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38 lines
1.0 KiB
38 lines
1.0 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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class Linux::LinuxSPIDeviceDriver : public AP_HAL::SPIDeviceDriver { |
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public: |
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LinuxSPIDeviceDriver(const char *spipath, uint8_t mode, uint8_t bitsPerWord, uint32_t speed); |
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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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private: |
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LinuxSemaphore _semaphore; |
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const char *_spipath; |
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int _fd; |
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uint8_t _mode; |
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uint8_t _bitsPerWord; |
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uint32_t _speed; |
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}; |
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class Linux::LinuxSPIDeviceManager : public AP_HAL::SPIDeviceManager { |
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public: |
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LinuxSPIDeviceManager(); |
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void init(void *); |
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AP_HAL::SPIDeviceDriver* device(enum AP_HAL::SPIDevice); |
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private: |
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LinuxSPIDeviceDriver _device_cs0; |
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LinuxSPIDeviceDriver _device_cs1; |
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}; |
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#endif // __AP_HAL_LINUX_SPIDRIVER_H__
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