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

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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
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36
src/linux/spidev.c
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.
@ -8,6 +8,7 @@
#include <stdio.h> // snprintf
#include <unistd.h> // write
#include "command.h" // DECL_COMMAND
#include "gpio.h" // spi_setup
#include "internal.h" // report_errno
#include "sched.h" // shutdown
@ -47,22 +48,33 @@ spi_open(uint32_t bus, uint32_t dev)
return fd;
}
static void
spi_write(int fd, char *data, int len)
struct spi_config
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) {
report_errno("write spi", ret);
shutdown("Unable to write to spi");
}
}
void
command_send_spi(uint32_t *args)
// Dummy versions of gpio_out functions
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");