ardupilot/libraries/AP_HAL_SITL/SPIDevice.h

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2021-07-12 22:41:05 -03:00
/*
* Copyright (C) 2021 Peter Barker. 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 <AP_HAL/HAL.h>
#include <AP_HAL/SPIDevice.h>
#include "Semaphores.h"
class SPIBus;
namespace HALSITL {
struct SPIDesc {
SPIDesc(const char *_name, uint8_t _bus, uint8_t _cs_pin)
: name(_name), bus(_bus), cs_pin(_cs_pin)
{ }
const char *name;
uint8_t bus;
uint8_t cs_pin; // cs
};
class SPIDevice : public AP_HAL::SPIDevice {
public:
SPIDevice(SPIBus &_bus, SPIDesc &_device_desc);
// no concept of speed in SITL yet
bool set_speed(AP_HAL::Device::Speed speed) override { return true; }
bool transfer(const uint8_t *send, uint32_t send_len,
uint8_t *recv, uint32_t recv_len) override;
bool transfer_fullduplex(const uint8_t *send, uint8_t *recv,
uint32_t len) override {
abort();
}
AP_HAL::Semaphore *get_semaphore() override;
AP_HAL::Device::PeriodicHandle register_periodic_callback(
uint32_t period_usec, AP_HAL::Device::PeriodicCb) override;
private:
SPIBus &bus;
SPIDesc &device_desc;
Semaphore _semaphore;
bool do_transfer(const uint8_t *send, uint8_t *recv, uint32_t len);
};
class SPIDeviceManager : public AP_HAL::SPIDeviceManager {
public:
SPIDeviceManager();
AP_HAL::OwnPtr<AP_HAL::SPIDevice> get_device(const char *name) override;
static SPIDesc device_table[];
static SPIBus *buses;
};
}