer %v", dataBuffer)
|
||||
return nil
|
||||
}
|
||||
|
||||
func (b *spiBus) ReceiveData(len int) ([]uint8, error) {
|
||||
if err := b.init(); err != nil {
|
||||
return nil, err
|
||||
}
|
||||
|
||||
data := make([]uint8, len)
|
||||
if err := b.TransferAndRecieveData(data); err != nil {
|
||||
return nil, err
|
||||
}
|
||||
return data, nil
|
||||
}
|
||||
|
||||
func (b *spiBus) TransferAndReceiveByte(data byte) (byte, error) {
|
||||
if err := b.init(); err != nil {
|
||||
return 0, err
|
||||
}
|
||||
|
||||
d := [1]uint8{uint8(data)}
|
||||
if err := b.TransferAndRecieveData(d[:]); err != nil {
|
||||
return 0, err
|
||||
}
|
||||
return d[0], nil
|
||||
}
|
||||
|
||||
func (b *spiBus) ReceiveByte() (byte, error) {
|
||||
if err := b.init(); err != nil {
|
||||
return 0, err
|
||||
}
|
||||
|
||||
var d [1]uint8
|
||||
if err := b.TransferAndRecieveData(d[:]); err != nil {
|
||||
return 0, err
|
||||
}
|
||||
return byte(d[0]), nil
|
||||
}
|
||||
|
||||
func (b *spiBus) Write(data []byte) (n int, err error) {
|
||||
if err := b.init(); err != nil {
|
||||
return 0, err
|
||||
}
|
||||
return b.file.Write(data)
|
||||
}
|
||||
|
||||
func (b *spiBus) Close() error {
|
||||
b.mu.Lock()
|
||||
defer b.mu.Unlock()
|
||||
|
||||
if !b.initialized {
|
||||
return nil
|
||||
}
|
||||
|
||||
return b.file.Close()
|
||||
}
|
||||
@ -0,0 +1,102 @@
|
||||
/*
|
||||
Package rpi provides Raspberry Pi (including A+/B+) support.
|
||||
The following features are supported on Linux kernel 3.8+
|
||||
|
||||
GPIO (digital (rw))
|
||||
I²C
|
||||
LED
|
||||
*/
|
||||
package rpi
|
||||
|
||||
import (
|
||||
"github.com/kidoman/embd"
|
||||
"github.com/kidoman/rfm69/generic"
|
||||
)
|
||||
|
||||
var spiDeviceMinor = byte(0)
|
||||
|
||||
var rev1Pins = embd.PinMap{
|
||||
&embd.PinDesc{ID: "P1_3", Aliases: []string{"0", "GPIO_0", "SDA", "I2C0_SDA"}, Caps: embd.CapDigital | embd.CapI2C, DigitalLogical: 0},
|
||||
&embd.PinDesc{ID: "P1_5", Aliases: []string{"1", "GPIO_1", "SCL", "I2C0_SCL"}, Caps: embd.CapDigital | embd.CapI2C, DigitalLogical: 1},
|
||||
&embd.PinDesc{ID: "P1_7", Aliases: []string{"4", "GPIO_4", "GPCLK0"}, Caps: embd.CapDigital, DigitalLogical: 4},
|
||||
&embd.PinDesc{ID: "P1_8", Aliases: []string{"14", "GPIO_14", "TXD", "UART0_TXD"}, Caps: embd.CapDigital | embd.CapUART, DigitalLogical: 14},
|
||||
&embd.PinDesc{ID: "P1_10", Aliases: []string{"15", "GPIO_15", "RXD", "UART0_RXD"}, Caps: embd.CapDigital | embd.CapUART, DigitalLogical: 15},
|
||||
&embd.PinDesc{ID: "P1_11", Aliases: []string{"17", "GPIO_17"}, Caps: embd.CapDigital, DigitalLogical: 17},
|
||||
&embd.PinDesc{ID: "P1_12", Aliases: []string{"18", "GPIO_18", "PCM_CLK"}, Caps: embd.CapDigital, DigitalLogical: 18},
|
||||
&embd.PinDesc{ID: "P1_13", Aliases: []string{"21", "GPIO_21"}, Caps: embd.CapDigital, DigitalLogical: 21},
|
||||
&embd.PinDesc{ID: "P1_15", Aliases: []string{"22", "GPIO_22"}, Caps: embd.CapDigital, DigitalLogical: 22},
|
||||
&embd.PinDesc{ID: "P1_16", Aliases: []string{"23", "GPIO_23"}, Caps: embd.CapDigital, DigitalLogical: 23},
|
||||
&embd.PinDesc{ID: "P1_18", Aliases: []string{"24", "GPIO_24"}, Caps: embd.CapDigital, DigitalLogical: 24},
|
||||
