mirror of https://github.com/ArduPilot/ardupilot
82 lines
2.1 KiB
C
82 lines
2.1 KiB
C
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/*
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* Copyright (C) 2021 Peter Barker. All rights reserved.
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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 "Semaphores.h"
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class SPIBus;
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namespace HALSITL {
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struct SPIDesc {
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SPIDesc(const char *_name, uint8_t _bus, uint8_t _cs_pin)
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: name(_name), bus(_bus), cs_pin(_cs_pin)
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{ }
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const char *name;
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uint8_t bus;
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uint8_t cs_pin; // cs
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};
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class SPIDevice : public AP_HAL::SPIDevice {
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public:
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SPIDevice(SPIBus &_bus, SPIDesc &_device_desc);
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// no concept of speed in SITL yet
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bool set_speed(AP_HAL::Device::Speed speed) override { return true; }
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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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abort();
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}
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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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private:
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SPIBus &bus;
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SPIDesc &device_desc;
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Semaphore _semaphore;
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bool do_transfer(const uint8_t *send, uint8_t *recv, uint32_t len);
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};
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class SPIDeviceManager : public AP_HAL::SPIDeviceManager {
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public:
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SPIDeviceManager();
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AP_HAL::OwnPtr<AP_HAL::SPIDevice> get_device(const char *name) override;
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static SPIDesc device_table[];
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static SPIBus *buses;
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};
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}
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