mirror of
https://github.com/ArduPilot/ardupilot
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63 lines
1.8 KiB
C++
63 lines
1.8 KiB
C++
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#ifndef __AP_HAL_EMPTY_SPIDRIVER_H__
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#define __AP_HAL_EMPTY_SPIDRIVER_H__
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#include <AP_HAL_Linux.h>
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#include "Semaphores.h"
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enum LinuxSPIDeviceType {
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LINUX_SPI_DEVICE_MS5611 = 0,
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LINUX_SPI_DEVICE_MPU6000 = 1,
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LINUX_SPI_DEVICE_MPU9250 = 2,
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LINUX_SPI_DEVICE_LSM9DS0 = 3,
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LINUX_SPI_DEVICE_FRAM = 4,
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LINUX_SPI_DEVICE_NUM_DEVICES = 5
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};
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#define LINUX_SPI_NUM_BUSES 2
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class Linux::LinuxSPIDeviceDriver : public AP_HAL::SPIDeviceDriver {
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public:
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friend class Linux::LinuxSPIDeviceManager;
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LinuxSPIDeviceDriver(uint8_t bus, LinuxSPIDeviceType type, uint8_t mode, uint8_t bitsPerWord, uint8_t cs_pin, uint32_t lowspeed, uint32_t highspeed);
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void init();
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AP_HAL::Semaphore *get_semaphore();
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void transaction(const uint8_t *tx, uint8_t *rx, uint16_t len);
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void cs_assert();
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void cs_release();
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uint8_t transfer (uint8_t data);
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void transfer (const uint8_t *data, uint16_t len);
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void set_bus_speed(enum bus_speed speed);
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private:
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uint8_t _cs_pin;
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AP_HAL::DigitalSource *_cs;
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uint8_t _mode;
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uint8_t _bitsPerWord;
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uint32_t _lowspeed;
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uint32_t _highspeed;
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uint32_t _speed;
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LinuxSPIDeviceType _type;
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uint8_t _bus;
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};
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class Linux::LinuxSPIDeviceManager : public AP_HAL::SPIDeviceManager {
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public:
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void init(void *);
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AP_HAL::SPIDeviceDriver* device(enum AP_HAL::SPIDevice);
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static AP_HAL::Semaphore *get_semaphore(uint8_t bus);
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static void cs_assert(enum LinuxSPIDeviceType type);
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static void cs_release(enum LinuxSPIDeviceType type);
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static void transaction(LinuxSPIDeviceDriver &driver, const uint8_t *tx, uint8_t *rx, uint16_t len);
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private:
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static LinuxSPIDeviceDriver _device[LINUX_SPI_DEVICE_NUM_DEVICES];
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static LinuxSemaphore _semaphore[LINUX_SPI_NUM_BUSES];
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static int _fd[LINUX_SPI_NUM_BUSES];
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};
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#endif // __AP_HAL_LINUX_SPIDRIVER_H__
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