forked from Archive/PX4-Autopilot
drivers device naming consistency
This commit is contained in:
parent
53595bac0e
commit
8738fe8daf
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@ -31,42 +31,33 @@
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#
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############################################################################
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set(SRCS)
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list(APPEND SRCS
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CDev.cpp
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ringbuffer.cpp
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integrator.cpp
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)
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include_directories(${CMAKE_CURRENT_SOURCE_DIR})
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set(SRCS_PLATFORM)
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if (${OS} STREQUAL "nuttx")
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include_directories(nuttx)
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list(APPEND SRCS
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list(APPEND SRCS_PLATFORM
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nuttx/cdev_platform.cpp
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)
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if ("${CONFIG_I2C}" STREQUAL "y")
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list(APPEND SRCS nuttx/i2c_nuttx.cpp)
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list(APPEND SRCS_PLATFORM nuttx/I2C.cpp)
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endif()
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if ("${CONFIG_SPI}" STREQUAL "y")
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list(APPEND SRCS nuttx/spi.cpp)
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list(APPEND SRCS_PLATFORM nuttx/SPI.cpp)
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endif()
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else()
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include_directories(posix)
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list(APPEND SRCS
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list(APPEND SRCS_PLATFORM
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posix/I2C.cpp
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posix/cdev_platform.cpp
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posix/vfile.cpp
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posix/i2c_posix.cpp
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)
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endif()
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px4_add_module(
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MODULE drivers__device
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SRCS ${SRCS}
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SRCS
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CDev.cpp
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ringbuffer.cpp
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integrator.cpp
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${SRCS_PLATFORM}
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DEPENDS
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platforms__common
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)
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@ -33,7 +33,7 @@
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#pragma once
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#ifdef __PX4_NUTTX
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#include "nuttx/i2c_nuttx.h"
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#include "nuttx/I2C.hpp"
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#else
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#include "posix/i2c_posix.h"
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#include "posix/I2C.hpp"
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#endif
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@ -40,7 +40,7 @@
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* that is supplied. Should we just depend on the bus knowing?
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*/
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#include "i2c.h"
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#include "I2C.hpp"
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namespace device
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{
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@ -45,9 +45,10 @@
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* non-interrupt-mode client.
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*/
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#include "SPI.hpp"
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#include <px4_config.h>
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#include <nuttx/arch.h>
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#include "spi.h"
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#ifndef CONFIG_SPI_EXCHANGE
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# error This driver requires CONFIG_SPI_EXCHANGE
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@ -128,13 +129,6 @@ out:
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return ret;
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}
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int
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SPI::probe()
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{
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// assume the device is too stupid to be discoverable
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return OK;
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}
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int
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SPI::transfer(uint8_t *send, uint8_t *recv, unsigned len)
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{
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@ -170,12 +164,6 @@ SPI::transfer(uint8_t *send, uint8_t *recv, unsigned len)
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return result;
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}
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void
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SPI::set_frequency(uint32_t frequency)
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{
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_frequency = frequency;
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}
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int
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SPI::_transfer(uint8_t *send, uint8_t *recv, unsigned len)
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{
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@ -0,0 +1,153 @@
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/****************************************************************************
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*
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* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file spi.h
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*
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* Base class for devices connected via SPI.
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*/
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#ifndef _DEVICE_SPI_H
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#define _DEVICE_SPI_H
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#include "../CDev.hpp"
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#include <px4_spi.h>
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namespace device __EXPORT
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{
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/**
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* Abstract class for character device on SPI
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*/
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class __EXPORT SPI : public CDev
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{
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protected:
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/**
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* Constructor
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*
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* @param name Driver name
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* @param devname Device node name
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* @param bus SPI bus on which the device lives
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* @param device Device handle (used by SPI_SELECT)
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* @param mode SPI clock/data mode
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* @param frequency SPI clock frequency
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*/
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SPI(const char *name,
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const char *devname,
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int bus,
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uint32_t device,
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enum spi_mode_e mode,
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uint32_t frequency);
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virtual ~SPI();
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/**
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* Locking modes supported by the driver.
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*/
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enum LockMode {
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LOCK_PREEMPTION, /**< the default; lock against all forms of preemption. */
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LOCK_THREADS, /**< lock only against other threads, using SPI_LOCK */
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LOCK_NONE /**< perform no locking, only safe if the bus is entirely private */
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};
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virtual int init();
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/**
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* Check for the presence of the device on the bus.
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*/
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virtual int probe() { return PX4_OK; }
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/**
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* Perform a SPI transfer.
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*
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* If called from interrupt context, this interface does not lock
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* the bus and may interfere with non-interrupt-context callers.
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*
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* Clients in a mixed interrupt/non-interrupt configuration must
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* ensure appropriate interlocking.
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*
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* At least one of send or recv must be non-null.
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*
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* @param send Bytes to send to the device, or nullptr if
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* no data is to be sent.
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* @param recv Buffer for receiving bytes from the device,
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* or nullptr if no bytes are to be received.
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* @param len Number of bytes to transfer.
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* @return OK if the exchange was successful, -errno
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* otherwise.
