mirror of https://github.com/ArduPilot/ardupilot
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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