AP_HAL_Empty: implement SPIDevice

libraries/AP_HAL_Empty/AP_HAL_Empty_Namespace.h

@@ -14,6 +14,7 @@ namespace Empty {
     class RCOutput;
     class Scheduler;
     class Semaphore;
+    class SPIDevice;
     class SPIDeviceDriver;
     class SPIDeviceManager;
     class Storage;

libraries/AP_HAL_Empty/SPIDevice.h

@@ -0,0 +1,72 @@
+/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+/*
+ * Copyright (C) 2015-2016  Intel Corporation. All rights reserved.
+ *
+ * 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 "Semaphores.h"
+
+namespace Empty {
+
+class SPIDevice : public AP_HAL::SPIDevice {
+public:
+    SPIDevice()
+    {
+    }
+
+    virtual ~SPIDevice() { }
+
+    /* AP_HAL::Device implementation */
+
+    /* See AP_HAL::Device::set_speed() */
+    bool set_speed(AP_HAL::Device::Speed speed) override
+    {
+        return true;
+    }
+
+    /* See AP_HAL::Device::transfer() */
+    bool transfer(const uint8_t *send, uint32_t send_len,
+                  uint8_t *recv, uint32_t recv_len) override
+    {
+        return true;
+    }
+
+    /* See AP_HAL::Device::get_semaphore() */
+    AP_HAL::Semaphore *get_semaphore()
+    {
+        return &_semaphore;
+    }
+
+    /* See AP_HAL::Device::register_periodic_callback() */
+    AP_HAL::Device::PeriodicHandle *register_periodic_callback(
+        uint32_t period_usec, AP_HAL::MemberProc) override
+    {
+        return nullptr;
+    };
+
+    /* See AP_HAL::Device::get_fd() */
+    int get_fd() override { return -1; }
+
+private:
+    Semaphore _semaphore;
+};
+
+}

libraries/AP_HAL_Empty/SPIDriver.cpp

@@ -1,4 +1,4 @@
-
+#include "SPIDevice.h"
 #include "SPIDriver.h"
 
 using namespace Empty;
@@ -46,3 +46,8 @@ AP_HAL::SPIDeviceDriver* SPIDeviceManager::device(enum AP_HAL::SPIDeviceType, ui
     return &_device;
 }
 
+AP_HAL::OwnPtr<AP_HAL::SPIDevice>
+SPIDeviceManager::get_device(const char *name)
+{
+    return AP_HAL::OwnPtr<AP_HAL::SPIDevice>(new SPIDevice());
+}

libraries/AP_HAL_Empty/SPIDriver.h

@@ -1,6 +1,7 @@
+#pragma once
 
-#ifndef __AP_HAL_EMPTY_SPIDRIVER_H__
-#define __AP_HAL_EMPTY_SPIDRIVER_H__
+#include <AP_HAL/SPIDevice.h>
+#include <AP_HAL/utility/OwnPtr.h>
 
 #include "AP_HAL_Empty.h"
 #include "Semaphores.h"
@@ -23,10 +24,11 @@ private:
 class Empty::SPIDeviceManager : public AP_HAL::SPIDeviceManager {
 public:
     SPIDeviceManager();
+
     void init();
     AP_HAL::SPIDeviceDriver* device(enum AP_HAL::SPIDeviceType, uint8_t index);
+    AP_HAL::OwnPtr<AP_HAL::SPIDevice> get_device(const char *name) override;
+
 private:
     SPIDeviceDriver _device;
 };
-
-#endif // __AP_HAL_EMPTY_SPIDRIVER_H__