mirror of https://github.com/ArduPilot/ardupilot
70 lines
2.0 KiB
C++
70 lines
2.0 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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* Copyright (C) 2015-2016 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 "AP_HAL_Namespace.h"
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#include "SPIDevice.h"
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#include "utility/OwnPtr.h"
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namespace AP_HAL {
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class SPIDeviceManager {
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public:
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virtual void init() = 0;
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virtual SPIDeviceDriver* device(enum SPIDeviceType, uint8_t index = 0) = 0;
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virtual OwnPtr<SPIDevice> get_device(const char *name)
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{
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return nullptr;
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}
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};
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/**
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* We still need an abstraction for performing bulk
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* transfers to be portable to other platforms.
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*/
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class SPIDeviceDriver {
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public:
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virtual void init() = 0;
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virtual Semaphore* get_semaphore() = 0;
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virtual bool transaction(const uint8_t *tx, uint8_t *rx, uint16_t len) = 0;
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virtual void cs_assert() = 0;
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virtual void cs_release() = 0;
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virtual uint8_t transfer (uint8_t data) = 0;
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virtual void transfer (const uint8_t *data, uint16_t len) = 0;
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/**
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optional set_bus_speed() interface. This can be used by drivers
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to request higher speed for sensor registers once the sensor is
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initialised. This is used by the MPU6000 driver which can
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handle 20MHz for sensor register reads, but only 1MHz for other
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registers.
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*/
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enum bus_speed {
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SPI_SPEED_LOW, SPI_SPEED_HIGH
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};
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virtual void set_bus_speed(enum bus_speed speed) {}
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};
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}
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