mirror of https://github.com/ArduPilot/ardupilot
179 lines
6.5 KiB
C++
179 lines
6.5 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 Andy Piper and Siddharth Bharat Purohit
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*/
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#pragma once
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#include <inttypes.h>
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#include <vector>
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#include "AP_HAL_Namespace.h"
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#include "Device.h"
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#include "utility/OwnPtr.h"
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#ifndef HAL_USE_WSPI_DEFAULT_CFG
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#define HAL_USE_WSPI_DEFAULT_CFG 1
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#endif
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namespace AP_HAL
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{
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// Underlying HAL implementation can override these
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#if HAL_USE_WSPI_DEFAULT_CFG
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namespace WSPI
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{
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#if HAL_USE_QUADSPI
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constexpr uint32_t CFG_CMD_MODE_MASK = (3LU << 8LU);
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constexpr uint32_t CFG_CMD_MODE_NONE = (0LU << 8LU);
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constexpr uint32_t CFG_CMD_MODE_ONE_LINE = (1LU << 8LU);
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constexpr uint32_t CFG_CMD_MODE_TWO_LINES = (2LU << 8LU);
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constexpr uint32_t CFG_CMD_MODE_FOUR_LINES = (3LU << 8LU);
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constexpr uint32_t CFG_CMD_SIZE_MASK = 0LU;
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constexpr uint32_t CFG_CMD_SIZE_8 = 0LU;
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constexpr uint32_t CFG_ADDR_MODE_MASK = (3LU << 10LU);
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constexpr uint32_t CFG_ADDR_MODE_NONE = (0LU << 10LU);
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constexpr uint32_t CFG_ADDR_MODE_ONE_LINE = (1LU << 10LU);
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constexpr uint32_t CFG_ADDR_MODE_TWO_LINES = (2LU << 10LU);
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constexpr uint32_t CFG_ADDR_MODE_FOUR_LINES = (3LU << 10LU);
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constexpr uint32_t CFG_ADDR_SIZE_MASK = (3LU << 12LU);
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constexpr uint32_t CFG_ADDR_SIZE_8 = (0LU << 12LU);
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constexpr uint32_t CFG_ADDR_SIZE_16 = (1LU << 12LU);
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constexpr uint32_t CFG_ADDR_SIZE_24 = (2LU << 12LU);
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constexpr uint32_t CFG_ADDR_SIZE_32 = (3LU << 12LU);
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constexpr uint32_t CFG_ALT_MODE_MASK = (3LU << 14LU);
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constexpr uint32_t CFG_ALT_MODE_NONE = (0LU << 14LU);
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constexpr uint32_t CFG_ALT_MODE_ONE_LINE = (1LU << 14LU);
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constexpr uint32_t CFG_ALT_MODE_TWO_LINES = (2LU << 14LU);
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constexpr uint32_t CFG_ALT_MODE_FOUR_LINES = (3LU << 14LU);
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constexpr uint32_t CFG_ALT_DDR = (1LU << 31LU);
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constexpr uint32_t CFG_ALT_SIZE_MASK = (3LU << 16LU);
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constexpr uint32_t CFG_ALT_SIZE_8 = (0LU << 16LU);
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constexpr uint32_t CFG_ALT_SIZE_16 = (1LU << 16LU);
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constexpr uint32_t CFG_ALT_SIZE_24 = (2LU << 16LU);
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constexpr uint32_t CFG_ALT_SIZE_32 = (3LU << 16LU);
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constexpr uint32_t CFG_DATA_MODE_MASK = (3LU << 24LU);
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constexpr uint32_t CFG_DATA_MODE_NONE = (0LU << 24LU);
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constexpr uint32_t CFG_DATA_MODE_ONE_LINE = (1LU << 24LU);
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constexpr uint32_t CFG_DATA_MODE_TWO_LINES = (2LU << 24LU);
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constexpr uint32_t CFG_DATA_MODE_FOUR_LINES = (3LU << 24LU);
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constexpr uint32_t CFG_DATA_DDR = (1LU << 31LU);
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constexpr uint32_t CFG_SIOO = (1LU << 28LU);
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#else // OCTOSPI
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constexpr uint32_t CFG_CMD_MODE_MASK = (7LU << 0LU);
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constexpr uint32_t CFG_CMD_MODE_NONE = (0LU << 0LU);
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constexpr uint32_t CFG_CMD_MODE_ONE_LINE = (1LU << 0LU);
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constexpr uint32_t CFG_CMD_MODE_TWO_LINES = (2LU << 0LU);
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constexpr uint32_t CFG_CMD_MODE_FOUR_LINES = (3LU << 0LU);
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constexpr uint32_t CFG_CMD_MODE_EIGHT_LINES = (4LU << 0LU);
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constexpr uint32_t CFG_CMD_SIZE_MASK = (3LU << 4LU);
