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https://github.com/ArduPilot/ardupilot
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3060c3da3c
This allows us to re-use SPIDevice from SPIDeviceDriver (the to-become-SPIDeviceProperties) while the drivers are converted. We create a fake device by calling the temporary SPIDeviceManager::get_device() method passing the descriptor. The transfer and assert logic is still using the old code. Now we can interoperate SPIDeviceDriver with the ones based in SPIDevice since they are going to use the same semaphore and bus.
90 lines
2.3 KiB
C++
90 lines
2.3 KiB
C++
#pragma once
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#include <vector>
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#include <AP_HAL/SPIDevice.h>
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#include <AP_HAL/utility/OwnPtr.h>
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#include "AP_HAL_Linux.h"
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#include "Semaphores.h"
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#define LINUX_SPI_MAX_BUSES 3
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// Fake CS pin to indicate in-kernel handling
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#define SPI_CS_KERNEL -1
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namespace Linux {
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class SPIBus;
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class SPIDeviceDriver : public AP_HAL::SPIDeviceDriver {
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public:
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friend class SPIDeviceManager;
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friend class SPIDevice;
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SPIDeviceDriver(const char *name, uint16_t bus, uint16_t subdev, enum AP_HAL::SPIDeviceType type, uint8_t mode, uint8_t bitsPerWord, int16_t cs_pin, uint32_t lowspeed, uint32_t highspeed);
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void init();
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AP_HAL::Semaphore *get_semaphore();
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bool transaction(const uint8_t *tx, uint8_t *rx, uint16_t len);
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void cs_assert();
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void cs_release();
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uint8_t transfer (uint8_t data);
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void transfer (const uint8_t *data, uint16_t len);
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void set_bus_speed(enum bus_speed speed);
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private:
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uint16_t _bus;
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uint16_t _subdev;
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int16_t _cs_pin;
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AP_HAL::DigitalSource *_cs;
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const char *_name;
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uint8_t _mode;
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uint8_t _bitsPerWord;
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uint32_t _lowspeed;
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uint32_t _highspeed;
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uint32_t _speed;
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enum AP_HAL::SPIDeviceType _type;
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AP_HAL::OwnPtr<AP_HAL::SPIDevice> _fake_dev;
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};
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class SPIDeviceManager : public AP_HAL::SPIDeviceManager {
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public:
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friend class SPIDevice;
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static SPIDeviceManager *from(AP_HAL::SPIDeviceManager *spi_mgr)
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{
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return static_cast<SPIDeviceManager*>(spi_mgr);
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}
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SPIDeviceManager()
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{
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/* Reserve space up-front for 3 buses */
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_buses.reserve(3);
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}
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AP_HAL::OwnPtr<AP_HAL::SPIDevice> get_device(const char *name);
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// Temporary function to interoperate with SPIDeviceDriver interface
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AP_HAL::OwnPtr<AP_HAL::SPIDevice> get_device(SPIDeviceDriver &desc);
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void init();
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AP_HAL::SPIDeviceDriver* device(enum AP_HAL::SPIDeviceType, uint8_t index = 0);
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static void cs_assert(enum AP_HAL::SPIDeviceType type);
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static void cs_release(enum AP_HAL::SPIDeviceType type);
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static bool transaction(SPIDeviceDriver &driver, const uint8_t *tx, uint8_t *rx, uint16_t len);
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protected:
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void _unregister(SPIBus &b);
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AP_HAL::OwnPtr<AP_HAL::SPIDevice> _create_device(SPIBus &b, SPIDeviceDriver &device_desc) const;
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std::vector<SPIBus*> _buses;
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static const uint8_t _n_device_desc;
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static SPIDeviceDriver _device[];
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};
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}
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