mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-02 14:13:42 -04:00
c33fdc7b71
This commit changes the way libraries headers are included in source files: - If the header is in the same directory the source belongs to, so the notation '#include ""' is used with the path relative to the directory containing the source. - If the header is outside the directory containing the source, then we use the notation '#include <>' with the path relative to libraries folder. Some of the advantages of such approach: - Only one search path for libraries headers. - OSs like Windows may have a better lookup time.
102 lines
2.3 KiB
C++
102 lines
2.3 KiB
C++
/*
|
|
This program is free software: you can redistribute it and/or modify
|
|
it under the terms of the GNU General Public License as published by
|
|
the Free Software Foundation, either version 3 of the License, or
|
|
(at your option) any later version.
|
|
|
|
This program is distributed in the hope that it will be useful,
|
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
GNU General Public License for more details.
|
|
|
|
You should have received a copy of the GNU General Public License
|
|
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|
*/
|
|
/*
|
|
Flymaple port by Mike McCauley
|
|
*/
|
|
#include <AP_HAL/AP_HAL.h>
|
|
|
|
#if CONFIG_HAL_BOARD == HAL_BOARD_FLYMAPLE
|
|
|
|
// Flymaple SPI driver
|
|
// Flymaple has no actual SPI devices, so this generic
|
|
|
|
#include "SPIDriver.h"
|
|
#include "FlymapleWirish.h"
|
|
|
|
using namespace AP_HAL_FLYMAPLE_NS;
|
|
|
|
#define FLYMAPLE_SPI_CS_PIN 8
|
|
// Only one port so far:
|
|
#define FLYMAPLE_SPI_PORT 1
|
|
HardwareSPI spi(FLYMAPLE_SPI_PORT);
|
|
|
|
|
|
FLYMAPLESPIDeviceDriver::FLYMAPLESPIDeviceDriver()
|
|
{}
|
|
|
|
void FLYMAPLESPIDeviceDriver::init()
|
|
{
|
|
spi.begin(SPI_9MHZ, MSBFIRST, SPI_MODE_0);
|
|
digitalWrite(FLYMAPLE_SPI_CS_PIN, 1);
|
|
pinMode(FLYMAPLE_SPI_CS_PIN, OUTPUT);
|
|
}
|
|
|
|
AP_HAL::Semaphore* FLYMAPLESPIDeviceDriver::get_semaphore()
|
|
{
|
|
return &_semaphore;
|
|
}
|
|
|
|
void FLYMAPLESPIDeviceDriver::transaction(const uint8_t *tx, uint8_t *rx, uint16_t len)
|
|
{
|
|
cs_assert();
|
|
if (rx == NULL) {
|
|
for (uint16_t i = 0; i < len; i++) {
|
|
transfer(tx[i]);
|
|
}
|
|
} else {
|
|
for (uint16_t i = 0; i < len; i++) {
|
|
rx[i] = transfer(tx[i]);
|
|
}
|
|
}
|
|
cs_release();
|
|
}
|
|
|
|
|
|
void FLYMAPLESPIDeviceDriver::cs_assert()
|
|
{
|
|
digitalWrite(FLYMAPLE_SPI_CS_PIN, 0);
|
|
}
|
|
|
|
void FLYMAPLESPIDeviceDriver::cs_release()
|
|
{
|
|
digitalWrite(FLYMAPLE_SPI_CS_PIN, 1);
|
|
}
|
|
|
|
uint8_t FLYMAPLESPIDeviceDriver::transfer (uint8_t data)
|
|
{
|
|
return spi.transfer(data);
|
|
}
|
|
|
|
void FLYMAPLESPIDeviceDriver::transfer (const uint8_t *data, uint16_t len)
|
|
{
|
|
spi.write(data, len);
|
|
}
|
|
|
|
FLYMAPLESPIDeviceManager::FLYMAPLESPIDeviceManager()
|
|
{
|
|
}
|
|
|
|
void FLYMAPLESPIDeviceManager::init(void *)
|
|
{
|
|
}
|
|
|
|
AP_HAL::SPIDeviceDriver* FLYMAPLESPIDeviceManager::device(enum AP_HAL::SPIDevice)
|
|
{
|
|
_device.init(); // Defer this until GPIO pin 13 is set up else its a slave
|
|
return &_device;
|
|
}
|
|
|
|
#endif
|