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118 lines
3.3 KiB
118 lines
3.3 KiB
/* |
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* Copyright (C) 2015 Intel Corporation. All rights reserved. |
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* |
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* This file is free software: you can redistribute it and/or modify it |
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* under the terms of the GNU General Public License as published by the |
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* Free Software Foundation, either version 3 of the License, or |
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* (at your option) any later version. |
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* |
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* This file is distributed in the hope that it will be useful, but |
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* WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. |
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* See the GNU General Public License for more details. |
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* |
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* You should have received a copy of the GNU General Public License along |
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* with this program. If not, see <http://www.gnu.org/licenses/>. |
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*/ |
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#pragma once |
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#include <inttypes.h> |
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#include <vector> |
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#include <AP_HAL/HAL.h> |
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#include <AP_HAL/SPIDevice.h> |
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namespace Linux { |
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class SPIBus; |
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class SPIDesc; |
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class SPIDevice : public AP_HAL::SPIDevice { |
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public: |
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SPIDevice(SPIBus &bus, SPIDesc &device_desc); |
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virtual ~SPIDevice(); |
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/* AP_HAL::SPIDevice implementation */ |
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/* See AP_HAL::Device::set_speed() */ |
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bool set_speed(AP_HAL::Device::Speed speed) override; |
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/* See AP_HAL::Device::transfer() */ |
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bool transfer(const uint8_t *send, uint32_t send_len, |
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uint8_t *recv, uint32_t recv_len) override; |
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/* See AP_HAL::SPIDevice::transfer_fullduplex() */ |
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bool transfer_fullduplex(const uint8_t *send, uint8_t *recv, |
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uint32_t len) override; |
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/* See AP_HAL::Device::get_semaphore() */ |
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AP_HAL::Semaphore *get_semaphore() override; |
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/* See AP_HAL::Device::register_periodic_callback() */ |
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AP_HAL::Device::PeriodicHandle register_periodic_callback( |
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uint32_t period_usec, AP_HAL::Device::PeriodicCb) override; |
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/* See AP_HAL::Device::adjust_periodic_callback() */ |
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bool adjust_periodic_callback( |
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AP_HAL::Device::PeriodicHandle h, uint32_t period_usec) override; |
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protected: |
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SPIBus &_bus; |
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SPIDesc &_desc; |
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AP_HAL::DigitalSource *_cs; |
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uint32_t _speed; |
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/* |
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* Select device if using userspace CS |
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*/ |
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void _cs_assert(); |
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/* |
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* Deselect device if using userspace CS |
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*/ |
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void _cs_release(); |
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}; |
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class SPIDeviceManager : public AP_HAL::SPIDeviceManager { |
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public: |
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friend class SPIDevice; |
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static SPIDeviceManager *from(AP_HAL::SPIDeviceManager *spi_mgr) |
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{ |
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return static_cast<SPIDeviceManager*>(spi_mgr); |
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} |
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SPIDeviceManager() |
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{ |
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/* Reserve space up-front for 3 buses */ |
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_buses.reserve(3); |
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} |
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/* AP_HAL::SPIDeviceManager implementation */ |
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AP_HAL::OwnPtr<AP_HAL::SPIDevice> get_device(const char *name); |
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/* |
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* Stop all SPI threads and block until they are finalized. This doesn't |
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* free memory because they can still be used by devices, however device |
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* drivers won't receive any new event |
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*/ |
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void teardown(); |
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/* See AP_HAL::SPIDeviceManager::get_count() */ |
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uint8_t get_count(); |
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/* See AP_HAL::SPIDeviceManager::get_device_name() */ |
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const char *get_device_name(uint8_t idx); |
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protected: |
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void _unregister(SPIBus &b); |
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AP_HAL::OwnPtr<AP_HAL::SPIDevice> _create_device(SPIBus &b, SPIDesc &device_desc) const; |
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std::vector<SPIBus*> _buses; |
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static const uint8_t _n_device_desc; |
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static SPIDesc _device[]; |
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}; |
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}
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