mirror of https://github.com/ArduPilot/ardupilot
75 lines
2.0 KiB
C++
75 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 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/HAL.h>
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#include <AP_HAL/SPIDevice.h>
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#include "SPIDriver.h"
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namespace Linux {
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class SPIBus;
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class SPIDevice : public AP_HAL::SPIDevice {
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public:
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SPIDevice(SPIBus &bus, SPIDeviceDriver &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::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::MemberProc) override
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{
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return nullptr;
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}
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/* See AP_HAL::Device::get_fd() */
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int get_fd() override;
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protected:
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SPIBus &_bus;
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SPIDeviceDriver &_desc;
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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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}
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