ardupilot/libraries/AP_HAL_ChibiOS/QSPIDevice.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/>.
*
* Code by
* Andy Piper
* Siddharth Bharat Purohit, Cubepilot Pty. Ltd.
*/
#pragma once
#include <inttypes.h>
#include <AP_HAL/HAL.h>
#include <AP_HAL/QSPIDevice.h>
#include "AP_HAL_ChibiOS.h"
#if HAL_USE_WSPI == TRUE && defined(HAL_QSPI_DEVICE_LIST)
#if !defined(HAL_BOOTLOADER_BUILD)
#include "Semaphores.h"
#endif
#include "Scheduler.h"
#include "Device.h"
namespace ChibiOS
{
struct QSPIDesc {
QSPIDesc(const char *_name, uint8_t _bus,
uint32_t _mode, uint32_t _speed,
uint8_t _size_pow2, uint8_t _ncs_clk_shift)
: name(_name), bus(_bus), mode(_mode), speed(_speed),
size_pow2(_size_pow2), ncs_clk_delay(_ncs_clk_shift)
{
}
const char *name; // name of the device
uint8_t bus; // qspi bus being used
uint8_t device; // device id
uint32_t mode; // clock mode
uint32_t speed; // clock speed
uint8_t size_pow2; // size as power of 2
uint8_t ncs_clk_delay; // number of clk cycles to wait while transitioning NCS
};
class QSPIBus : public DeviceBus
{
public:
QSPIBus(uint8_t _bus) :
DeviceBus(APM_SPI_PRIORITY, true),
bus(_bus) {}
uint8_t bus;
WSPIConfig wspicfg;
bool qspi_started;
};
class QSPIDevice : public AP_HAL::QSPIDevice
{
public:
static QSPIDevice *from(AP_HAL::QSPIDevice *dev)
{
return static_cast<QSPIDevice*>(dev);
}
QSPIDevice(QSPIBus &_bus, QSPIDesc &_device_desc) :
bus(_bus),
device_desc(_device_desc)
{}
bool set_speed(Speed speed) override
{
return true;
}
PeriodicHandle register_periodic_callback(uint32_t period_usec, PeriodicCb) override
{
return nullptr;
}
bool adjust_periodic_callback(PeriodicHandle h, uint32_t period_usec) override
{
return false;
}
/* See AP_HAL::Device::transfer() */
bool transfer(const uint8_t *send, uint32_t send_len,
uint8_t *recv, uint32_t recv_len) override;
void set_cmd_header(const CommandHeader& cmd_hdr) override;
AP_HAL::Semaphore* get_semaphore() override
{
#if !defined(HAL_BOOTLOADER_BUILD)
// if asking for invalid bus number use bus 0 semaphore
return &bus.semaphore;
#else
return nullptr;
#endif
}
bool acquire_bus(bool acquire);
// Enters Memory mapped or eXecution In Place or 0-4-4 mode
bool enter_xip_mode(void** map_ptr) override;
bool exit_xip_mode() override;
private:
QSPIBus &bus;
QSPIDesc &device_desc;
wspi_command_t mode;
};
class QSPIDeviceManager : public AP_HAL::QSPIDeviceManager
{
public:
friend class QSPIDevice;
static QSPIDeviceManager *from(AP_HAL::QSPIDeviceManager *qspi_mgr)
{
return static_cast<QSPIDeviceManager*>(qspi_mgr);
}
AP_HAL::OwnPtr<AP_HAL::QSPIDevice> get_device(const char *name) override;
private:
static QSPIDesc device_table[];
QSPIBus *buses;
};
}
#endif // #if HAL_USE_WSPI == TRUE && defined(HAL_QSPI_DEVICE_LIST)