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102 lines
2.4 KiB
102 lines
2.4 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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Flymaple port by Mike McCauley |
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*/ |
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#include <AP_HAL/AP_HAL.h> |
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#if CONFIG_HAL_BOARD == HAL_BOARD_FLYMAPLE |
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// Flymaple SPI driver |
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// Flymaple has no actual SPI devices, so this generic |
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#include "SPIDriver.h" |
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#include "FlymapleWirish.h" |
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using namespace AP_HAL_FLYMAPLE_NS; |
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#define FLYMAPLE_SPI_CS_PIN 8 |
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// Only one port so far: |
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#define FLYMAPLE_SPI_PORT 1 |
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HardwareSPI spi(FLYMAPLE_SPI_PORT); |
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FLYMAPLESPIDeviceDriver::FLYMAPLESPIDeviceDriver() |
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{} |
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void FLYMAPLESPIDeviceDriver::init() |
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{ |
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spi.begin(SPI_9MHZ, MSBFIRST, SPI_MODE_0); |
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digitalWrite(FLYMAPLE_SPI_CS_PIN, 1); |
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pinMode(FLYMAPLE_SPI_CS_PIN, OUTPUT); |
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} |
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AP_HAL::Semaphore* FLYMAPLESPIDeviceDriver::get_semaphore() |
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{ |
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return &_semaphore; |
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} |
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bool FLYMAPLESPIDeviceDriver::transaction(const uint8_t *tx, uint8_t *rx, uint16_t len) |
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{ |
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cs_assert(); |
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if (rx == NULL) { |
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for (uint16_t i = 0; i < len; i++) { |
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transfer(tx[i]); |
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} |
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} else { |
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for (uint16_t i = 0; i < len; i++) { |
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rx[i] = transfer(tx[i]); |
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} |
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} |
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cs_release(); |
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return true; |
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} |
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void FLYMAPLESPIDeviceDriver::cs_assert() |
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{ |
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digitalWrite(FLYMAPLE_SPI_CS_PIN, 0); |
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} |
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void FLYMAPLESPIDeviceDriver::cs_release() |
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{ |
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digitalWrite(FLYMAPLE_SPI_CS_PIN, 1); |
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} |
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uint8_t FLYMAPLESPIDeviceDriver::transfer (uint8_t data) |
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{ |
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return spi.transfer(data); |
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} |
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void FLYMAPLESPIDeviceDriver::transfer (const uint8_t *data, uint16_t len) |
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{ |
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spi.write(data, len); |
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} |
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FLYMAPLESPIDeviceManager::FLYMAPLESPIDeviceManager() |
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{ |
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} |
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void FLYMAPLESPIDeviceManager::init() |
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{ |
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} |
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AP_HAL::SPIDeviceDriver* FLYMAPLESPIDeviceManager::device(enum AP_HAL::SPIDevice, uint8_t index) |
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{ |
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_device.init(); // Defer this until GPIO pin 13 is set up else its a slave |
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return &_device; |
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} |
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#endif
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