mirror of https://github.com/ArduPilot/ardupilot
98 lines
2.6 KiB
C++
98 lines
2.6 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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Simulated spi buses and devices
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*/
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#include <GCS_MAVLink/GCS.h>
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#include <SITL/SITL.h>
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#include "SIM_SPI.h"
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#include "SIM_RAMTRON_FM25V02.h"
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#include <signal.h>
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using namespace SITL;
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static RAMTRON_FM25V02 ramtron_FM25V02; // 32kB 2-byte-addressing
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struct spi_device_at_cs_pin {
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uint8_t bus;
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uint8_t cs_pin;
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SPIDevice &device;
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} spi_devices[] {
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{ 0, 0, ramtron_FM25V02 },
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};
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void SPI::init()
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{
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for (auto &i : spi_devices) {
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i.device.init();
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}
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// sanity check the spi_devices structure to ensure we don't have
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// two devices at the same address on the same bus:
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for (uint8_t i=0; i<ARRAY_SIZE(spi_devices)-1; i++) {
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const auto &dev_i = spi_devices[i];
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for (uint8_t j=i+1; j<ARRAY_SIZE(spi_devices); j++) {
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const auto &dev_j = spi_devices[j];
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if (dev_i.bus == dev_j.bus &&
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dev_i.cs_pin == dev_j.cs_pin) {
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AP_HAL::panic("Two devices on the same cs_pin on the same bus");
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}
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}
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}
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}
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void SPI::update(const class Aircraft &aircraft)
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{
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for (auto daa : spi_devices) {
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daa.device.update(aircraft);
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}
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}
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int SPI::ioctl_transaction(uint8_t bus, uint8_t cs_pin, uint8_t count, spi_ioc_transfer *data)
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{
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for (auto &dev_at_cs_pin : spi_devices) {
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if (dev_at_cs_pin.cs_pin != cs_pin) {
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continue;
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}
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if (dev_at_cs_pin.bus != bus) {
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continue;
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}
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return dev_at_cs_pin.device.rdwr(count, data);
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}
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::fprintf(stderr, "Unhandled spi message: bus=%u cs_pin=%u\n", bus, cs_pin);
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return -1;
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}
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int SPI::ioctl(uint8_t bus, uint8_t cs_pin, uint8_t ioctl_type, void *data)
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{
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uint8_t count;
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switch (ioctl_type) {
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case SPI_TRANSACTION_1LONG:
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count = 1;
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break;
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case SPI_TRANSACTION_2LONG:
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count = 2;
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break;
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default:
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AP_HAL::panic("Bad transaction type");
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}
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return ioctl_transaction(bus, cs_pin, count, (spi_ioc_transfer*)data);
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}
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