You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
99 lines
2.5 KiB
99 lines
2.5 KiB
/* |
|
* 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/>. |
|
*/ |
|
|
|
#pragma once |
|
|
|
#include <inttypes.h> |
|
#include <AP_HAL/HAL.h> |
|
#include <AP_HAL/SPIDevice.h> |
|
#include "AP_HAL_ESP32.h" |
|
|
|
#include "Semaphores.h" |
|
#include "Scheduler.h" |
|
#include "DeviceBus.h" |
|
|
|
#include "driver/spi_master.h" |
|
#include "driver/spi_common.h" |
|
#include "driver/gpio.h" |
|
|
|
|
|
namespace ESP32 |
|
{ |
|
|
|
struct SPIDeviceDesc { |
|
const char *name; |
|
uint8_t bus; |
|
uint8_t device; |
|
gpio_num_t cs; |
|
uint16_t mode; |
|
uint32_t lspeed; |
|
uint32_t hspeed; |
|
}; |
|
|
|
struct SPIBusDesc { |
|
spi_host_device_t host; |
|
int dma_ch; |
|
gpio_num_t mosi; |
|
gpio_num_t miso; |
|
gpio_num_t sclk; |
|
gpio_num_t cs; |
|
}; |
|
|
|
class SPIBus : public DeviceBus |
|
{ |
|
public: |
|
SPIBus(uint8_t _bus); |
|
uint8_t bus; |
|
}; |
|
|
|
class SPIDevice : public AP_HAL::SPIDevice |
|
{ |
|
public: |
|
SPIDevice(SPIBus &_bus, SPIDeviceDesc &_device_desc); |
|
virtual ~SPIDevice(); |
|
|
|
bool set_speed(AP_HAL::Device::Speed speed) override; |
|
bool transfer(const uint8_t *send, uint32_t send_len, |
|
uint8_t *recv, uint32_t recv_len) override; |
|
bool transfer_fullduplex(const uint8_t *send, uint8_t *recv, |
|
uint32_t len) override; |
|
AP_HAL::Semaphore *get_semaphore() override; |
|
AP_HAL::Device::PeriodicHandle register_periodic_callback( |
|
uint32_t period_usec, AP_HAL::Device::PeriodicCb) override; |
|
bool adjust_periodic_callback(AP_HAL::Device::PeriodicHandle h, uint32_t period_usec) override; |
|
|
|
private: |
|
SPIBus &bus; |
|
SPIDeviceDesc &device_desc; |
|
Speed speed; |
|
char *pname; |
|
spi_device_handle_t low_speed_dev_handle; |
|
spi_device_handle_t high_speed_dev_handle; |
|
spi_device_handle_t current_handle(); |
|
void acquire_bus(bool accuire); |
|
}; |
|
|
|
class SPIDeviceManager : public AP_HAL::SPIDeviceManager |
|
{ |
|
public: |
|
friend class SPIDevice; |
|
|
|
AP_HAL::OwnPtr<AP_HAL::SPIDevice> get_device(const char *name) override; |
|
|
|
private: |
|
SPIBus *buses; |
|
}; |
|
} |
|
|
|
|