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72 lines
2.3 KiB
72 lines
2.3 KiB
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#ifndef __AP_HAL_EMPTY_SPIDRIVER_H__ |
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#define __AP_HAL_EMPTY_SPIDRIVER_H__ |
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#include <AP_HAL_Linux.h> |
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#include "Semaphores.h" |
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLE |
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#define LINUX_SPI_DEVICE_NUM_DEVICES 6 |
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO |
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#define LINUX_SPI_DEVICE_NUM_DEVICES 2 |
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI |
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#define LINUX_SPI_DEVICE_NUM_DEVICES 2 |
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#else |
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#define LINUX_SPI_DEVICE_NUM_DEVICES 0 |
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#endif |
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// Most platforms won't need to declare the spidev bus offset |
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#ifndef LINUX_SPIDEV_BUS_OFFSET |
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#define LINUX_SPIDEV_BUS_OFFSET 0 |
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#endif |
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#define LINUX_SPI_MAX_BUSES 3 |
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// Fake CS pin to indicate in-kernel handling |
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#define SPI_CS_KERNEL -1 |
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class Linux::LinuxSPIDeviceDriver : public AP_HAL::SPIDeviceDriver { |
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public: |
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friend class Linux::LinuxSPIDeviceManager; |
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LinuxSPIDeviceDriver(uint16_t bus, uint16_t subdev, enum AP_HAL::SPIDevice type, uint8_t mode, uint8_t bitsPerWord, int16_t cs_pin, uint32_t lowspeed, uint32_t highspeed); |
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void init(); |
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AP_HAL::Semaphore *get_semaphore(); |
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void transaction(const uint8_t *tx, uint8_t *rx, uint16_t len); |
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void cs_assert(); |
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void cs_release(); |
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uint8_t transfer (uint8_t data); |
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void transfer (const uint8_t *data, uint16_t len); |
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void set_bus_speed(enum bus_speed speed); |
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private: |
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uint16_t _bus; |
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uint16_t _subdev; |
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int16_t _cs_pin; |
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AP_HAL::DigitalSource *_cs; |
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uint8_t _mode; |
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uint8_t _bitsPerWord; |
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uint32_t _lowspeed; |
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uint32_t _highspeed; |
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uint32_t _speed; |
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enum AP_HAL::SPIDevice _type; |
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int _fd; // Per-device FD. |
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}; |
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class Linux::LinuxSPIDeviceManager : public AP_HAL::SPIDeviceManager { |
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public: |
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void init(void *); |
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AP_HAL::SPIDeviceDriver* device(enum AP_HAL::SPIDevice); |
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static AP_HAL::Semaphore *get_semaphore(uint16_t bus); |
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static void cs_assert(enum AP_HAL::SPIDevice type); |
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static void cs_release(enum AP_HAL::SPIDevice type); |
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static void transaction(LinuxSPIDeviceDriver &driver, const uint8_t *tx, uint8_t *rx, uint16_t len); |
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private: |
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static LinuxSPIDeviceDriver _device[LINUX_SPI_DEVICE_NUM_DEVICES]; |
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static LinuxSemaphore _semaphore[LINUX_SPI_MAX_BUSES]; |
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}; |
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#endif // __AP_HAL_LINUX_SPIDRIVER_H__
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