/* 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 <http://www.gnu.org/licenses/>. */ /* Simulated spi buses and devices */ #include <GCS_MAVLink/GCS.h> #include <SITL/SITL.h> #include "SIM_SPI.h" #include "SIM_SPIDevice.h" #include "SIM_RAMTRON_FM25V02.h" #include "SIM_JEDEC_MX25L3206E.h" #include <signal.h> using namespace SITL; #if AP_SIM_RAMTRON_FM25V02_ENABLED static RAMTRON_FM25V02 ramtron_FM25V02; // 32kB 2-byte-addressing #endif #if AP_SIM_JEDEC_MX25L3206E_ENABLED static JEDEC_MX25L3206E jedec_MX25L3206E; #endif struct spi_device_at_cs_pin { uint8_t bus; uint8_t cs_pin; SPIDevice &device; } spi_devices[] { #if AP_SIM_RAMTRON_FM25V02_ENABLED { 0, 0, ramtron_FM25V02 }, #endif #if AP_SIM_JEDEC_MX25L3206E_ENABLED { 1, 0, jedec_MX25L3206E }, #endif }; void SPI::init() { for (auto &i : spi_devices) { i.device.init(); } // sanity check the spi_devices structure to ensure we don't have // two devices at the same address on the same bus: for (uint8_t i=0; i<ARRAY_SIZE(spi_devices)-1; i++) { const auto &dev_i = spi_devices[i]; for (uint8_t j=i+1; j<ARRAY_SIZE(spi_devices); j++) { const auto &dev_j = spi_devices[j]; if (dev_i.bus == dev_j.bus && dev_i.cs_pin == dev_j.cs_pin) { AP_HAL::panic("Two devices on the same cs_pin on the same bus"); } } } } void SPI::update(const class Aircraft &aircraft) { for (auto daa : spi_devices) { daa.device.update(aircraft); } } int SPI::ioctl_transaction(uint8_t bus, uint8_t cs_pin, uint8_t count, spi_ioc_transfer *data) { for (auto &dev_at_cs_pin : spi_devices) { if (dev_at_cs_pin.cs_pin != cs_pin) { continue; } if (dev_at_cs_pin.bus != bus) { continue; } return dev_at_cs_pin.device.rdwr(count, data); } GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "Unhandled spi message: bus=%u cs_pin=%u\n", bus, cs_pin); return -1; } int SPI::ioctl(uint8_t bus, uint8_t cs_pin, uint8_t ioctl_type, void *data) { uint8_t count; switch (ioctl_type) { case SPI_TRANSACTION_1LONG: count = 1; break; case SPI_TRANSACTION_2LONG: count = 2; break; default: AP_HAL::panic("Bad transaction type"); } return ioctl_transaction(bus, cs_pin, count, (spi_ioc_transfer*)data); }