mirror of https://github.com/ArduPilot/ardupilot
103 lines
2.4 KiB
C++
103 lines
2.4 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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Flymaple port by Mike McCauley
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*/
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#include <AP_HAL/AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_FLYMAPLE
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// Flymaple SPI driver
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// Flymaple has no actual SPI devices, so this generic
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#include "SPIDriver.h"
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#include "FlymapleWirish.h"
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using namespace AP_HAL_FLYMAPLE_NS;
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#define FLYMAPLE_SPI_CS_PIN 8
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// Only one port so far:
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#define FLYMAPLE_SPI_PORT 1
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HardwareSPI spi(FLYMAPLE_SPI_PORT);
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FLYMAPLESPIDeviceDriver::FLYMAPLESPIDeviceDriver()
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{}
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void FLYMAPLESPIDeviceDriver::init()
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{
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spi.begin(SPI_9MHZ, MSBFIRST, SPI_MODE_0);
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digitalWrite(FLYMAPLE_SPI_CS_PIN, 1);
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pinMode(FLYMAPLE_SPI_CS_PIN, OUTPUT);
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}
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AP_HAL::Semaphore* FLYMAPLESPIDeviceDriver::get_semaphore()
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{
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return &_semaphore;
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}
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bool FLYMAPLESPIDeviceDriver::transaction(const uint8_t *tx, uint8_t *rx, uint16_t len)
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{
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cs_assert();
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if (rx == NULL) {
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for (uint16_t i = 0; i < len; i++) {
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transfer(tx[i]);
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}
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} else {
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for (uint16_t i = 0; i < len; i++) {
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rx[i] = transfer(tx[i]);
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}
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}
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cs_release();
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return true;
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}
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void FLYMAPLESPIDeviceDriver::cs_assert()
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{
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digitalWrite(FLYMAPLE_SPI_CS_PIN, 0);
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}
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void FLYMAPLESPIDeviceDriver::cs_release()
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{
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digitalWrite(FLYMAPLE_SPI_CS_PIN, 1);
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}
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uint8_t FLYMAPLESPIDeviceDriver::transfer (uint8_t data)
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{
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return spi.transfer(data);
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}
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void FLYMAPLESPIDeviceDriver::transfer (const uint8_t *data, uint16_t len)
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{
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spi.write(data, len);
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}
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FLYMAPLESPIDeviceManager::FLYMAPLESPIDeviceManager()
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{
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}
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void FLYMAPLESPIDeviceManager::init(void *)
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{
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}
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AP_HAL::SPIDeviceDriver* FLYMAPLESPIDeviceManager::device(enum AP_HAL::SPIDevice, uint8_t index)
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{
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_device.init(); // Defer this until GPIO pin 13 is set up else its a slave
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return &_device;
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}
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#endif
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