mirror of https://github.com/ArduPilot/ardupilot
114 lines
3.1 KiB
C++
114 lines
3.1 KiB
C++
/*
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* This file is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published
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* by the Free Software Foundation, either version 3 of the License,
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* or (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. See the GNU
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* 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
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* along 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 <drivers/device/spi.h>
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#include "Semaphores.h"
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#include "Device.h"
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#include "Scheduler.h"
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namespace VRBRAIN {
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class SPIDesc;
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class SPIBus : public DeviceBus {
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public:
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SPIBus(void) :
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DeviceBus(APM_SPI_PRIORITY) {}
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struct spi_dev_s *dev;
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uint8_t bus;
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};
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struct SPIDesc {
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SPIDesc(const char *_name, uint8_t _bus,
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enum spi_dev_e _device, enum spi_mode_e _mode,
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uint32_t _lowspeed, uint32_t _highspeed)
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: name(_name), bus(_bus), device(_device), mode(_mode),
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lowspeed(_lowspeed), highspeed(_highspeed)
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{
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}
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const char *name;
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uint8_t bus;
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enum spi_dev_e device;
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enum spi_mode_e mode;
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uint32_t lowspeed;
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uint32_t highspeed;
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};
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class SPIDevice : public AP_HAL::SPIDevice {
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public:
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SPIDevice(SPIBus &_bus, SPIDesc &_device_desc);
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virtual ~SPIDevice();
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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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// low level transfer function
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void do_transfer(const uint8_t *send, uint8_t *recv, uint32_t len);
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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::SPIDevice::transfer_fullduplex() */
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bool transfer_fullduplex(const uint8_t *send, uint8_t *recv,
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uint32_t 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::Device::PeriodicCb) override;
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/* See AP_HAL::Device::adjust_periodic_callback() */
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bool adjust_periodic_callback(AP_HAL::Device::PeriodicHandle h, uint32_t period_usec) override;
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bool set_chip_select(bool set) override;
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private:
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SPIBus &bus;
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SPIDesc &device_desc;
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uint32_t frequency;
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perf_counter_t perf;
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char *pname;
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bool cs_forced;
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static void *spi_thread(void *arg);
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};
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class SPIDeviceManager : public AP_HAL::SPIDeviceManager {
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public:
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friend class SPIDevice;
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static SPIDeviceManager *from(AP_HAL::SPIDeviceManager *spi_mgr)
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{
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return static_cast<SPIDeviceManager*>(spi_mgr);
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}
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AP_HAL::OwnPtr<AP_HAL::SPIDevice> get_device(const char *name);
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private:
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static SPIDesc device_table[];
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SPIBus *buses;
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};
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}
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