/// +=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=
/// <summary>
/// Enables the SPI slave device which uses a GPIO pin as a slave select.
///
/// NOTE on how this works. When using a GPIO pin as a slave select line
/// we still need to open a SPIDev device because we need a device to
/// send the data to. The way SPIDev works each spidev device is
/// fundamentally associated with a particular slave select line and
/// this cannot be changed. The GPIO line will be used as a separate
/// slave select but the spidev device specific slave select will also
/// be asserted whenever the device is writtent to.
///
/// In order to use a GPIO as a slave select you must ignore and not
/// electrically attach anything to the slave select pin the SPIDEV
/// device uses as it will be asserted on each write.
///
/// In other words, the SPIDev device is needed to shift the data in
/// and out, however you must ignore its internal slave select line
/// entirely if you wish to use GPIO based slave selects. Otherwise
/// any device attached to it will be receive every write to the
/// SPIPort no matter which GPIO slave select is also asserted.
///
/// </summary>
/// <returns>ssHandle - the handle for the Slave Device or null for fail</returns>
/// <param name="spiSlaveDeviceIn">The GPIO of the pin we use as the slave select</param>
/// <history>
/// 21 Dec 14 Cynic - Originally written
/// </history>
public SPISlaveDeviceHandle EnableSPIGPIOSlaveDevice(GpioEnum gpioEnum)
{
// get first slave device. We need to check we have one
SPISlaveDeviceHandle ssHandle = GetFirstSlaveDeviceWithFD();
// sanity check
if (ssHandle == null)
{
throw new Exception("At least one non GPIO Slave Device must be enabled first.");
}
// create a new output port
OutputPortMM gpioSlaveSelect = new OutputPortMM(gpioEnum);
// set this high by default, most modes have slave selects high and go low to activate
gpioSlaveSelect.Write(true);
// create a new slave device handle
SPISlaveDeviceHandle outHandle = new SPISlaveDeviceHandle(SPISlaveDeviceEnum.SPI_SLAVEDEVICE_GPIO, gpioSlaveSelect);
if (outHandle == null)
{
throw new Exception("Could not create GPIO based slave select device");
}
//Console.WriteLine("SPIPort GPIO Slave Device Enabled: "+ gpioEnum.ToString());
// record that we opened this slave device (so we can close it later)
openSlaveDevices.Add(outHandle);
// return the slave device handle
return(outHandle);
}
/// +=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=
/// <summary>
/// Enables the SPI slave device. Will throw exceptions if it cannot open the
/// device
/// </summary>
/// <returns>ssHandle - the handle for the Slave Device or null for fail</returns>
/// <param name="spiSlaveDeviceIn">The SPI Slave Device we are configuring</param>
/// <history>
/// 21 Dec 14 Cynic - Originally written
/// </history>
public SPISlaveDeviceHandle EnableSPISlaveDevice(SPISlaveDeviceEnum spiSlaveDeviceIn)
{
string deviceFileName;
// set up now
deviceFileName = BBBDefinitions.SPIDEV_FILENAME;
// set up the spi device number, this is based off the port
// NOTE that SPI port 0 goes to /dev/spidev1.x and SPI port 1
// goes to /dev/spidev2.x. That is just the way it is
if (SPIPort == SPIPortEnum.SPIPORT_0)
{
deviceFileName = deviceFileName.Replace("%device%", "1");
}
else if (SPIPort == SPIPortEnum.SPIPORT_1)
{
deviceFileName = deviceFileName.Replace("%device%", "2");
}
else
{
// should never happen
throw new Exception("Unknown SPI Port:" + SPIPort.ToString());
}
// set up the spi slave number
if (spiSlaveDeviceIn == SPISlaveDeviceEnum.SPI_SLAVEDEVICE_CS0)
{
deviceFileName = deviceFileName.Replace("%slave%", "0");
}
else if (spiSlaveDeviceIn == SPISlaveDeviceEnum.SPI_SLAVEDEVICE_CS1)
{
deviceFileName = deviceFileName.Replace("%slave%", "1");
}
else
{
// should never happen
throw new Exception("Unknown SPI Slave Device:" + spiSlaveDeviceIn.ToString());
}
// we open the file. We have to have an open file descriptor
// note this is an external call. It has to be because the
// ioctl needs an open file descriptor it can use
int fd = ExternalFileOpen(deviceFileName, O_RDWR | O_NONBLOCK);
if (fd <= 0)
{
throw new Exception("Could not open spidev file:" + deviceFileName);
}
//Console.WriteLine("SPIPort Slave Device Enabled: "+ deviceFileName);
// create a new slave device handle
SPISlaveDeviceHandle outHandle = new SPISlaveDeviceHandle(spiSlaveDeviceIn, fd);
// record that we opened this slave device (so we can close it later)
openSlaveDevices.Add(outHandle);
// return the slave device handle
return(outHandle);
}
/// +=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=
/// <summary>
/// Constructor
/// </summary>
/// <param name="spiPortIn">The SPI port we use</param>
/// <history>
/// 16 Sep 17 Cai Biesinger - Modified for Scarlet: Renamed
/// 21 Dec 14 Cynic - Originally written
/// </history>
public ScarletSPIPortFS(SPIPortEnum spiPortIn) : base(GpioEnum.GPIO_NONE)
{
spiPort = spiPortIn;
PortDevice = EnableSPIDevice();
// NOTE the port is not opened here as per the usual manner. Because
// each SPI dev device represents a distinct Slave select, we open the
// spidev file on the EnableSPISlaveDevice call();
//Console.WriteLine("SPIPort Starts");
}
/// +=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=
/// <summary>
/// Disables a SPI slave device.