&embd.PinDesc{ID: "P1_19", Aliases: []string{"10", "GPIO_10", "MOSI", "SPI0_MOSI"}, Caps: embd.CapDigital | embd.CapSPI, DigitalLogical: 10},
|
||||
&embd.PinDesc{ID: "P1_21", Aliases: []string{"9", "GPIO_9", "MISO", "SPI0_MISO"}, Caps: embd.CapDigital | embd.CapSPI, DigitalLogical: 9},
|
||||
&embd.PinDesc{ID: "P1_22", Aliases: []string{"25", "GPIO_25"}, Caps: embd.CapDigital, DigitalLogical: 25},
|
||||
&embd.PinDesc{ID: "P1_23", Aliases: []string{"11", "GPIO_11", "SCLK", "SPI0_SCLK"}, Caps: embd.CapDigital | embd.CapSPI, DigitalLogical: 11},
|
||||
&embd.PinDesc{ID: "P1_24", Aliases: []string{"8", "GPIO_8", "CE0", "SPI0_CE0_N"}, Caps: embd.CapDigital | embd.CapSPI, DigitalLogical: 8},
|
||||
&embd.PinDesc{ID: "P1_26", Aliases: []string{"7", "GPIO_7", "CE1", "SPI0_CE1_N"}, Caps: embd.CapDigital | embd.CapSPI, DigitalLogical: 7},
|
||||
}
|
||||
|
||||
var rev2Pins = embd.PinMap{
|
||||
&embd.PinDesc{ID: "P1_3", Aliases: []string{"2", "GPIO_2", "SDA", "I2C1_SDA"}, Caps: embd.CapDigital | embd.CapI2C, DigitalLogical: 2},
|
||||
&embd.PinDesc{ID: "P1_5", Aliases: []string{"3", "GPIO_3", "SCL", "I2C1_SCL"}, Caps: embd.CapDigital | embd.CapI2C, DigitalLogical: 3},
|
||||
&embd.PinDesc{ID: "P1_7", Aliases: []string{"4", "GPIO_4", "GPCLK0"}, Caps: embd.CapDigital, DigitalLogical: 4},
|
||||
&embd.PinDesc{ID: "P1_8", Aliases: []string{"14", "GPIO_14", "TXD", "UART0_TXD"}, Caps: embd.CapDigital | embd.CapUART, DigitalLogical: 14},
|
||||
&embd.PinDesc{ID: "P1_10", Aliases: []string{"15", "GPIO_15", "RXD", "UART0_RXD"}, Caps: embd.CapDigital | embd.CapUART, DigitalLogical: 15},
|
||||
&embd.PinDesc{ID: "P1_11", Aliases: []string{"17", "GPIO_17"}, Caps: embd.CapDigital, DigitalLogical: 17},
|
||||
&embd.PinDesc{ID: "P1_12", Aliases: []string{"18", "GPIO_18", "PCM_CLK"}, Caps: embd.CapDigital, DigitalLogical: 18},
|
||||
&embd.PinDesc{ID: "P1_13", Aliases: []string{"27", "GPIO_27"}, Caps: embd.CapDigital, DigitalLogical: 27},
|
||||
&embd.PinDesc{ID: "P1_15", Aliases: []string{"22", "GPIO_22"}, Caps: embd.CapDigital, DigitalLogical: 22},
|
||||
&embd.PinDesc{ID: "P1_16", Aliases: []string{"23", "GPIO_23"}, Caps: embd.CapDigital, DigitalLogical: 23},
|
||||
&embd.PinDesc{ID: "P1_18", Aliases: []string{"24", "GPIO_24"}, Caps: embd.CapDigital, DigitalLogical: 24},
|
||||
&embd.PinDesc{ID: "P1_19", Aliases: []string{"10", "GPIO_10", "MOSI", "SPI0_MOSI"}, Caps: embd.CapDigital | embd.CapSPI, DigitalLogical: 10},
|
||||
&embd.PinDesc{ID: "P1_21", Aliases: []string{"9", "GPIO_9", "MISO", "SPI0_MISO"}, Caps: embd.CapDigital | embd.CapSPI, DigitalLogical: 9},
|
||||
&embd.PinDesc{ID: "P1_22", Aliases: []string{"25", "GPIO_25"}, Caps: embd.CapDigital, DigitalLogical: 25},
|
||||
&embd.PinDesc{ID: "P1_23", Aliases: []string{"11", "GPIO_11", "SCLK", "SPI0_SCLK"}, Caps: embd.CapDigital | embd.CapSPI, DigitalLogical: 11},
|
||||
&embd.PinDesc{ID: "P1_24", Aliases: []string{"8", "GPIO_8", "CE0", "SPI0_CE0_N"}, Caps: embd.CapDigital | embd.CapSPI, DigitalLogical: 8},
|
||||
&embd.PinDesc{ID: "P1_26", Aliases: []string{"7", "GPIO_7", "CE1", "SPI0_CE1_N"}, Caps: embd.CapDigital | embd.CapSPI, DigitalLogical: 7},
|
||||
}
|
||||
|
||||
// This is the same as the Rev 2 for the first 26 pins.
