ardupilot/libraries/AP_HAL_Linux/SPIDriver.h

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#ifndef __AP_HAL_EMPTY_SPIDRIVER_H__
#define __AP_HAL_EMPTY_SPIDRIVER_H__
#include <AP_HAL_Linux.h>
#include "Semaphores.h"
// Most platforms won't need to declare the spidev bus offset
#ifndef LINUX_SPIDEV_BUS_OFFSET
#define LINUX_SPIDEV_BUS_OFFSET 0
#endif
#define LINUX_SPI_MAX_BUSES 3
// Fake CS pin to indicate in-kernel handling
#define SPI_CS_KERNEL -1
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class Linux::LinuxSPIDeviceDriver : public AP_HAL::SPIDeviceDriver {
public:
friend class Linux::LinuxSPIDeviceManager;
LinuxSPIDeviceDriver(uint16_t bus, uint16_t subdev, enum AP_HAL::SPIDevice type, uint8_t mode, uint8_t bitsPerWord, int16_t cs_pin, uint32_t lowspeed, uint32_t highspeed);
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void init();
AP_HAL::Semaphore *get_semaphore();
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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);
void set_bus_speed(enum bus_speed speed);
void set_state(State state) override { _state = state; }
State get_state() override { return _state; }
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private:
uint16_t _bus;
uint16_t _subdev;
int16_t _cs_pin;
AP_HAL::DigitalSource *_cs;
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uint8_t _mode;
uint8_t _bitsPerWord;
State _state = State::UNKNOWN;
uint32_t _lowspeed;
uint32_t _highspeed;
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uint32_t _speed;
enum AP_HAL::SPIDevice _type;
int _fd; // Per-device FD.
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};
class Linux::LinuxSPIDeviceManager : public AP_HAL::SPIDeviceManager {
public:
void init(void *);
AP_HAL::SPIDeviceDriver* device(enum AP_HAL::SPIDevice);
static AP_HAL::Semaphore *get_semaphore(uint16_t bus);
static void cs_assert(enum AP_HAL::SPIDevice type);
static void cs_release(enum AP_HAL::SPIDevice type);
static void transaction(LinuxSPIDeviceDriver &driver, const uint8_t *tx, uint8_t *rx, uint16_t len);
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private:
static LinuxSPIDeviceDriver _device[];
static LinuxSemaphore _semaphore[LINUX_SPI_MAX_BUSES];
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};
#endif // __AP_HAL_LINUX_SPIDRIVER_H__