aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

AP_HAL: add support for QSPIDevice

Browse Source
This commit is contained in:
Siddharth Purohit 2021-05-30 01:18:41 +05:30 committed by Andrew Tridgell
parent abc26d1993
commit a323807644
4 changed files with 152 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
libraries/AP_HAL/AP_HAL_Namespace.h
View File

@ -33,6 +33,10 @@ namespace AP_HAL {
class OpticalFlow;
class DSP;
class QSPIDevice;
class QSPIDeviceDriver;
class QSPIDeviceManager;
class CANIface;
class CANFrame;

19
libraries/AP_HAL/Device.h
View File

@ -34,6 +34,7 @@ public:
BUS_TYPE_SITL = 4,
BUS_TYPE_MSP = 5,
BUS_TYPE_SERIAL = 6,
BUS_TYPE_QSPI = 7,
};
enum Speed {
@ -41,6 +42,16 @@ public:
SPEED_LOW,
};
// Used for comms with devices that support wide SPI
// like quad spi
struct CommandHeader {
uint32_t cmd; //Command phase data.
uint32_t cfg; //Transfer configuration field.
uint32_t addr; //Address phase data.
uint32_t alt; // Alternate phase data.
uint32_t dummy; // Number of dummy cycles to be inserted.
};
FUNCTOR_TYPEDEF(PeriodicCb, void);
typedef void* PeriodicHandle;
@ -105,6 +116,14 @@ public:
virtual bool transfer(const uint8_t *send, uint32_t send_len,
uint8_t *recv, uint32_t recv_len) = 0;
/*
* Sets the required flags before transaction starts
* this is to be used by Wide SPI communication interfaces like
* Dual/Quad/Octo SPI
*/
virtual void set_cmd_header(const CommandHeader& cmd_hdr) {}
/**
* Wrapper function over #transfer() to read recv_len registers, starting
* by first_reg, into the array pointed by recv. The read flag passed to

4
libraries/AP_HAL/HAL.h
View File

@ -9,6 +9,7 @@ class AP_Param;
#include "RCInput.h"
#include "RCOutput.h"
#include "SPIDevice.h"
#include "QSPIDevice.h"
#include "Storage.h"
#include "UARTDriver.h"
#include "system.h"
@ -30,6 +31,7 @@ public:
AP_HAL::UARTDriver* _uartI, // extra4
AP_HAL::I2CDeviceManager* _i2c_mgr,
AP_HAL::SPIDeviceManager* _spi,
AP_HAL::QSPIDeviceManager* _qspi,
AP_HAL::AnalogIn* _analogin,
AP_HAL::Storage* _storage,
AP_HAL::UARTDriver* _console,
@ -58,6 +60,7 @@ public:
uartI(_uartI),
i2c_mgr(_i2c_mgr),
spi(_spi),
qspi(_qspi),
analogin(_analogin),
storage(_storage),
console(_console),
@ -116,6 +119,7 @@ private:
public:
AP_HAL::I2CDeviceManager* i2c_mgr;
AP_HAL::SPIDeviceManager* spi;
AP_HAL::QSPIDeviceManager* qspi;
AP_HAL::AnalogIn* analogin;
AP_HAL::Storage* storage;
AP_HAL::UARTDriver* console;

