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AP_HAL_Linux: SPI: adapt to the new signature of transaction()

This commit is contained in:
Gustavo Jose de Sousa 2015-08-19 12:36:45 -03:00 committed by Andrew Tridgell
parent e05928a7e8
commit 4af2a9a9cc
2 changed files with 19 additions and 7 deletions
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22
libraries/AP_HAL_Linux/SPIDriver.cpp
View File

@ -90,9 +90,9 @@ AP_HAL::Semaphore* LinuxSPIDeviceDriver::get_semaphore()
return LinuxSPIDeviceManager::get_semaphore(_bus);
}
void LinuxSPIDeviceDriver::transaction(const uint8_t *tx, uint8_t *rx, uint16_t len)
bool LinuxSPIDeviceDriver::transaction(const uint8_t *tx, uint8_t *rx, uint16_t len)
{
LinuxSPIDeviceManager::transaction(*this, tx, rx, len);
return LinuxSPIDeviceManager::transaction(*this, tx, rx, len);
}
void LinuxSPIDeviceDriver::set_bus_speed(enum bus_speed speed)
@ -210,11 +210,16 @@ void LinuxSPIDeviceManager::cs_release(enum AP_HAL::SPIDevice type)
}
}
void LinuxSPIDeviceManager::transaction(LinuxSPIDeviceDriver &driver, const uint8_t *tx, uint8_t *rx, uint16_t len)
bool LinuxSPIDeviceManager::transaction(LinuxSPIDeviceDriver &driver, const uint8_t *tx, uint8_t *rx, uint16_t len)
{
int r;
// we set the mode before we assert the CS line so that the bus is
// in the correct idle state before the chip is selected
ioctl(driver._fd, SPI_IOC_WR_MODE, &driver._mode);
r = ioctl(driver._fd, SPI_IOC_WR_MODE, &driver._mode);
if (r == -1) {
hal.console->printf("SPI: error on setting mode\n");
return false;
}
cs_assert(driver._type);
struct spi_ioc_transfer spi[1];
@ -232,8 +237,15 @@ void LinuxSPIDeviceManager::transaction(LinuxSPIDeviceDriver &driver, const uint
memset(rx, 0, len);
}
ioctl(driver._fd, SPI_IOC_MESSAGE(1), &spi);
r = ioctl(driver._fd, SPI_IOC_MESSAGE(1), &spi);
cs_release(driver._type);
if (r == -1) {
hal.console->printf("SPI: error on doing transaction\n");
return false;
}
return true;
}
/*

4
libraries/AP_HAL_Linux/SPIDriver.h
View File

@ -21,7 +21,7 @@ public:
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);
void init();
AP_HAL::Semaphore *get_semaphore();
void transaction(const uint8_t *tx, uint8_t *rx, uint16_t len);
bool transaction(const uint8_t *tx, uint8_t *rx, uint16_t len);
void cs_assert();
void cs_release();
@ -55,7 +55,7 @@ public:
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);
static bool transaction(LinuxSPIDeviceDriver &driver, const uint8_t *tx, uint8_t *rx, uint16_t len);
private:
static LinuxSPIDeviceDriver _device[];