Line data    Source code

       1             : /*
       2             :  * Copyright (C) 2015  Intel Corporation. All rights reserved.
       3             :  *
       4             :  * This file is free software: you can redistribute it and/or modify it
       5             :  * under the terms of the GNU General Public License as published by the
       6             :  * Free Software Foundation, either version 3 of the License, or
       7             :  * (at your option) any later version.
       8             :  *
       9             :  * This file is distributed in the hope that it will be useful, but
      10             :  * WITHOUT ANY WARRANTY; without even the implied warranty of
      11             :  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
      12             :  * See the GNU General Public License for more details.
      13             :  *
      14             :  * You should have received a copy of the GNU General Public License along
      15             :  * with this program.  If not, see <http://www.gnu.org/licenses/>.
      16             :  */
      17             : #pragma once
      18             : 
      19             : #include <inttypes.h>
      20             : #include <vector>
      21             : 
      22             : #include <AP_HAL/HAL.h>
      23             : #include <AP_HAL/SPIDevice.h>
      24             : 
      25             : namespace Linux {
      26             : 
      27             : class SPIBus;
      28             : class SPIDesc;
      29             : 
      30             : struct SPIDesc {
      31          48 :     SPIDesc(const char *name_, uint16_t bus_, uint16_t subdev_, uint8_t mode_,
      32             :             uint8_t bits_per_word_, int16_t cs_pin_, uint32_t lowspeed_,
      33             :             uint32_t highspeed_)
      34          48 :         : name(name_), bus(bus_), subdev(subdev_), mode(mode_)
      35          48 :         , bits_per_word(bits_per_word_), cs_pin(cs_pin_), lowspeed(lowspeed_)
      36          48 :         , highspeed(highspeed_)
      37             :     {
      38          48 :     }
      39             : 
      40             :     const char *name;
      41             :     uint16_t bus;
      42             :     uint16_t subdev;
      43             :     uint8_t mode;
      44             :     uint8_t bits_per_word;
      45             :     int16_t cs_pin;
      46             :     uint32_t lowspeed;
      47             :     uint32_t highspeed;
      48             : };
      49             : 
      50             : class SPIDevice : public AP_HAL::SPIDevice {
      51             : public:
      52             :     SPIDevice(SPIBus &bus, SPIDesc &device_desc);
      53             : 
      54             :     virtual ~SPIDevice();
      55             : 
      56             :     /* AP_HAL::SPIDevice implementation */
      57             : 
      58             :     /* See AP_HAL::Device::set_speed() */
      59             :     bool set_speed(AP_HAL::Device::Speed speed) override;
      60             : 
      61             :     /* See AP_HAL::Device::transfer() */
      62             :     bool transfer(const uint8_t *send, uint32_t send_len,
      63             :                   uint8_t *recv, uint32_t recv_len) override;
      64             : 
      65             :     /* See AP_HAL::SPIDevice::transfer_fullduplex() */
      66             :     bool transfer_fullduplex(const uint8_t *send, uint8_t *recv,
      67             :                              uint32_t len) override;
      68             : 
      69             :     /* See AP_HAL::SPIDevice::transfer_fullduplex() */
      70             :     bool transfer_fullduplex(uint8_t *send_recv, uint32_t len) override;
      71             : 
      72             :     /* See AP_HAL::Device::get_semaphore() */
      73             :     AP_HAL::Semaphore *get_semaphore() override;
      74             : 
      75             :     /* See AP_HAL::Device::register_periodic_callback() */
      76             :     AP_HAL::Device::PeriodicHandle register_periodic_callback(
      77             :         uint32_t period_usec, AP_HAL::Device::PeriodicCb) override;
      78             : 
      79             :     /* See AP_HAL::Device::adjust_periodic_callback() */
      80             :     bool adjust_periodic_callback(
      81             :         AP_HAL::Device::PeriodicHandle h, uint32_t period_usec) override;
      82             : 
      83             : protected:
      84             :     SPIBus &_bus;
      85             :     SPIDesc &_desc;
      86             :     AP_HAL::DigitalSource *_cs;
      87             :     uint32_t _speed;
      88             : 
      89             :     /*
      90             :      * Select device if using userspace CS
      91             :      */
      92             :     void _cs_assert();
      93             : 
      94             :     /*
      95             :      * Deselect device if using userspace CS
      96             :      */
      97             :     void _cs_release();
      98             : };
      99             : 
     100             : class SPIDeviceManager : public AP_HAL::SPIDeviceManager {
     101             : public:
     102             :     friend class SPIDevice;
     103             : 
     104           0 :     static SPIDeviceManager *from(AP_HAL::SPIDeviceManager *spi_mgr)
     105             :     {
     106           0 :         return static_cast<SPIDeviceManager*>(spi_mgr);
     107             :     }
     108             : 
     109          48 :     SPIDeviceManager()
     110          48 :     {
     111             :         /* Reserve space up-front for 3 buses */
     112          48 :         _buses.reserve(3);
     113          48 :     }
     114             : 
     115             :     /* AP_HAL::SPIDeviceManager implementation */
     116             :     AP_HAL::SPIDevice *get_device_ptr(const char *name) override;
     117             : 
     118             :     /*
     119             :      * Stop all SPI threads and block until they are finalized. This doesn't
     120             :      * free memory because they can still be used by devices, however device
     121             :      * drivers won't receive any new event
     122             :      */
     123             :     void teardown();
     124             : 
     125             :     /* See AP_HAL::SPIDeviceManager::get_count() */
     126             :     uint8_t get_count() override;
     127             : 
     128             :     /* See AP_HAL::SPIDeviceManager::get_device_name() */
     129             :     const char *get_device_name(uint8_t idx) override;
     130             : 
     131             : protected:
     132             :     void _unregister(SPIBus &b);
     133             :     AP_HAL::SPIDevice *_create_device(SPIBus &b, SPIDesc &device_desc) const;
     134             : 
     135             :     std::vector<SPIBus*> _buses;
     136             : 
     137             :     static const uint8_t _n_device_desc;
     138             :     static SPIDesc _device[];
     139             : };
     140             : 
     141             : }