/// </summary>
/// <param name="ssHandle">The SPI Slave Device handle to disable</param>
/// <history>
/// 21 Dec 14 Cynic - Originally written
/// </history>
private void DisableSPISlaveDevice(SPISlaveDeviceHandle ssHandle)
{
if (ssHandle == null)
{
return;
}
// are we an internal chip select type slave device?
if ((ssHandle.SPISlaveDevice == SPISlaveDeviceEnum.SPI_SLAVEDEVICE_CS0) ||
(ssHandle.SPISlaveDevice == SPISlaveDeviceEnum.SPI_SLAVEDEVICE_CS1))
{
// yes we are, close it this way
// does it have a valid file descriptor
if (ssHandle.SpiDevFileDescriptor < 0)
{
return;
}
// do an external close
ExternalFileClose(ssHandle.SpiDevFileDescriptor);
// mark it as having been closed
ssHandle.Reset();
}
else if (ssHandle.SPISlaveDevice == SPISlaveDeviceEnum.SPI_SLAVEDEVICE_GPIO)
{
// yes we are, close it this way
// does it have a valid file descriptor
if (ssHandle.GpioSlaveSelect == null)
{
return;
}
// close it
ssHandle.GpioSlaveSelect.ClosePort();
ssHandle.GpioSlaveSelect.Dispose();
ssHandle.GpioSlaveSelect = null;
// mark it as having been closed
ssHandle.Reset();
}
else
{
// unknown type of slave device should never happen
throw new Exception("Unknown SPI Slave Device:" + ssHandle.SPISlaveDevice.ToString());
}
}
/// +=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=
/// <summary>
/// Enables the SPI slave device which uses a GPIO pin as a slave select.
///
/// NOTE on how this works. When using a GPIO pin as a slave select line
/// we still need to open a SPIDev device because we need a device to
/// send the data to. The way SPIDev works each spidev device is
/// fundamentally associated with a particular slave select line and
/// this cannot be changed. The GPIO line will be used as a separate
/// slave select but the spidev device specific slave select will also
/// be asserted whenever the device is writtent to.
///
/// In order to use a GPIO as a slave select you must ignore and not
/// electrically attach anything to the slave select pin the SPIDEV
/// device uses as it will be asserted on each write.
///
/// In other words, the SPIDev device is needed to shift the data in
/// and out, however you must ignore its internal slave select line
/// entirely if you wish to use GPIO based slave selects. Otherwise
/// any device attached to it will be receive every write to the
/// SPIPort no matter which GPIO slave select is also asserted.
///
/// </summary>
/// <returns>ssHandle - the handle for the Slave Device or null for fail</returns>
///// <param name="spiSlaveDeviceIn">The GPIO of the pin we use as the slave select</param>
/// <param name="output"> The <see cref="IDigitalOut"/> to prepare for SPI CS use. </param>
/// <history>
/// 16 Sep 17 Cai Biesinger - Modified for Scarlet: Switched from direct GPIO control to IDigitalOut.
