mirror of https://github.com/ArduPilot/ardupilot
100 lines
2.5 KiB
C
100 lines
2.5 KiB
C
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/*
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* This file is free software: you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
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* Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This file is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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#include <inttypes.h>
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#include <AP_HAL/HAL.h>
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#include <AP_HAL/SPIDevice.h>
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#include "AP_HAL_ESP32.h"
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#include "Semaphores.h"
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#include "Scheduler.h"
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#include "DeviceBus.h"
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#include "driver/spi_master.h"
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#include "driver/spi_common.h"
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#include "driver/gpio.h"
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namespace ESP32
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{
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struct SPIDeviceDesc {
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const char *name;
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uint8_t bus;
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uint8_t device;
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gpio_num_t cs;
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uint16_t mode;
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uint32_t lspeed;
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uint32_t hspeed;
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};
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struct SPIBusDesc {
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spi_host_device_t host;
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int dma_ch;
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gpio_num_t mosi;
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gpio_num_t miso;
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gpio_num_t sclk;
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gpio_num_t cs;
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};
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class SPIBus : public DeviceBus
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{
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public:
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SPIBus(uint8_t _bus);
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uint8_t bus;
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};
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class SPIDevice : public AP_HAL::SPIDevice
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{
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public:
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SPIDevice(SPIBus &_bus, SPIDeviceDesc &_device_desc);
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virtual ~SPIDevice();
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bool set_speed(AP_HAL::Device::Speed speed) override;
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bool transfer(const uint8_t *send, uint32_t send_len,
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uint8_t *recv, uint32_t recv_len) override;
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bool transfer_fullduplex(const uint8_t *send, uint8_t *recv,
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uint32_t len) override;
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AP_HAL::Semaphore *get_semaphore() override;
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AP_HAL::Device::PeriodicHandle register_periodic_callback(
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uint32_t period_usec, AP_HAL::Device::PeriodicCb) override;
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bool adjust_periodic_callback(AP_HAL::Device::PeriodicHandle h, uint32_t period_usec) override;
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private:
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SPIBus &bus;
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SPIDeviceDesc &device_desc;
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Speed speed;
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char *pname;
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spi_device_handle_t low_speed_dev_handle;
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spi_device_handle_t high_speed_dev_handle;
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spi_device_handle_t current_handle();
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void acquire_bus(bool accuire);
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};
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class SPIDeviceManager : public AP_HAL::SPIDeviceManager
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{
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public:
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friend class SPIDevice;
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AP_HAL::OwnPtr<AP_HAL::SPIDevice> get_device(const char *name) override;
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private:
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SPIBus *buses;
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};
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}
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