ardupilot/libraries/AP_HAL_Linux/SPIDevice.h

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/*
* Copyright (C) 2015 Intel Corporation. All rights reserved.
*
* 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 <vector>
#include <AP_HAL/HAL.h>
#include <AP_HAL/SPIDevice.h>
namespace Linux {
class SPIBus;
class SPIDesc;
class SPIDevice : public AP_HAL::SPIDevice {
public:
SPIDevice(SPIBus &bus, SPIDesc &device_desc);
virtual ~SPIDevice();
/* AP_HAL::SPIDevice implementation */
/* See AP_HAL::Device::set_speed() */
bool set_speed(AP_HAL::Device::Speed speed) override;
/* See AP_HAL::Device::transfer() */
bool transfer(const uint8_t *send, uint32_t send_len,
uint8_t *recv, uint32_t recv_len) override;
/* See AP_HAL::SPIDevice::transfer_fullduplex() */
bool transfer_fullduplex(const uint8_t *send, uint8_t *recv,
uint32_t len) override;
/* See AP_HAL::Device::get_semaphore() */
AP_HAL::Semaphore *get_semaphore() override;
/* See AP_HAL::Device::register_periodic_callback() */
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AP_HAL::Device::PeriodicHandle register_periodic_callback(
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uint32_t period_usec, AP_HAL::Device::PeriodicCb) override;
/* See AP_HAL::Device::adjust_periodic_callback() */
bool adjust_periodic_callback(
AP_HAL::Device::PeriodicHandle h, uint32_t period_usec) override;
protected:
SPIBus &_bus;
SPIDesc &_desc;
AP_HAL::DigitalSource *_cs;
uint32_t _speed;
/*
* Select device if using userspace CS
*/
void _cs_assert();
/*
* Deselect device if using userspace CS
*/
void _cs_release();
};
class SPIDeviceManager : public AP_HAL::SPIDeviceManager {
public:
friend class SPIDevice;
static SPIDeviceManager *from(AP_HAL::SPIDeviceManager *spi_mgr)
{
return static_cast<SPIDeviceManager*>(spi_mgr);
}
SPIDeviceManager()
{
/* Reserve space up-front for 3 buses */
_buses.reserve(3);
}
/* AP_HAL::SPIDeviceManager implementation */
AP_HAL::OwnPtr<AP_HAL::SPIDevice> get_device(const char *name) override;
/*
* Stop all SPI threads and block until they are finalized. This doesn't
* free memory because they can still be used by devices, however device
* drivers won't receive any new event
*/
void teardown();
/* See AP_HAL::SPIDeviceManager::get_count() */
uint8_t get_count() override;
/* See AP_HAL::SPIDeviceManager::get_device_name() */
const char *get_device_name(uint8_t idx) override;
protected:
void _unregister(SPIBus &b);
AP_HAL::OwnPtr<AP_HAL::SPIDevice> _create_device(SPIBus &b, SPIDesc &device_desc) const;
std::vector<SPIBus*> _buses;
static const uint8_t _n_device_desc;
static SPIDesc _device[];
};
}