mirror of https://github.com/ArduPilot/ardupilot
119 lines
3.3 KiB
C++
119 lines
3.3 KiB
C++
/*
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* Copyright (C) 2015 Intel Corporation. All rights reserved.
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*
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* This file is free software: you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
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* Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This file is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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#include <inttypes.h>
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#include <vector>
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#include <AP_HAL/HAL.h>
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#include <AP_HAL/SPIDevice.h>
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namespace Linux {
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class SPIBus;
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class SPIDesc;
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class SPIDevice : public AP_HAL::SPIDevice {
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public:
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SPIDevice(SPIBus &bus, SPIDesc &device_desc);
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virtual ~SPIDevice();
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/* AP_HAL::SPIDevice implementation */
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/* See AP_HAL::Device::set_speed() */
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bool set_speed(AP_HAL::Device::Speed speed) override;
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/* See AP_HAL::Device::transfer() */
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bool transfer(const uint8_t *send, uint32_t send_len,
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uint8_t *recv, uint32_t recv_len) override;
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/* See AP_HAL::SPIDevice::transfer_fullduplex() */
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bool transfer_fullduplex(const uint8_t *send, uint8_t *recv,
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uint32_t len) override;
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/* See AP_HAL::Device::get_semaphore() */
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AP_HAL::Semaphore *get_semaphore() override;
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/* See AP_HAL::Device::register_periodic_callback() */
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AP_HAL::Device::PeriodicHandle register_periodic_callback(
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uint32_t period_usec, AP_HAL::Device::PeriodicCb) override;
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/* See AP_HAL::Device::adjust_periodic_callback() */
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bool adjust_periodic_callback(
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AP_HAL::Device::PeriodicHandle h, uint32_t period_usec) override;
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protected:
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SPIBus &_bus;
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SPIDesc &_desc;
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AP_HAL::DigitalSource *_cs;
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uint32_t _speed;
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/*
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* Select device if using userspace CS
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*/
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void _cs_assert();
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/*
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* Deselect device if using userspace CS
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*/
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void _cs_release();
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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::SPIDeviceManager implementation */
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AP_HAL::OwnPtr<AP_HAL::SPIDevice> get_device(const char *name) override;
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/*
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* Stop all SPI threads and block until they are finalized. This doesn't
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* free memory because they can still be used by devices, however device
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* drivers won't receive any new event
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*/
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void teardown();
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/* See AP_HAL::SPIDeviceManager::get_count() */
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uint8_t get_count() override;
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/* See AP_HAL::SPIDeviceManager::get_device_name() */
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const char *get_device_name(uint8_t idx) override;
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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, SPIDesc &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 SPIDesc _device[];
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};
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}
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