mirror of https://github.com/ArduPilot/ardupilot
125 lines
3.0 KiB
C++
125 lines
3.0 KiB
C++
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#ifndef __AP_HAL_AVR_SPI_DEVICES_H__
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#define __AP_HAL_AVR_SPI_DEVICES_H__
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#include <AP_HAL.h>
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#include "AP_HAL_AVR_Namespace.h"
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class AP_HAL_AVR::AVRSPI0DeviceDriver : public AP_HAL::SPIDeviceDriver {
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public:
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AVRSPI0DeviceDriver(
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AP_HAL_AVR::AVRDigitalSource *cs_pin,
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uint8_t spcr_lowspeed,
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uint8_t spcr_highspeed,
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uint8_t spsr
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) :
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_cs_pin(cs_pin),
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_spcr_lowspeed(spcr_lowspeed),
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_spcr_highspeed(spcr_highspeed),
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_spcr(spcr_lowspeed),
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_spsr(spsr)
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{}
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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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void set_bus_speed(enum bus_speed speed);
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private:
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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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// used for MPU6k
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void _transfer16(const uint8_t *tx, uint8_t *rx);
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static AP_HAL_AVR::AVRSemaphore _semaphore;
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static bool _force_low_speed;
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AP_HAL_AVR::AVRDigitalSource *_cs_pin;
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const uint8_t _spcr_lowspeed;
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const uint8_t _spcr_highspeed;
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uint8_t _spcr;
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const uint8_t _spsr;
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};
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class AP_HAL_AVR::AVRSPI2DeviceDriver : public AP_HAL::SPIDeviceDriver {
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public:
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AVRSPI2DeviceDriver(
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AP_HAL_AVR::AVRDigitalSource *cs_pin,
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uint8_t ucsr2c,
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uint16_t ubrr2
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) :
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_cs_pin(cs_pin),
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_ucsr2c(ucsr2c),
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_ubrr2(ubrr2)
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{}
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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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void _cs_assert();
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void _cs_release();
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uint8_t _transfer(uint8_t data);
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// used for APM1 ADC
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void _transfer17(const uint8_t *tx, uint8_t *rx);
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static AP_HAL_AVR::AVRSemaphore _semaphore;
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AP_HAL_AVR::AVRDigitalSource *_cs_pin;
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uint8_t _ucsr2c;
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uint16_t _ubrr2;
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};
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class AP_HAL_AVR::AVRSPI3DeviceDriver : public AP_HAL::SPIDeviceDriver {
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public:
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AVRSPI3DeviceDriver(
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AP_HAL_AVR::AVRDigitalSource *cs_pin,
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uint8_t ucsr3c,
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uint16_t ubrr3
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) :
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_cs_pin(cs_pin),
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_ucsr3c(ucsr3c),
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_ubrr3(ubrr3)
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{}
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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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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 size);
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static AP_HAL_AVR::AVRSemaphore _semaphore;
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AP_HAL_AVR::AVRDigitalSource *_cs_pin;
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uint8_t _ucsr3c;
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uint16_t _ubrr3;
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};
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#endif // __AP_HAL_AVR_SPI_DEVICES_H__
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