ardupilot/libraries/AP_HAL_ChibiOS/Device.h

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/*
* This file is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published
* by the Free Software Foundation, either version 3 of the License,
* or (at your option) any later version.
*
* This file is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
* General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#include <inttypes.h>
#include <AP_HAL/HAL.h>
#include "Semaphores.h"
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#include "AP_HAL_ChibiOS.h"
#if HAL_USE_I2C == TRUE || HAL_USE_SPI == TRUE
#include "Scheduler.h"
#include "shared_dma.h"
#include "hwdef/common/bouncebuffer.h"
namespace ChibiOS {
class DeviceBus {
public:
DeviceBus(uint8_t _thread_priority = APM_I2C_PRIORITY);
struct DeviceBus *next;
Semaphore semaphore;
Shared_DMA *dma_handle;
AP_HAL::Device::PeriodicHandle register_periodic_callback(uint32_t period_usec, AP_HAL::Device::PeriodicCb, AP_HAL::Device *hal_device);
bool adjust_timer(AP_HAL::Device::PeriodicHandle h, uint32_t period_usec);
static void bus_thread(void *arg);
void bouncebuffer_setup(const uint8_t *&buf_tx, uint16_t tx_len,
uint8_t *&buf_rx, uint16_t rx_len);
void bouncebuffer_finish(const uint8_t *buf_tx, uint8_t *buf_rx, uint16_t rx_len);
private:
struct callback_info {
struct callback_info *next;
AP_HAL::Device::PeriodicCb cb;
uint32_t period_usec;
uint64_t next_usec;
} *callbacks;
uint8_t thread_priority;
thread_t* thread_ctx;
bool thread_started;
AP_HAL::Device *hal_device;
// support for bounce buffers for DMA-safe transfers
struct bouncebuffer_t *bounce_buffer_tx;
struct bouncebuffer_t *bounce_buffer_rx;
};
}
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#endif // I2C or SPI