mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-05 15:38:29 -04:00
43 lines
1.2 KiB
C++
43 lines
1.2 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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class Linux::LinuxSPIDeviceDriver : public AP_HAL::SPIDeviceDriver {
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public:
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LinuxSPIDeviceDriver(const char *spipath, uint8_t mode, uint8_t bitsPerWord, uint8_t cs_pin, uint32_t speed);
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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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private:
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LinuxSemaphore _semaphore;
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const char *_spipath;
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int _fd;
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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 _speed;
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};
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class Linux::LinuxSPIDeviceManager : public AP_HAL::SPIDeviceManager {
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public:
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LinuxSPIDeviceManager();
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void init(void *);
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AP_HAL::SPIDeviceDriver* device(enum AP_HAL::SPIDevice);
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private:
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LinuxSPIDeviceDriver _device_ms5611;
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LinuxSPIDeviceDriver _device_mpu6000;
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LinuxSPIDeviceDriver _device_mpu9250;
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LinuxSPIDeviceDriver _device_lsm9ds0;
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};
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#endif // __AP_HAL_LINUX_SPIDRIVER_H__
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