/// 21 Dec 14 Cynic - Originally written
/// </history>
public void EnableSPIGPIOSlaveDevice(IDigitalOut output)
{
// get first slave device. We need to check we have one
SPISlaveDeviceHandle ssHandle = PortDevice;
// sanity check
if (ssHandle == null)
{
throw new Exception("At least one non GPIO Slave Device must be enabled first.");
}
// set this high by default, most modes have slave selects high and go low to activate
output.SetOutput(true);
//Console.WriteLine("SPIPort GPIO Slave Device Enabled: "+ gpioEnum.ToString());
// record that we opened this slave device (so we can close it later)
SlaveDevices.Add(output);
}
/// +=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=
/// <summary>
/// Sets the Default SPI speed in Hertz. This value can be overridden on
/// a per slave basis by setting the SpeedInHz in the SPISlaveDeviceHandle
/// </summary>
/// <param name="spiSpeedInHz">The speed in Hertz to set</param>
/// <history>
/// 21 Dec 14 Cynic - Originally written
/// </history>
public void SetDefaultSpeedInHz(uint spiSpeedInHz)
{
// get first slave device. We need the file descriptor
SPISlaveDeviceHandle ssHandle = GetFirstSlaveDeviceWithFD();
// sanity check
if (ssHandle == null)
{
throw new Exception("At least one non GPIO Slave Device must be enabled.");
}
// this is an external call to the libc.so.6 library
uint speedInHz = (uint)spiSpeedInHz;
int retVal = ExternalIoCtl(ssHandle.SpiDevFileDescriptor, SPI_IOC_WR_MAX_SPEED_HZ, ref speedInHz);
// did the call succeed?
if (retVal < 0)
{
// it failed
throw new Exception("ExternalIoCtl on device " + ssHandle.SPISlaveDevice + " failed. retval=" + retVal.ToString());
}
}
/// +=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=
/// <summary>
/// Sets the SPI mode. This is used for all Slave Devices on the port
/// It cannot be individually set on a per slave basis. At least one
/// non-GPIO slave must be enabled
/// </summary>
/// <param name="spiMode">The spi mode to set</param>
/// <history>
/// 16 Sep 17 Cai Biesinger - Modified for Scarlet: Removed SS file descriptors
/// 21 Dec 14 Cynic - Originally written
/// </history>
public void SetMode(SPIModeEnum spiMode)
{
// get first slave device. We need the file descriptor
SPISlaveDeviceHandle ssHandle = PortDevice;
// sanity check
if (ssHandle == null)
{
throw new Exception("At least one non GPIO Slave Device must be enabled.");
}
// this is an external call to the libc.so.6 library
uint mode = (uint)spiMode;
int retVal = ExternalIoCtl(ssHandle.SpiDevFileDescriptor, SPI_IOC_WR_MODE, ref mode);
// did the call succeed?
if (retVal < 0)
{
// it failed
throw new Exception("ExternalIoCtl on device " + ssHandle.SPISlaveDevice + " failed. retval=" + retVal.ToString());
}
}
/// +=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=
/// <summary>
/// Gets the SPI mode. This is used for all Slave Devices on the port
/// It cannot be individually set on a per slave basis. At least one
/// non-GPIO slave must be enabled
/// </summary>
/// <param name="ssHandle">The SPI Slave Device handle</param>
/// <returns>the spi mode</returns>
/// <history>
/// 21 Dec 14 Cynic - Originally written
/// </history>
public SPIModeEnum GetMode()
{
// get first slave device. We need the file descriptor
SPISlaveDeviceHandle ssHandle = GetFirstSlaveDeviceWithFD();
// sanity check
if (ssHandle == null)
{
throw new Exception("At least one non GPIO Slave Device must be enabled.");
}
uint mode = 0;
// this is an external call to the libc.so.6 library
int retVal = ExternalIoCtl(ssHandle.SpiDevFileDescriptor, SPI_IOC_RD_MODE, ref mode);
// did the call succeed?
if (retVal < 0)
{
// it failed
throw new Exception("ExternalIoCtl on device " + ssHandle.SPISlaveDevice + " failed. retval=" + retVal.ToString());
}
return((SPIModeEnum)mode);
}
/// +=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=
/// <summary>
/// Writes/Reads a buffer out/in to/from an SPI Slave Device.
///
/// Note that the TO/FROM's and IN/OUT's in the above line are there because
/// the SPI protocol always reads a byte for every byte sent. If you send a
/// byte you get a byte. If you do not sent a byte you will never receive
/// a byte since this code operates as an SPI Master. Thus if you only
/// wish to receive you must send an equivalent number of bytes. The
/// bytes you send are determined by the Slave. Sometimes this is just
/// 0x00 and sometimes it represents an address to read - exactly what you,
/// send is entirely slave device implementation dependent.
