AP_HAL: add support for QSPIDevice

libraries/AP_HAL/AP_HAL_Namespace.h

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

libraries/AP_HAL/Device.h

@@ -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

libraries/AP_HAL/HAL.h

@@ -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;

libraries/AP_HAL/QSPIDevice.h

@@ -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;
+    }
+};
+
+}