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65 lines
2.0 KiB
65 lines
2.0 KiB
/* |
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* This file is free software: you can redistribute it and/or modify |
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* it under the terms of the GNU General Public License as published |
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* by the Free Software Foundation, either version 3 of the License, |
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* or (at your option) any later version. |
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* |
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* This file is distributed in the hope that it will be useful, but |
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* WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
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* General Public License for more details. |
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* |
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* You should have received a copy of the GNU General Public License |
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* along with this program. If not, see <http://www.gnu.org/licenses/>. |
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*/ |
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#pragma once |
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#include <inttypes.h> |
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#include <AP_HAL/HAL.h> |
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#include "Semaphores.h" |
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#include "AP_HAL_ChibiOS.h" |
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#if HAL_USE_I2C == TRUE || HAL_USE_SPI == TRUE |
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#include "Scheduler.h" |
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#include "shared_dma.h" |
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#include "hwdef/common/bouncebuffer.h" |
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namespace ChibiOS { |
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class DeviceBus { |
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public: |
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DeviceBus(uint8_t _thread_priority = APM_I2C_PRIORITY); |
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struct DeviceBus *next; |
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Semaphore semaphore; |
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Shared_DMA *dma_handle; |
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AP_HAL::Device::PeriodicHandle register_periodic_callback(uint32_t period_usec, AP_HAL::Device::PeriodicCb, AP_HAL::Device *hal_device); |
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bool adjust_timer(AP_HAL::Device::PeriodicHandle h, uint32_t period_usec); |
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static void bus_thread(void *arg); |
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bool bouncebuffer_setup(const uint8_t *&buf_tx, uint16_t tx_len, |
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uint8_t *&buf_rx, uint16_t rx_len) WARN_IF_UNUSED; |
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void bouncebuffer_finish(const uint8_t *buf_tx, uint8_t *buf_rx, uint16_t rx_len); |
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private: |
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struct callback_info { |
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struct callback_info *next; |
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AP_HAL::Device::PeriodicCb cb; |
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uint32_t period_usec; |
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uint64_t next_usec; |
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} *callbacks; |
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uint8_t thread_priority; |
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thread_t* thread_ctx; |
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bool thread_started; |
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AP_HAL::Device *hal_device; |
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// support for bounce buffers for DMA-safe transfers |
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struct bouncebuffer_t *bounce_buffer_tx; |
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struct bouncebuffer_t *bounce_buffer_rx; |
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}; |
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} |
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#endif // I2C or SPI
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