///
/// If you only wish to transmit, not receive, just use NULL for your
/// rxBuffer. The SPI port will still receive, of course, but you will
/// not be bothered by it.
///
/// NOTE: the Slave Select is set when you opened the port. The rule is
/// one slave to one SPISlaveDeviceHandle.
///
/// </summary>
/// <param name="ssHandle">The SPI Slave Device handle to write to</param>
/// <param name="txByteBuf">The buffer with bytes to write</param>
/// <param name="rxByteBuf">The buffer with bytes to receive. Can be NULL</param>
/// <param name="numBytes">The number of bytes to send/receive
/// <history>
/// 21 Dec 14 Cynic - Originally written
/// </history>
public void SPITransfer(SPISlaveDeviceHandle ssHandle, byte[] txByteBuf, byte[] rxByteBuf, int numBytes)
{
int spiFileDescriptor = -1;
int ioctlRetVal = -1;
// sanity check
if (ssHandle == null)
{
throw new Exception("Null Slave Device Handle");
}
if (txByteBuf == null)
{
throw new Exception("Null tx buffer");
}
if (numBytes <= 0)
{
throw new Exception("numBytes <= 0");
}
// set up our file descriptor
// are we an internal chip select type slave device?
if ((ssHandle.SPISlaveDevice == SPISlaveDeviceEnum.SPI_SLAVEDEVICE_CS0) ||
(ssHandle.SPISlaveDevice == SPISlaveDeviceEnum.SPI_SLAVEDEVICE_CS1))
{
// yes we are, just use this descriptor
spiFileDescriptor = ssHandle.SpiDevFileDescriptor;
}
else if (ssHandle.SPISlaveDevice == SPISlaveDeviceEnum.SPI_SLAVEDEVICE_GPIO)
{
if (ssHandle.GpioSlaveSelect == null)
{
throw new Exception("No GPIO Slave Select device found.");
}
// use the descriptor of the first non-GPIO slave select
// we find.
// get first slave device. We need the file descriptor
SPISlaveDeviceHandle firstHandle = GetFirstSlaveDeviceWithFD();
// sanity check
if (firstHandle == null)
{
throw new Exception("At least one non GPIO Slave Device must be enabled.");
}
// use this descriptor
spiFileDescriptor = firstHandle.SpiDevFileDescriptor;
}
else
{
// should never happen
throw new Exception("unknown slave device type");
}
// the data needs to be in unmanaged global memory
// so the spidev driver can see it. This allocates
// that memory. We MUST release this!
IntPtr txBufPtr = Marshal.AllocHGlobal(numBytes + 1);
IntPtr rxBufPtr = Marshal.AllocHGlobal(numBytes + 1);
try
{
// copy the data from the tx buffer to our pointer
Marshal.Copy(txByteBuf, 0, txBufPtr, numBytes);
// create and fill in the contents of our transfer struct
spi_ioc_transfer xfer = new spi_ioc_transfer();
xfer.tx_buf = txBufPtr;
xfer.rx_buf = rxBufPtr;
xfer.len = (UInt32)numBytes;
xfer.speed_hz = (UInt16)ssHandle.SpeedInHz;
xfer.delay_usecs = ssHandle.DelayUSecs;
xfer.bits_per_word = ssHandle.BitsPerWord;
xfer.cs_change = ssHandle.CSChange;
xfer.pad = 0;
if (ssHandle.SPISlaveDevice == SPISlaveDeviceEnum.SPI_SLAVEDEVICE_GPIO)
{
// lower the slave select
ssHandle.GpioSlaveSelect.Write(false);
try
{
// this is an external call to the libc.so.6 library
ioctlRetVal = ExternalIoCtl(spiFileDescriptor, SPI_IOC_MESSAGE_1, ref xfer);
}
finally
{
// raise the slave select
ssHandle.GpioSlaveSelect.Write(false);
}
}
else
{
// this is an external call to the libc.so.6 library
ioctlRetVal = ExternalIoCtl(spiFileDescriptor, SPI_IOC_MESSAGE_1, ref xfer);
}
// did the call succeed?
if (ioctlRetVal < 0)
{
// it failed
throw new Exception("ExternalIoCtl on device " + ssHandle.SPISlaveDevice + " failed. retval=" + ioctlRetVal.ToString());
}
// did the caller supply a receive buffer
if (rxByteBuf != null)
{
// yes they did, copy the returned data in
Marshal.Copy(rxBufPtr, rxByteBuf, 0, numBytes);
}
}
finally
{
// Free the unmanaged memory.
