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

AP_HAL_Linux: SPIDevice: move implementation to outside

Browse Source 
As we add methods, it's becoming too complex to be implemented together
with the declaration.
This commit is contained in:
Lucas De Marchi 2016-07-26 16:00:33 -03:00
parent 590539f674
commit ea0595c7ac
1 changed files with 32 additions and 26 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

58
libraries/AP_HAL_Linux/SPIDevice.cpp
View File

@ -136,33 +136,9 @@ const uint8_t SPIDeviceManager::_n_device_desc = LINUX_SPI_DEVICE_NUM_DEVICES;
/* Private struct to maintain for each bus */ /* Private struct to maintain for each bus */
class SPIBus { class SPIBus {
public: public:
~SPIBus() ~SPIBus();
{
if (fd >= 0) {
::close(fd);
}
}
int open(uint16_t bus_, uint16_t kernel_cs_) int open(uint16_t bus_, uint16_t kernel_cs_);
{
char path[sizeof("/dev/spidevXXXXX.XXXXX")];
if (fd > 0) {
return -EBUSY;
}
snprintf(path, sizeof(path), "/dev/spidev%u.%u", bus_, kernel_cs_);
fd = ::open(path, O_RDWR | O_CLOEXEC);
if (fd < 0) {
AP_HAL::panic("SPI: unable to open SPI bus %s: %s",
path, strerror(errno));
}
bus = bus_;
kernel_cs = kernel_cs_;
return fd;
}
Semaphore sem; Semaphore sem;
int fd = -1; int fd = -1;
@ -171,6 +147,36 @@ public:
uint8_t ref; uint8_t ref;
}; };
SPIBus::~SPIBus()
{
if (fd >= 0) {
::close(fd);
}
}
int SPIBus::open(uint16_t bus_, uint16_t kernel_cs_)
{
char path[sizeof("/dev/spidevXXXXX.XXXXX")];
if (fd > 0) {
return -EBUSY;
}
snprintf(path, sizeof(path), "/dev/spidev%u.%u", bus_, kernel_cs_);
fd = ::open(path, O_RDWR | O_CLOEXEC);
if (fd < 0) {
AP_HAL::panic("SPI: unable to open SPI bus %s: %s",
path, strerror(errno));
}
bus = bus_;
kernel_cs = kernel_cs_;
return fd;
}
SPIDevice::SPIDevice(SPIBus &bus, SPIDesc &device_desc) SPIDevice::SPIDevice(SPIBus &bus, SPIDesc &device_desc)
: _bus(bus) : _bus(bus)
, _desc(device_desc) , _desc(device_desc)