125
libraries/AP_HAL/QSPIDevice.h Normal file
View File

@ -0,0 +1,125 @@
/*
* This file is free software: you can redistribute it and/or modify it
* under the terms of the GNU General Public License as published by the
* Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This file is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program. If not, see <http://www.gnu.org/licenses/>.
*
* Code by Andy Piper and Siddharth Bharat Purohit
*/
#pragma once
#include <inttypes.h>
#include <vector>
#include "AP_HAL_Namespace.h"
#include "Device.h"
#include "utility/OwnPtr.h"
#ifndef HAL_USE_QSPI_DEFAULT_CFG
#define HAL_USE_QSPI_DEFAULT_CFG 1
#endif
namespace AP_HAL
{
// Underlying HAL implementation can override these
#if HAL_USE_QSPI_DEFAULT_CFG
namespace QSPI
{
constexpr uint32_t CFG_CMD_MODE_MASK = (3LU << 8LU);
constexpr uint32_t CFG_CMD_MODE_NONE = (0LU << 8LU);
constexpr uint32_t CFG_CMD_MODE_ONE_LINE = (1LU << 8LU);
constexpr uint32_t CFG_CMD_MODE_TWO_LINES = (2LU << 8LU);
constexpr uint32_t CFG_CMD_MODE_FOUR_LINES = (3LU << 8LU);
constexpr uint32_t CFG_CMD_SIZE_MASK = 0LU;
constexpr uint32_t CFG_CMD_SIZE_8 = 0LU;
constexpr uint32_t CFG_ADDR_MODE_MASK = (3LU << 10LU);
constexpr uint32_t CFG_ADDR_MODE_NONE = (0LU << 10LU);
constexpr uint32_t CFG_ADDR_MODE_ONE_LINE = (1LU << 10LU);
constexpr uint32_t CFG_ADDR_MODE_TWO_LINES = (2LU << 10LU);
constexpr uint32_t CFG_ADDR_MODE_FOUR_LINES = (3LU << 10LU);
constexpr uint32_t CFG_ADDR_SIZE_MASK = (3LU << 12LU);
constexpr uint32_t CFG_ADDR_SIZE_8 = (0LU << 12LU);
constexpr uint32_t CFG_ADDR_SIZE_16 = (1LU << 12LU);
constexpr uint32_t CFG_ADDR_SIZE_24 = (2LU << 12LU);
constexpr uint32_t CFG_ADDR_SIZE_32 = (3LU << 12LU);
constexpr uint32_t CFG_ALT_MODE_MASK = (3LU << 14LU);
constexpr uint32_t CFG_ALT_MODE_NONE = (0LU << 14LU);
constexpr uint32_t CFG_ALT_MODE_ONE_LINE = (1LU << 14LU);
constexpr uint32_t CFG_ALT_MODE_TWO_LINES = (2LU << 14LU);
constexpr uint32_t CFG_ALT_MODE_FOUR_LINES = (3LU << 14LU);
constexpr uint32_t CFG_ALT_DDR = (1LU << 31LU);
constexpr uint32_t CFG_ALT_SIZE_MASK = (3LU << 16LU);
constexpr uint32_t CFG_ALT_SIZE_8 = (0LU << 16LU);
constexpr uint32_t CFG_ALT_SIZE_16 = (1LU << 16LU);
constexpr uint32_t CFG_ALT_SIZE_24 = (2LU << 16LU);
constexpr uint32_t CFG_ALT_SIZE_32 = (3LU << 16LU);
constexpr uint32_t CFG_DATA_MODE_MASK = (3LU << 24LU);
constexpr uint32_t CFG_DATA_MODE_NONE = (0LU << 24LU);
constexpr uint32_t CFG_DATA_MODE_ONE_LINE = (1LU << 24LU);
constexpr uint32_t CFG_DATA_MODE_TWO_LINES = (2LU << 24LU);
constexpr uint32_t CFG_DATA_MODE_FOUR_LINES = (3LU << 24LU);
constexpr uint32_t CFG_DATA_DDR = (1LU << 31LU);
constexpr uint32_t CFG_SIOO = (1LU << 28LU);
}
#endif //#if HAL_USE_QSPI_DEFAULT_CFG
class QSPIDevice : public Device
{
public:
QSPIDevice() : Device(BUS_TYPE_QSPI) { }
/* See AP_HAL::Device::transfer() */
virtual bool transfer(const uint8_t *send, uint32_t send_len,
uint8_t *recv, uint32_t recv_len) override = 0;
// Set command header for upcomming transfer call(s)
virtual void set_cmd_header(const CommandHeader& cmd_hdr) override = 0;
virtual AP_HAL::Semaphore* get_semaphore() override = 0;
protected:
uint32_t _trx_flags;
};
class QSPIDeviceManager
{
public:
virtual OwnPtr<QSPIDevice> get_device(const char *name)
{
return nullptr;
}
/* Return the number of QSPI devices currently registered. */
virtual uint8_t get_count() const
{
return 0;
}
/* Get qspi device name at @idx */
virtual const char *get_device_name(uint8_t idx) const
{
return nullptr;
}
};
}