Line data    Source code

       1             : /*
       2             :  * Copyright (C) 2021 Peter Barker. 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             : 
      21             : #include <AP_HAL/HAL.h>
      22             : #include <AP_HAL/SPIDevice.h>
      23             : 
      24             : #include "Semaphores.h"
      25             : 
      26             : class SPIBus;
      27             : 
      28             : namespace HALSITL {
      29             : 
      30             : struct SPIDesc {
      31        4290 :     SPIDesc(const char *_name, uint8_t _bus, uint8_t _cs_pin)
      32        4290 :         : name(_name), bus(_bus), cs_pin(_cs_pin)
      33        4290 :     { }
      34             : 
      35             :     const char *name;
      36             :     uint8_t bus;
      37             :     uint8_t cs_pin;  // cs
      38             : };
      39             : 
      40             : class SPIDevice : public AP_HAL::SPIDevice {
      41             : public:
      42             :     SPIDevice(SPIBus &_bus, SPIDesc &_device_desc);
      43             : 
      44             :     // no concept of speed in SITL yet
      45           0 :     bool set_speed(AP_HAL::Device::Speed speed) override { return true; }
      46             : 
      47             :     bool transfer(const uint8_t *send, uint32_t send_len,
      48             :                   uint8_t *recv, uint32_t recv_len) override;
      49             : 
      50           0 :     bool transfer_fullduplex(const uint8_t *send, uint8_t *recv,
      51             :                              uint32_t len) override {
      52           0 :         abort();
      53             :     }
      54             : 
      55           0 :     bool transfer_fullduplex(uint8_t *send_recv, uint32_t len) override {
      56           0 :         abort();
      57             :     }
      58             : 
      59             :     AP_HAL::Semaphore *get_semaphore() override;
      60             : 
      61             :     AP_HAL::Device::PeriodicHandle register_periodic_callback(
      62             :         uint32_t period_usec, AP_HAL::Device::PeriodicCb) override;
      63             : 
      64             : private:
      65             :     SPIBus &bus;
      66             :     SPIDesc &device_desc;
      67             : 
      68             :     Semaphore _semaphore;
      69             : 
      70             :     bool do_transfer(const uint8_t *send, uint8_t *recv, uint32_t len);
      71             : };
      72             : 
      73             : class SPIDeviceManager : public AP_HAL::SPIDeviceManager {
      74             : public:
      75             : 
      76             :     SPIDeviceManager();
      77             : 
      78             :     AP_HAL::SPIDevice *get_device_ptr(const char *name) override;
      79             : 
      80             :     static SPIDesc device_table[];
      81             :     static SPIBus *buses;
      82             : };
      83             : 
      84             : }