|
||||
var rev3Pins = append(append(embd.PinMap(nil), rev2Pins...), embd.PinMap{
|
||||
&embd.PinDesc{ID: "P1_29", Aliases: []string{"5", "GPIO_5"}, Caps: embd.CapDigital, DigitalLogical: 5},
|
||||
&embd.PinDesc{ID: "P1_31", Aliases: []string{"6", "GPIO_6"}, Caps: embd.CapDigital, DigitalLogical: 6},
|
||||
&embd.PinDesc{ID: "P1_32", Aliases: []string{"12", "GPIO_12"}, Caps: embd.CapDigital, DigitalLogical: 12},
|
||||
&embd.PinDesc{ID: "P1_33", Aliases: []string{"13", "GPIO_13"}, Caps: embd.CapDigital, DigitalLogical: 13},
|
||||
&embd.PinDesc{ID: "P1_35", Aliases: []string{"19", "GPIO_19"}, Caps: embd.CapDigital, DigitalLogical: 19},
|
||||
&embd.PinDesc{ID: "P1_36", Aliases: []string{"16", "GPIO_16"}, Caps: embd.CapDigital, DigitalLogical: 16},
|
||||
&embd.PinDesc{ID: "P1_37", Aliases: []string{"26", "GPIO_26"}, Caps: embd.CapDigital, DigitalLogical: 26},
|
||||
&embd.PinDesc{ID: "P1_38", Aliases: []string{"20", "GPIO_20"}, Caps: embd.CapDigital, DigitalLogical: 20},
|
||||
&embd.PinDesc{ID: "P1_40", Aliases: []string{"21", "GPIO_21"}, Caps: embd.CapDigital, DigitalLogical: 21},
|
||||
}...)
|
||||
|
||||
var ledMap = embd.LEDMap{
|
||||
"led0": []string{"0", "led0", "LED0"},
|
||||
}
|
||||
|
||||
func init() {
|
||||
embd.Register(embd.HostRPi, func(rev int) *embd.Descriptor {
|
||||
// Refer to http://elinux.org/RPi_HardwareHistory#Board_Revision_History
|
||||
// for details.
|
||||
pins := rev3Pins
|
||||
if rev < 16 {
|
||||
pins = rev2Pins
|
||||
}
|
||||
if rev < 4 {
|
||||
pins = rev1Pins
|
||||
}
|
||||
|
||||
return &embd.Descriptor{
|
||||
GPIODriver: func() embd.GPIODriver {
|
||||
return embd.NewGPIODriver(pins, generic.NewDigitalPin, nil, nil)
|
||||
},
|
||||
I2CDriver: func() embd.I2CDriver {
|
||||
return embd.NewI2CDriver(generic.NewI2CBus)
|
||||
},
|
||||
LEDDriver: func() embd.LEDDriver {
|
||||
return embd.NewLEDDriver(ledMap, generic.NewLED)
|
||||
},
|
||||
SPIDriver: func() embd.SPIDriver {
|
||||
return embd.NewSPIDriver(spiDeviceMinor, generic.NewSPIBus, nil)
|
||||
},
|
||||
}
|
||||
})
|
||||
}
|
||||
Loading…
Reference in New Issue