mirror of https://github.com/ArduPilot/ardupilot
71 lines
2.2 KiB
C++
71 lines
2.2 KiB
C++
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#ifndef __AP_HAL_EMPTY_SPIDRIVER_H__
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#define __AP_HAL_EMPTY_SPIDRIVER_H__
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#include <AP_HAL_Linux.h>
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#include "Semaphores.h"
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLE
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#define LINUX_SPI_DEVICE_NUM_DEVICES 6
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO
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#define LINUX_SPI_DEVICE_NUM_DEVICES 2
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#else
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#define LINUX_SPI_DEVICE_NUM_DEVICES 0
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#endif
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// Most platforms won't need to declare the spidev bus offset
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#ifndef LINUX_SPIDEV_BUS_OFFSET
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#define LINUX_SPIDEV_BUS_OFFSET 0
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#endif
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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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class Linux::LinuxSPIDeviceDriver : public AP_HAL::SPIDeviceDriver {
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public:
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friend class Linux::LinuxSPIDeviceManager;
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LinuxSPIDeviceDriver(uint16_t bus, uint16_t subdev, enum AP_HAL::SPIDevice 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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void 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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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::SPIDevice _type;
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int _fd; // Per-device FD.
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};
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class Linux::LinuxSPIDeviceManager : public AP_HAL::SPIDeviceManager {
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public:
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void init(void *);
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AP_HAL::SPIDeviceDriver* device(enum AP_HAL::SPIDevice);
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static AP_HAL::Semaphore *get_semaphore(uint16_t bus);
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static void cs_assert(enum AP_HAL::SPIDevice type);
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static void cs_release(enum AP_HAL::SPIDevice type);
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static void transaction(LinuxSPIDeviceDriver &driver, const uint8_t *tx, uint8_t *rx, uint16_t len);
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private:
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static LinuxSPIDeviceDriver _device[LINUX_SPI_DEVICE_NUM_DEVICES];
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static LinuxSemaphore _semaphore[LINUX_SPI_MAX_BUSES];
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};
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#endif // __AP_HAL_LINUX_SPIDRIVER_H__
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