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HAL_PX4: go direct to NuttX for SPI transfers

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This commit is contained in:
Andrew Tridgell 2016-11-03 21:54:06 +11:00
parent bf0b0c1773
commit 972f85c490
2 changed files with 23 additions and 14 deletions
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2
libraries/AP_HAL_PX4/SPIDevice.cpp
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@ -50,7 +50,7 @@ SPIDesc SPIDeviceManager::device_table[] = {
SPIDevice::SPIDevice(SPIBus &_bus, SPIDesc &_device_desc)
: bus(_bus)
, device_desc(_device_desc)
, px4dev(device_desc.bus, device_desc.name, device_desc.devname, device_desc.device, device_desc.mode, device_desc.lowspeed)
, px4dev(device_desc.bus, device_desc.device, device_desc.mode, device_desc.lowspeed)
{
}

35
libraries/AP_HAL_PX4/SPIWrapper.h
View File

@ -7,26 +7,35 @@
extern const AP_HAL::HAL& hal;
/*
wrapper class for SPI to expose protected functions from PX4Firmware
wrapper class for SPI to expose protected functions from PX4NuttX
*/
class PX4::PX4_SPI : public device::SPI {
class PX4::PX4_SPI {
public:
PX4_SPI(uint8_t bus, const char *name, const char *devname, enum spi_dev_e device, enum spi_mode_e mode, uint32_t frequency) :
SPI(name, devname, bus, device, mode, frequency) {}
PX4_SPI(uint8_t bus, enum spi_dev_e device, enum spi_mode_e mode, uint32_t frequency) :
_bus(bus), _device(device), _mode(mode), _frequency(frequency) {
_dev = up_spiinitialize(_bus);
SPI_SELECT(_dev, _device, false);
}
bool do_transfer(uint8_t *send, uint8_t *recv, uint32_t len) {
if (!init_done) {
if (init() != 0) {
return false;
}
init_done = true;
}
return transfer(send, recv, len) == 0;
irqstate_t state = irqsave();
SPI_SETFREQUENCY(_dev, _frequency);
SPI_SETMODE(_dev, _mode);
SPI_SETBITS(_dev, 8);
SPI_SELECT(_dev, _device, true);
SPI_EXCHANGE(_dev, send, recv, len);
SPI_SELECT(_dev, _device, false);
irqrestore(state);
return true;
}
void set_speed(uint32_t speed_hz) {
set_frequency(speed_hz);
_frequency = speed_hz;
}
private:
bool init_done;
struct spi_dev_s *_dev;
uint8_t _bus;
enum spi_dev_e _device;
enum spi_mode_e _mode;
uint32_t _frequency;
};