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constexpr uint32_t CFG_CMD_SIZE_8 = (0LU << 4LU);
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constexpr uint32_t CFG_ADDR_MODE_MASK = (7LU << 8LU);
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constexpr uint32_t CFG_ADDR_MODE_NONE = (0LU << 8LU);
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constexpr uint32_t CFG_ADDR_MODE_ONE_LINE = (1LU << 8LU);
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constexpr uint32_t CFG_ADDR_MODE_TWO_LINES = (2LU << 8LU);
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constexpr uint32_t CFG_ADDR_MODE_FOUR_LINES = (3LU << 8LU);
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constexpr uint32_t CFG_ADDR_MODE_EIGHT_LINES = (4LU << 8LU);
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constexpr uint32_t CFG_ADDR_SIZE_MASK = (3LU << 12LU);
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constexpr uint32_t CFG_ADDR_SIZE_8 = (0LU << 12LU);
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constexpr uint32_t CFG_ADDR_SIZE_16 = (1LU << 12LU);
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constexpr uint32_t CFG_ADDR_SIZE_24 = (2LU << 12LU);
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constexpr uint32_t CFG_ADDR_SIZE_32 = (3LU << 12LU);
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constexpr uint32_t CFG_ALT_MODE_MASK = (7LU << 16LU);
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constexpr uint32_t CFG_ALT_MODE_NONE = (0LU << 16LU);
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constexpr uint32_t CFG_ALT_MODE_ONE_LINE = (1LU << 16LU);
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constexpr uint32_t CFG_ALT_MODE_TWO_LINES = (2LU << 16LU);
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constexpr uint32_t CFG_ALT_MODE_FOUR_LINES = (3LU << 16LU);
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constexpr uint32_t CFG_ALT_MODE_EIGHT_LINES = (4LU << 16LU);
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constexpr uint32_t CFG_ALT_DDR = (1LU << 19LU);
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constexpr uint32_t CFG_ALT_SIZE_MASK = (3LU << 20LU);
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constexpr uint32_t CFG_ALT_SIZE_8 = (0LU << 20LU);
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constexpr uint32_t CFG_ALT_SIZE_16 = (1LU << 20LU);
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constexpr uint32_t CFG_ALT_SIZE_24 = (2LU << 20LU);
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constexpr uint32_t CFG_ALT_SIZE_32 = (3LU << 20LU);
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constexpr uint32_t CFG_DATA_MODE_MASK = (7LU << 24LU);
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constexpr uint32_t CFG_DATA_MODE_NONE = (0LU << 24LU);
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constexpr uint32_t CFG_DATA_MODE_ONE_LINE = (1LU << 24LU);
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constexpr uint32_t CFG_DATA_MODE_TWO_LINES = (2LU << 24LU);
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constexpr uint32_t CFG_DATA_MODE_FOUR_LINES = (3LU << 24LU);
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constexpr uint32_t CFG_DATA_MODE_EIGHT_LINES= (4LU << 24LU);
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constexpr uint32_t CFG_DATA_DDR = (1LU << 27LU);
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constexpr uint32_t CFG_SIOO = (1LU << 31LU);
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#endif // HAL_USE_QUADSPI
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}
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#endif //#if HAL_USE_WSPI_DEFAULT_CFG
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class WSPIDevice : public Device
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{
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public:
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WSPIDevice() : Device(BUS_TYPE_WSPI) { }
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/* See AP_HAL::Device::transfer() */
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virtual bool transfer(const uint8_t *send, uint32_t send_len,
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uint8_t *recv, uint32_t recv_len) override = 0;
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// Set command header for upcomming transfer call(s)
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virtual void set_cmd_header(const CommandHeader& cmd_hdr) override = 0;
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virtual bool is_busy() = 0;
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virtual AP_HAL::Semaphore* get_semaphore() override = 0;
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protected:
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uint32_t _trx_flags;
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};
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class WSPIDeviceManager
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{
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public:
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virtual OwnPtr<WSPIDevice> get_device(const char *name)
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{
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return nullptr;
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}
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/* Return the number of WSPI devices currently registered. */
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virtual uint8_t get_count() const
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{
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return 0;
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}
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/* Get wspi device name at @idx */
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virtual const char *get_device_name(uint8_t idx) const
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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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