mirror of https://github.com/ArduPilot/ardupilot
146 lines
3.6 KiB
C++
146 lines
3.6 KiB
C++
/*
|
|
* This file is free software: you can redistribute it and/or modify it
|
|
* under the terms of the GNU General Public License as published by the
|
|
* Free Software Foundation, either version 3 of the License, or
|
|
* (at your option) any later version.
|
|
*
|
|
* This file is distributed in the hope that it will be useful, but
|
|
* WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
|
|
* See the GNU General Public License for more details.
|
|
*
|
|
* You should have received a copy of the GNU General Public License along
|
|
* with this program. If not, see <http://www.gnu.org/licenses/>.
|
|
*
|
|
* Code by
|
|
* Andy Piper
|
|
* Siddharth Bharat Purohit, Cubepilot Pty. Ltd.
|
|
*/
|
|
|
|
#pragma once
|
|
|
|
#include <inttypes.h>
|
|
#include <AP_HAL/HAL.h>
|
|
#include <AP_HAL/WSPIDevice.h>
|
|
#include "AP_HAL_ChibiOS.h"
|
|
|
|
#if HAL_USE_WSPI == TRUE && defined(HAL_WSPI_DEVICE_LIST)
|
|
|
|
#if !defined(HAL_BOOTLOADER_BUILD)
|
|
#include "Semaphores.h"
|
|
#endif
|
|
#include "hwdef/common/stm32_util.h"
|
|
|
|
#include "Scheduler.h"
|
|
#include "Device.h"
|
|
|
|
namespace ChibiOS
|
|
{
|
|
|
|
struct WSPIDesc {
|
|
WSPIDesc(const char *_name, uint8_t _bus,
|
|
uint32_t _mode, uint32_t _speed,
|
|
uint8_t _size_pow2, uint8_t _ncs_clk_shift)
|
|
: name(_name), bus(_bus), mode(_mode), speed(_speed),
|
|
size_pow2(_size_pow2), ncs_clk_delay(_ncs_clk_shift)
|
|
{
|
|
}
|
|
|
|
const char *name; // name of the device
|
|
uint8_t bus; // WSPI bus being used
|
|
uint8_t device; // device id
|
|
uint32_t mode; // clock mode
|
|
uint32_t speed; // clock speed
|
|
uint8_t size_pow2; // size as power of 2
|
|
uint8_t ncs_clk_delay; // number of clk cycles to wait while transitioning NCS
|
|
|
|
};
|
|
|
|
class WSPIBus : public DeviceBus
|
|
{
|
|
public:
|
|
WSPIBus(uint8_t _bus) :
|
|
DeviceBus(APM_SPI_PRIORITY, true),
|
|
bus(_bus) {}
|
|
|
|
uint8_t bus;
|
|
WSPIConfig wspicfg;
|
|
bool wspi_started;
|
|
};
|
|
|
|
class WSPIDevice : public AP_HAL::WSPIDevice
|
|
{
|
|
public:
|
|
static WSPIDevice *from(AP_HAL::WSPIDevice *dev)
|
|
{
|
|
return static_cast<WSPIDevice*>(dev);
|
|
}
|
|
|
|
WSPIDevice(WSPIBus &_bus, WSPIDesc &_device_desc) :
|
|
bus(_bus),
|
|
device_desc(_device_desc)
|
|
{}
|
|
|
|
bool set_speed(Speed speed) override
|
|
{
|
|
return true;
|
|
}
|
|
|
|
PeriodicHandle register_periodic_callback(uint32_t period_usec, PeriodicCb) override
|
|
{
|
|
return nullptr;
|
|
}
|
|
bool adjust_periodic_callback(PeriodicHandle h, uint32_t period_usec) override
|
|
{
|
|
return false;
|
|
}
|
|
|
|
/* See AP_HAL::Device::transfer() */
|
|
bool transfer(const uint8_t *send, uint32_t send_len,
|
|
uint8_t *recv, uint32_t recv_len) override;
|
|
|
|
void set_cmd_header(const CommandHeader& cmd_hdr) override;
|
|
|
|
AP_HAL::Semaphore* get_semaphore() override
|
|
{
|
|
#if !defined(HAL_BOOTLOADER_BUILD)
|
|
// if asking for invalid bus number use bus 0 semaphore
|
|
return &bus.semaphore;
|
|
#else
|
|
return nullptr;
|
|
#endif
|
|
}
|
|
|
|
bool is_busy() override;
|
|
bool acquire_bus(bool acquire);
|
|
|
|
// Enters Memory mapped or eXecution In Place or 0-4-4 mode
|
|
bool enter_xip_mode(void** map_ptr) override;
|
|
bool exit_xip_mode() override;
|
|
|
|
private:
|
|
WSPIBus &bus;
|
|
WSPIDesc &device_desc;
|
|
wspi_command_t mode;
|
|
};
|
|
|
|
class WSPIDeviceManager : public AP_HAL::WSPIDeviceManager
|
|
{
|
|
public:
|
|
friend class WSPIDevice;
|
|
|
|
static WSPIDeviceManager *from(AP_HAL::WSPIDeviceManager *wspi_mgr)
|
|
{
|
|
return static_cast<WSPIDeviceManager*>(wspi_mgr);
|
|
}
|
|
|
|
AP_HAL::OwnPtr<AP_HAL::WSPIDevice> get_device(const char *name) override;
|
|
private:
|
|
static WSPIDesc device_table[];
|
|
WSPIBus *buses;
|
|
};
|
|
|
|
}
|
|
|
|
#endif // #if HAL_USE_WSPI == TRUE && defined(HAL_WSPI_DEVICE_LIST)
|