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110 lines
2.9 KiB
110 lines
2.9 KiB
/* |
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This program 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 by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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This program is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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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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/* |
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Simulated spi buses and devices |
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*/ |
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#include <GCS_MAVLink/GCS.h> |
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#include <SITL/SITL.h> |
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#include "SIM_SPI.h" |
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#include "SIM_SPIDevice.h" |
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#include "SIM_RAMTRON_FM25V02.h" |
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#include "SIM_JEDEC_MX25L3206E.h" |
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#include <signal.h> |
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using namespace SITL; |
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#if AP_SIM_RAMTRON_FM25V02_ENABLED |
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static RAMTRON_FM25V02 ramtron_FM25V02; // 32kB 2-byte-addressing |
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#endif |
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#if AP_SIM_JEDEC_MX25L3206E_ENABLED |
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static JEDEC_MX25L3206E jedec_MX25L3206E; |
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#endif |
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struct spi_device_at_cs_pin { |
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uint8_t bus; |
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uint8_t cs_pin; |
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SPIDevice &device; |
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} spi_devices[] { |
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#if AP_SIM_RAMTRON_FM25V02_ENABLED |
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{ 0, 0, ramtron_FM25V02 }, |
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#endif |
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#if AP_SIM_JEDEC_MX25L3206E_ENABLED |
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{ 1, 0, jedec_MX25L3206E }, |
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#endif |
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}; |
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void SPI::init() |
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{ |
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for (auto &i : spi_devices) { |
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i.device.init(); |
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} |
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// sanity check the spi_devices structure to ensure we don't have |
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// two devices at the same address on the same bus: |
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for (uint8_t i=0; i<ARRAY_SIZE(spi_devices)-1; i++) { |
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const auto &dev_i = spi_devices[i]; |
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for (uint8_t j=i+1; j<ARRAY_SIZE(spi_devices); j++) { |
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const auto &dev_j = spi_devices[j]; |
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if (dev_i.bus == dev_j.bus && |
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dev_i.cs_pin == dev_j.cs_pin) { |
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AP_HAL::panic("Two devices on the same cs_pin on the same bus"); |
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} |
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} |
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} |
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} |
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void SPI::update(const class Aircraft &aircraft) |
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{ |
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for (auto daa : spi_devices) { |
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daa.device.update(aircraft); |
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} |
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} |
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int SPI::ioctl_transaction(uint8_t bus, uint8_t cs_pin, uint8_t count, spi_ioc_transfer *data) |
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{ |
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for (auto &dev_at_cs_pin : spi_devices) { |
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if (dev_at_cs_pin.cs_pin != cs_pin) { |
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continue; |
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} |
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if (dev_at_cs_pin.bus != bus) { |
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continue; |
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} |
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return dev_at_cs_pin.device.rdwr(count, data); |
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} |
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GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "Unhandled spi message: bus=%u cs_pin=%u\n", bus, cs_pin); |
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return -1; |
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} |
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int SPI::ioctl(uint8_t bus, uint8_t cs_pin, uint8_t ioctl_type, void *data) |
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{ |
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uint8_t count; |
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switch (ioctl_type) { |
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case SPI_TRANSACTION_1LONG: |
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count = 1; |
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break; |
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case SPI_TRANSACTION_2LONG: |
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count = 2; |
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break; |
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default: |
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AP_HAL::panic("Bad transaction type"); |
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} |
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return ioctl_transaction(bus, cs_pin, count, (spi_ioc_transfer*)data); |
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}
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