mirror of https://github.com/ArduPilot/ardupilot
135 lines
3.4 KiB
C++
135 lines
3.4 KiB
C++
/*
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* This file is free software: you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
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* Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This file is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "SPIDevice.h"
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#include <AP_HAL/AP_HAL.h>
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#include <AP_Math/AP_Math.h>
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#include <AP_HAL/utility/OwnPtr.h>
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#include "Scheduler.h"
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#include "Semaphores.h"
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#include "interface.h"
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#include <stdio.h>
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using namespace QURT;
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#define MHZ (1000U*1000U)
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#define KHZ (1000U)
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const char *device_names[] = {"INV1", "INV2", "INV3"};
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static SPIBus *spi_bus;
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SPIBus::SPIBus(void):
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DeviceBus(Scheduler::PRIORITY_SPI)
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{
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fd = sl_client_config_spi_bus();
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HAP_PRINTF("Created SPI bus -> %d", fd);
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}
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SPIDevice::SPIDevice(const char *name, SPIBus &_bus)
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: bus(_bus)
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{
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set_device_bus(0);
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set_device_address(1);
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set_speed(AP_HAL::Device::SPEED_LOW);
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pname = name;
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}
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SPIDevice::~SPIDevice()
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{
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}
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bool SPIDevice::set_speed(AP_HAL::Device::Speed _speed)
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{
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return true;
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}
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bool SPIDevice::transfer(const uint8_t *send, uint32_t send_len,
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uint8_t *recv, uint32_t recv_len)
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{
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// If there is no receive buffer then this is a write transaction
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// and the data to write is in the send buffer
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if (!recv) {
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return transfer_fullduplex(send, (uint8_t*) send, send_len);
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}
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// Special case handling. This can happen when a send buffer is specified
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// even though we are doing only a read.
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if (send == recv && send_len == recv_len) {
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return transfer_fullduplex(send, recv, send_len);
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}
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// This is a read transaction
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uint8_t buf[send_len+recv_len];
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if (send_len > 0) {
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memcpy(buf, send, send_len);
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}
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if (recv_len > 0) {
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memset(&buf[send_len], 0, recv_len);
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}
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transfer_fullduplex(buf, buf, send_len+recv_len);
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if (recv_len > 0) {
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memcpy(recv, &buf[send_len], recv_len);
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}
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return true;
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}
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bool SPIDevice::transfer_fullduplex(const uint8_t *send, uint8_t *recv, uint32_t len)
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{
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return (sl_client_spi_transfer(bus.fd, send, recv, len) == 0);
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}
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void SPIDevice::acquire_bus(bool accuire)
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{
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}
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AP_HAL::Semaphore *SPIDevice::get_semaphore()
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{
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return &bus.semaphore;
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}
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AP_HAL::Device::PeriodicHandle SPIDevice::register_periodic_callback(uint32_t period_usec, AP_HAL::Device::PeriodicCb cb)
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{
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return bus.register_periodic_callback(period_usec, cb, this);
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}
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bool SPIDevice::adjust_periodic_callback(AP_HAL::Device::PeriodicHandle h, uint32_t period_usec)
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{
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return bus.adjust_timer(h, period_usec);
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}
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AP_HAL::OwnPtr<AP_HAL::SPIDevice>
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SPIDeviceManager::get_device(const char *name)
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{
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uint8_t i;
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for (i = 0; i<ARRAY_SIZE(device_names); i++) {
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if (strcmp(device_names[i], name) == 0) {
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break;
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}
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}
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if (i == ARRAY_SIZE(device_names)) {
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return AP_HAL::OwnPtr<AP_HAL::SPIDevice>(nullptr);
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}
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if (spi_bus == nullptr) {
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spi_bus = new SPIBus();
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}
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return AP_HAL::OwnPtr<AP_HAL::SPIDevice>(new SPIDevice(name, *spi_bus));
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}
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