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AP_HAL_ChibiOS: add mechanism to set register rw register using device name for SPI

This commit is contained in:
bugobliterator 2022-05-19 11:54:22 +05:30 committed by Andrew Tridgell
parent e26ffc4ec5
commit 76d6170ec9
2 changed files with 23 additions and 1 deletions
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19
libraries/AP_HAL_ChibiOS/SPIDevice.cpp
View File

@ -126,6 +126,7 @@ SPIDevice::SPIDevice(SPIBus &_bus, SPIDesc &_device_desc)
device_desc.name,
(unsigned)bus.bus, (unsigned)device_desc.device);
AP_HAL::SPIDevice::setup_bankselect_callback(device_desc.bank_select_cb);
AP_HAL::SPIDevice::set_register_rw_callback(device_desc.register_rw_cb);
//printf("SPI device %s on %u:%u at speed %u mode %u\n",
// device_desc.name,
// (unsigned)bus.bus, (unsigned)device_desc.device,
@ -441,6 +442,24 @@ SPIDeviceManager::get_device(const char *name)
return AP_HAL::OwnPtr<AP_HAL::SPIDevice>(new SPIDevice(*busp, desc));
}
void SPIDeviceManager::set_register_rw_callback(const char* name, AP_HAL::Device::RegisterRWCb cb)
{
/* Find the bus description in the table */
uint8_t i;
for (i = 0; i<ARRAY_SIZE(device_table); i++) {
if (strcmp(device_table[i].name, name) == 0) {
break;
}
}
if (i == ARRAY_SIZE(device_table)) {
return;
}
device_table[i].register_rw_cb = cb;
}
#ifdef HAL_SPI_CHECK_CLOCK_FREQ
/*

5
libraries/AP_HAL_ChibiOS/SPIDevice.h
View File

@ -52,7 +52,7 @@ struct SPIDesc {
: name(_name), bus(_bus), device(_device),
pal_line(_pal_line), mode(_mode),
lowspeed(_lowspeed), highspeed(_highspeed),
bank_select_cb(nullptr)
bank_select_cb(nullptr), register_rw_cb(nullptr)
{
}
@ -64,6 +64,7 @@ struct SPIDesc {
uint32_t lowspeed;
uint32_t highspeed;
AP_HAL::Device::BankSelectCb bank_select_cb;
AP_HAL::Device::RegisterRWCb register_rw_cb;
};
@ -160,6 +161,8 @@ public:
AP_HAL::OwnPtr<AP_HAL::SPIDevice> get_device(const char *name) override;
void set_register_rw_callback(const char* name, AP_HAL::Device::RegisterRWCb cb) override;
private:
static SPIDesc device_table[];
SPIBus *buses;