/* This program 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 program 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 . */ /* Flymaple port by Mike McCauley */ #include #if CONFIG_HAL_BOARD == HAL_BOARD_FLYMAPLE // Flymaple SPI driver // Flymaple has no actual SPI devices, so this generic #include "SPIDriver.h" #include "FlymapleWirish.h" using namespace AP_HAL_FLYMAPLE_NS; #define FLYMAPLE_SPI_CS_PIN 8 // Only one port so far: #define FLYMAPLE_SPI_PORT 1 HardwareSPI spi(FLYMAPLE_SPI_PORT); FLYMAPLESPIDeviceDriver::FLYMAPLESPIDeviceDriver() {} void FLYMAPLESPIDeviceDriver::init() { spi.begin(SPI_9MHZ, MSBFIRST, SPI_MODE_0); digitalWrite(FLYMAPLE_SPI_CS_PIN, 1); pinMode(FLYMAPLE_SPI_CS_PIN, OUTPUT); } AP_HAL::Semaphore* FLYMAPLESPIDeviceDriver::get_semaphore() { return &_semaphore; } bool FLYMAPLESPIDeviceDriver::transaction(const uint8_t *tx, uint8_t *rx, uint16_t len) { cs_assert(); if (rx == NULL) { for (uint16_t i = 0; i < len; i++) { transfer(tx[i]); } } else { for (uint16_t i = 0; i < len; i++) { rx[i] = transfer(tx[i]); } } cs_release(); return true; } void FLYMAPLESPIDeviceDriver::cs_assert() { digitalWrite(FLYMAPLE_SPI_CS_PIN, 0); } void FLYMAPLESPIDeviceDriver::cs_release() { digitalWrite(FLYMAPLE_SPI_CS_PIN, 1); } uint8_t FLYMAPLESPIDeviceDriver::transfer (uint8_t data) { return spi.transfer(data); } void FLYMAPLESPIDeviceDriver::transfer (const uint8_t *data, uint16_t len) { spi.write(data, len); } FLYMAPLESPIDeviceManager::FLYMAPLESPIDeviceManager() { } void FLYMAPLESPIDeviceManager::init() { } AP_HAL::SPIDeviceDriver* FLYMAPLESPIDeviceManager::device(enum AP_HAL::SPIDevice, uint8_t index) { _device.init(); // Defer this until GPIO pin 13 is set up else its a slave return &_device; } #endif