Marshal.FreeHGlobal(txBufPtr);
Marshal.FreeHGlobal(rxBufPtr);
}
}
/// +=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=
/// <summary>
/// Writes/Reads a buffer out/in to/from an SPI Slave Device.
///
/// Note that the TO/FROM's and IN/OUT's in the above line are there because
/// the SPI protocol always reads a byte for every byte sent. If you send a
/// byte you get a byte. If you do not sent a byte you will never receive
/// a byte since this code operates as an SPI Master. Thus if you only
/// wish to receive you must send an equivalent number of bytes. The
/// bytes you send are determined by the Slave. Sometimes this is just
/// 0x00 and sometimes it represents an address to read - exactly what you,
/// send is entirely slave device implementation dependent.
///
/// If you only wish to transmit, not receive, just use NULL for your
/// rxBuffer. The SPI port will still receive, of course, but you will
/// not be bothered by it.
///
/// NOTE: the Slave Select is set when you opened the port. The rule is
/// one slave to one SPISlaveDeviceHandle.
///
/// </summary>
/// <param name="ssHandle">The SPI Slave Device handle to write to</param>
/// <param name="txByteBuf">The buffer with bytes to write</param>
/// <param name="rxByteBuf">The buffer with bytes to receive. Can be NULL</param>
/// <param name="numBytes">The number of bytes to send/receive
/// <history>
/// 16 Sep 17 Cai Biesinger - Modified for Scarlet: switching from file descriptor GPIO to IDigitalOut.
/// 21 Dec 14 Cynic - Originally written
/// </history>
public void SPITransfer(IDigitalOut output, byte[] txByteBuf, byte[] rxByteBuf, int numBytes)
{
int spiFileDescriptor = -1;
int ioctlRetVal = -1;
// sanity check
if (output == null)
{
throw new Exception("Null IDigitalOut object");
}
if (txByteBuf == null)
{
throw new Exception("Null tx buffer");
}
if (numBytes <= 0)
{
throw new Exception("numBytes <= 0");
}
// set up our file descriptor
// use the descriptor of the first non-GPIO slave select
// we find.
// get first slave device. We need the file descriptor
SPISlaveDeviceHandle firstHandle = PortDevice;
// sanity check
if (firstHandle == null)
{
throw new Exception("At least one non GPIO Slave Device must be enabled.");
}
// use this descriptor
spiFileDescriptor = firstHandle.SpiDevFileDescriptor;
// the data needs to be in unmanaged global memory
// so the spidev driver can see it. This allocates
// that memory. We MUST release this!
IntPtr txBufPtr = Marshal.AllocHGlobal(numBytes + 1);
IntPtr rxBufPtr = Marshal.AllocHGlobal(numBytes + 1);
try
{
// copy the data from the tx buffer to our pointer
Marshal.Copy(txByteBuf, 0, txBufPtr, numBytes);
// create and fill in the contents of our transfer struct
spi_ioc_transfer xfer = new spi_ioc_transfer();
xfer.tx_buf = txBufPtr;
xfer.rx_buf = rxBufPtr;
xfer.len = (UInt32)numBytes;
xfer.speed_hz = 0; //(UInt16)ssHandle.SpeedInHz;
xfer.delay_usecs = 0; // ssHandle.DelayUSecs;
xfer.bits_per_word = 0; // ssHandle.BitsPerWord;
xfer.cs_change = 0; // ssHandle.CSChange;
xfer.pad = 0;
// lower the slave select
output.SetOutput(false);
try
{
// this is an external call to the libc.so.6 library
ioctlRetVal = ExternalIoCtl(spiFileDescriptor, SPI_IOC_MESSAGE_1, ref xfer);
}
finally
{
// raise the slave select
// CaiB 2017-09-16: Chenged this to true, BBBCSIO never released SS.
output.SetOutput(true);
}
// did the call succeed?
if (ioctlRetVal < 0)
{
// it failed
throw new Exception("ExternalIoCtl on device " + output + " failed. retval=" + ioctlRetVal.ToString());
}
// did the caller supply a receive buffer
if (rxByteBuf != null)
{
// yes they did, copy the returned data in
Marshal.Copy(rxBufPtr, rxByteBuf, 0, numBytes);
}
}
finally
{
// Free the unmanaged memory.
Marshal.FreeHGlobal(txBufPtr);
Marshal.FreeHGlobal(rxBufPtr);
}
}