ardupilot/libraries/AP_HAL_ChibiOS/SPIDevice.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 <AP_HAL/SPIDevice.h>
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#include "AP_HAL_ChibiOS.h"
#if HAL_USE_SPI == TRUE
#include "Semaphores.h"
#include "Scheduler.h"
#include "Device.h"
namespace ChibiOS {
class SPIBus : public DeviceBus {
public:
SPIBus(uint8_t bus);
struct spi_dev_s *dev;
uint8_t bus;
SPIConfig spicfg;
void dma_allocate(Shared_DMA *ctx);
void dma_deallocate(Shared_DMA *ctx);
bool spi_started;
uint8_t slowdown;
// we need an additional lock in the dma_allocate and
// dma_deallocate functions to cope with 3-way contention as we
// have two DMA channels that we are handling with the shared_dma
// code
mutex_t dma_lock;
};
struct SPIDesc {
SPIDesc(const char *_name, uint8_t _bus,
uint8_t _device, ioline_t _pal_line,
uint32_t _mode, uint32_t _lowspeed, uint32_t _highspeed)
: name(_name), bus(_bus), device(_device),
pal_line(_pal_line), mode(_mode),
lowspeed(_lowspeed), highspeed(_highspeed),
bank_select_cb(nullptr)
{
}
const char *name;
uint8_t bus;
uint8_t device;
ioline_t pal_line;
uint32_t mode;
uint32_t lowspeed;
uint32_t highspeed;
AP_HAL::Device::BankSelectCb bank_select_cb;
};
class SPIDevice : public AP_HAL::SPIDevice {
public:
SPIDevice(SPIBus &_bus, SPIDesc &_device_desc);
virtual ~SPIDevice();
/* 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;
/*
Links the bank select callback to the spi bus, so that even when
used outside of the driver bank selection can be done.
*/
void setup_bankselect_callback(BankSelectCb bank_select) override {
device_desc.bank_select_cb = bank_select;
AP_HAL::SPIDevice::setup_bankselect_callback(bank_select);
}
/*
Ensure to deregister bankselect callback in destructor of user
that could potentially be deleted. otherewise the orphaned functor
can be called causing memory corruption.
*/
void deregister_bankselect_callback() override {
device_desc.bank_select_cb = nullptr;
AP_HAL::SPIDevice::deregister_bankselect_callback();
}
/*
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* send N bytes of clock pulses without taking CS. This is used
* when initialising microSD interfaces over SPI
*/
bool clock_pulse(uint32_t len) override;
/* See AP_HAL::Device::get_semaphore() */
AP_HAL::Semaphore *get_semaphore() override;
/* See AP_HAL::Device::register_periodic_callback() */
AP_HAL::Device::PeriodicHandle register_periodic_callback(
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;
bool set_chip_select(bool set) override;
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bool acquire_bus(bool acquire, bool skip_cs);
SPIDriver * get_driver();
#ifdef HAL_SPI_CHECK_CLOCK_FREQ
// used to measure clock frequencies
static void test_clock_freq(void);
#endif
// setup a bus clock slowdown factor
void set_slowdown(uint8_t slowdown) override;
private:
SPIBus &bus;
SPIDesc &device_desc;
uint32_t frequency;
uint32_t freq_flag;
uint32_t freq_flag_low;
uint32_t freq_flag_high;
char *pname;
bool cs_forced;
static void *spi_thread(void *arg);
static uint32_t derive_freq_flag_bus(uint8_t busid, uint32_t _frequency);
uint32_t derive_freq_flag(uint32_t _frequency);
// low level transfer function
bool do_transfer(const uint8_t *send, uint8_t *recv, uint32_t len) WARN_IF_UNUSED;
};
class SPIDeviceManager : public AP_HAL::SPIDeviceManager {
public:
friend class SPIDevice;
static SPIDeviceManager *from(AP_HAL::SPIDeviceManager *spi_mgr)
{
return static_cast<SPIDeviceManager*>(spi_mgr);
}
AP_HAL::OwnPtr<AP_HAL::SPIDevice> get_device(const char *name) override;
private:
static SPIDesc device_table[];
SPIBus *buses;
};
}
#endif // HAL_USE_SPI