Daniel Agar
7 years ago
committed by
Lorenz Meier
10 changed files with 232 additions and 160 deletions
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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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@ -0,0 +1,54 @@
@@ -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 |
||||
* modification, are permitted provided that the following conditions |
||||
* are met: |
||||
* |
||||
* 1. Redistributions of source code must retain the above copyright |
||||
* notice, this list of conditions and the following disclaimer. |
||||
* 2. Redistributions in binary form must reproduce the above copyright |
||||
* notice, this list of conditions and the following disclaimer in |
||||
* the documentation and/or other materials provided with the |
||||
* distribution. |
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* 3. Neither the name PX4 nor the names of its contributors may be |
||||
* used to endorse or promote products derived from this software |
||||
* without specific prior written permission. |
||||
* |
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
||||
* POSSIBILITY OF SUCH DAMAGE. |
||||
* |
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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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|
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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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