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*/
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int transfer(uint8_t *send, uint8_t *recv, unsigned len);
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/**
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* Set the SPI bus frequency
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* This is used to change frequency on the fly. Some sensors
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* (such as the MPU6000) need a lower frequency for setup
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* registers and can handle higher frequency for sensor
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* value registers
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*
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* @param frequency Frequency to set (Hz)
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*/
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void set_frequency(uint32_t frequency) { _frequency = frequency; }
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/**
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* Set the SPI bus locking mode
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*
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* This set the SPI locking mode. For devices competing with NuttX SPI
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* drivers on a bus the right lock mode is LOCK_THREADS.
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*
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* @param mode Locking mode
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*/
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void set_lockmode(enum LockMode mode) { locking_mode = mode; }
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LockMode locking_mode; /**< selected locking mode */
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private:
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uint32_t _device;
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enum spi_mode_e _mode;
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uint32_t _frequency;
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struct spi_dev_s *_dev;
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/* this class does not allow copying */
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SPI(const SPI &);
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SPI operator=(const SPI &);
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protected:
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int _transfer(uint8_t *send, uint8_t *recv, unsigned len);
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bool external() { return px4_spi_bus_external(get_device_bus()); }
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};
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} // namespace device
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#endif /* _DEVICE_SPI_H */
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@ -40,7 +40,7 @@
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* that is supplied. Should we just depend on the bus knowing?
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*/
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#include "i2c_posix.h"
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#include "I2C.hpp"
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#ifdef __PX4_LINUX
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#include <linux/i2c.h>
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@ -0,0 +1,54 @@
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/****************************************************************************
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*
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* Copyright (C) 2017 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
|
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file spi.h
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*
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* Base class for devices connected via SPI.
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*/
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#ifndef _DEVICE_SPI_H
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#define _DEVICE_SPI_H
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#include "CDev.hpp"
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#include <px4_spi.h>
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namespace device __EXPORT
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{
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// TODO: implement posix spi
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} // namespace device
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#endif /* _DEVICE_SPI_H */
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@ -1,6 +1,6 @@
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/****************************************************************************
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*
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* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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* Copyright (C) 2017 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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@ -30,124 +30,10 @@
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#pragma once
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/**
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* @file spi.h
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*
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* Base class for devices connected via SPI.
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*/
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#ifndef _DEVICE_SPI_H
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#define _DEVICE_SPI_H
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#include "device.h"
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#include <px4_spi.h>
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namespace device __EXPORT
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{
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/**
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* Abstract class for character device on SPI
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*/
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class __EXPORT SPI : public CDev
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{
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protected:
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/**
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* Constructor
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*
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* @param name Driver name
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* @param devname Device node name
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* @param bus SPI bus on which the device lives
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* @param device Device handle (used by SPI_SELECT)
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* @param mode SPI clock/data mode
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* @param frequency SPI clock frequency
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*/
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SPI(const char *name,
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const char *devname,
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int bus,
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uint32_t device,
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enum spi_mode_e mode,
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uint32_t frequency);
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virtual ~SPI();
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/**
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* Locking modes supported by the driver.
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*/
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enum LockMode {
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LOCK_PREEMPTION, /**< the default; lock against all forms of preemption. */
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LOCK_THREADS, /**< lock only against other threads, using SPI_LOCK */
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LOCK_NONE /**< perform no locking, only safe if the bus is entirely private */
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};
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virtual int init();
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/**
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* Check for the presence of the device on the bus.
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*/
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virtual int probe();
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/**
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* Perform a SPI transfer.
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*
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* If called from interrupt context, this interface does not lock
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* the bus and may interfere with non-interrupt-context callers.
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*
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* Clients in a mixed interrupt/non-interrupt configuration must
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* ensure appropriate interlocking.
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*
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* At least one of send or recv must be non-null.
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*
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* @param send Bytes to send to the device, or nullptr if
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* no data is to be sent.
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* @param recv Buffer for receiving bytes from the device,
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* or nullptr if no bytes are to be received.
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* @param len Number of bytes to transfer.
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* @return OK if the exchange was successful, -errno
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* otherwise.
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*/
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int transfer(uint8_t *send, uint8_t *recv, unsigned len);
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/**
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* Set the SPI bus frequency
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* This is used to change frequency on the fly. Some sensors
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* (such as the MPU6000) need a lower frequency for setup
|
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* registers and can handle higher frequency for sensor
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* value registers
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*
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* @param frequency Frequency to set (Hz)
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*/
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void set_frequency(uint32_t frequency);
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/**
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* Set the SPI bus locking mode
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*
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* This set the SPI locking mode. For devices competing with NuttX SPI
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* drivers on a bus the right lock mode is LOCK_THREADS.
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*
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* @param mode Locking mode
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*/
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void set_lockmode(enum LockMode mode) { locking_mode = mode; }
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LockMode locking_mode; /**< selected locking mode */
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private:
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uint32_t _device;
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enum spi_mode_e _mode;
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uint32_t _frequency;
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struct spi_dev_s *_dev;
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/* this class does not allow copying */
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SPI(const SPI &);
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SPI operator=(const SPI &);
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protected:
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int _transfer(uint8_t *send, uint8_t *recv, unsigned len);
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bool external() { return px4_spi_bus_external(get_device_bus()); }
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};
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} // namespace device
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#endif /* _DEVICE_SPI_H */
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#ifdef __PX4_NUTTX
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#include "nuttx/SPI.hpp"
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#else
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#include "posix/SPI.hpp"
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#endif
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