mirror of https://github.com/ArduPilot/ardupilot
144 lines
3.6 KiB
C++
144 lines
3.6 KiB
C++
/*
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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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* Code by
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* Andy Piper
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* Siddharth Bharat Purohit, Cubepilot Pty. Ltd.
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*/
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#pragma once
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#include <inttypes.h>
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#include <AP_HAL/HAL.h>
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#include <AP_HAL/QSPIDevice.h>
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#include "AP_HAL_ChibiOS.h"
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#if HAL_USE_WSPI == TRUE && defined(HAL_QSPI_DEVICE_LIST)
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#if !defined(HAL_BOOTLOADER_BUILD)
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#include "Semaphores.h"
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#endif
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#include "Scheduler.h"
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#include "Device.h"
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namespace ChibiOS
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{
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struct QSPIDesc {
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QSPIDesc(const char *_name, uint8_t _bus,
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uint32_t _mode, uint32_t _speed,
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uint8_t _size_pow2, uint8_t _ncs_clk_shift)
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: name(_name), bus(_bus), mode(_mode), speed(_speed),
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size_pow2(_size_pow2), ncs_clk_delay(_ncs_clk_shift)
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{
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}
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const char *name; // name of the device
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uint8_t bus; // qspi bus being used
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uint8_t device; // device id
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uint32_t mode; // clock mode
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uint32_t speed; // clock speed
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uint8_t size_pow2; // size as power of 2
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uint8_t ncs_clk_delay; // number of clk cycles to wait while transitioning NCS
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};
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class QSPIBus : public DeviceBus
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{
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public:
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QSPIBus(uint8_t _bus) :
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DeviceBus(APM_SPI_PRIORITY, true),
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bus(_bus) {}
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uint8_t bus;
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WSPIConfig wspicfg;
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bool qspi_started;
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};
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class QSPIDevice : public AP_HAL::QSPIDevice
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{
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public:
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static QSPIDevice *from(AP_HAL::QSPIDevice *dev)
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{
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return static_cast<QSPIDevice*>(dev);
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}
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QSPIDevice(QSPIBus &_bus, QSPIDesc &_device_desc) :
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bus(_bus),
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device_desc(_device_desc)
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{}
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bool set_speed(Speed speed) override
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{
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return true;
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}
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PeriodicHandle register_periodic_callback(uint32_t period_usec, PeriodicCb) override
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{
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return nullptr;
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}
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bool adjust_periodic_callback(PeriodicHandle h, uint32_t period_usec) override
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{
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return false;
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}
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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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void set_cmd_header(const CommandHeader& cmd_hdr) override;
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AP_HAL::Semaphore* get_semaphore() override
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{
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#if !defined(HAL_BOOTLOADER_BUILD)
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// if asking for invalid bus number use bus 0 semaphore
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return &bus.semaphore;
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#else
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return nullptr;
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#endif
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}
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bool acquire_bus(bool acquire);
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// Enters Memory mapped or eXecution In Place or 0-4-4 mode
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bool enter_xip_mode(void** map_ptr) override;
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bool exit_xip_mode() override;
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private:
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QSPIBus &bus;
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QSPIDesc &device_desc;
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wspi_command_t mode;
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};
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class QSPIDeviceManager : public AP_HAL::QSPIDeviceManager
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{
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public:
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friend class QSPIDevice;
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static QSPIDeviceManager *from(AP_HAL::QSPIDeviceManager *qspi_mgr)
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{
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return static_cast<QSPIDeviceManager*>(qspi_mgr);
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}
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AP_HAL::OwnPtr<AP_HAL::QSPIDevice> get_device(const char *name) override;
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private:
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static QSPIDesc device_table[];
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QSPIBus *buses;
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};
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}
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#endif // #if HAL_USE_WSPI == TRUE && defined(HAL_QSPI_DEVICE_LIST)
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