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

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This commit is contained in:
bugobliterator 2022-05-19 11:53:20 +05:30 committed by Andrew Tridgell
parent 4272b2c264
commit e26ffc4ec5
2 changed files with 27 additions and 3 deletions
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28
libraries/AP_HAL/Device.h
View File

@ -55,6 +55,11 @@ public:
FUNCTOR_TYPEDEF(PeriodicCb, void);
typedef void* PeriodicHandle;
// Register Read Write Callback
// returns: void parameters: register address, register data, register datasize, direction R:false, W:true
FUNCTOR_TYPEDEF(RegisterRWCb, void, uint8_t, uint8_t*, uint32_t, bool);
typedef void* RegisterRWHandle;
FUNCTOR_TYPEDEF(BankSelectCb, bool, uint8_t);
Device(enum BusType type)
@ -141,8 +146,13 @@ public:
*/
bool read_registers(uint8_t first_reg, uint8_t *recv, uint32_t recv_len)
{
uint8_t read_reg = first_reg;
first_reg |= _read_flag;
return transfer(&first_reg, 1, recv, recv_len);
bool result = transfer(&first_reg, 1, recv, recv_len);
if (_register_rw_callback != nullptr && result) {
_register_rw_callback(read_reg, recv, recv_len, false);
}
return result;
}
/**
@ -157,7 +167,19 @@ public:
if (checked) {
set_checked_register(reg, val);
}
return transfer(buf, sizeof(buf), nullptr, 0);
bool result = transfer(buf, sizeof(buf), nullptr, 0);
if (_register_rw_callback && result) {
_register_rw_callback(reg, &val, 1, true);
}
return result;
}
/*
* Sets a callback to be called when a register is read or written.
*/
virtual void set_register_rw_callback(RegisterRWCb register_rw_callback) {
_register_rw_callback = register_rw_callback;
}
/**
@ -429,7 +451,7 @@ protected:
private:
BankSelectCb _bank_select;
RegisterRWCb _register_rw_callback;
struct {
uint8_t n_allocated;
uint8_t n_set;

2
libraries/AP_HAL/SPIDevice.h
View File

@ -78,6 +78,8 @@ public:
/* Get spi device name at @idx */
virtual const char *get_device_name(uint8_t idx) { return nullptr; }
virtual void set_register_rw_callback(const char* name, AP_HAL::Device::RegisterRWCb cb) {}
};
}