/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- /* * Copyright (C) 2015 Intel Corporation. All rights reserved. * * This file 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 file 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 . */ #pragma once #include #include #include #include "SPIDriver.h" namespace Linux { class SPIBus; class SPIDevice : public AP_HAL::SPIDevice { public: SPIDevice(SPIBus &bus, SPIDeviceDriver &device_desc); virtual ~SPIDevice(); /* AP_HAL::SPIDevice implementation */ /* See AP_HAL::Device::set_speed() */ bool set_speed(AP_HAL::Device::Speed speed) override; /* See AP_HAL::Device::transfer() */ bool transfer(const uint8_t *send, uint32_t send_len, uint8_t *recv, uint32_t recv_len) override; /* See AP_HAL::Device::get_semaphore() */ AP_HAL::Semaphore *get_semaphore() override; /* See AP_HAL::Device::register_periodic_callback() */ AP_HAL::Device::PeriodicHandle *register_periodic_callback( uint32_t period_usec, AP_HAL::MemberProc) override { return nullptr; } /* See AP_HAL::Device::get_fd() */ int get_fd() override; protected: SPIBus &_bus; SPIDeviceDriver &_desc; /* * Select device if using userspace CS */ void _cs_assert(); /* * Deselect device if using userspace CS */ void _cs_release(); }; }