ardupilot/libraries/AP_HAL_Linux/SPIDriver.h

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2013-09-28 11:51:43 -03:00
#ifndef __AP_HAL_EMPTY_SPIDRIVER_H__
#define __AP_HAL_EMPTY_SPIDRIVER_H__
#include <AP_HAL_Linux.h>
#include "Semaphores.h"
class Linux::LinuxSPIDeviceDriver : public AP_HAL::SPIDeviceDriver {
public:
LinuxSPIDeviceDriver(const char *spipath, uint8_t mode, uint8_t bitsPerWord, uint32_t speed);
void init();
AP_HAL::Semaphore* get_semaphore();
void transaction(const uint8_t *tx, uint8_t *rx, uint16_t len);
void cs_assert();
void cs_release();
uint8_t transfer (uint8_t data);
void transfer (const uint8_t *data, uint16_t len);
private:
LinuxSemaphore _semaphore;
const char *_spipath;
int _fd;
uint8_t _mode;
uint8_t _bitsPerWord;
uint32_t _speed;
};
class Linux::LinuxSPIDeviceManager : public AP_HAL::SPIDeviceManager {
public:
LinuxSPIDeviceManager();
void init(void *);
AP_HAL::SPIDeviceDriver* device(enum AP_HAL::SPIDevice);
private:
LinuxSPIDeviceDriver _device_cs0;
LinuxSPIDeviceDriver _device_cs1;
};
#endif // __AP_HAL_LINUX_SPIDRIVER_H__