Line data    Source code

       1             : /*
       2             :    This program is free software: you can redistribute it and/or modify
       3             :    it under the terms of the GNU General Public License as published by
       4             :    the Free Software Foundation, either version 3 of the License, or
       5             :    (at your option) any later version.
       6             : 
       7             :    This program is distributed in the hope that it will be useful,
       8             :    but WITHOUT ANY WARRANTY; without even the implied warranty of
       9             :    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
      10             :    GNU General Public License for more details.
      11             : 
      12             :    You should have received a copy of the GNU General Public License
      13             :    along with this program.  If not, see <http://www.gnu.org/licenses/>.
      14             :  */
      15             : /*
      16             :   Simulated spi buses and devices
      17             : */
      18             : 
      19             : 
      20             : #include <GCS_MAVLink/GCS.h>
      21             : #include <SITL/SITL.h>
      22             : 
      23             : #include "SIM_SPI.h"
      24             : #include "SIM_SPIDevice.h"
      25             : 
      26             : #include "SIM_RAMTRON_FM25V02.h"
      27             : #include "SIM_JEDEC_MX25L3206E.h"
      28             : 
      29             : #include <signal.h>
      30             : 
      31             : using namespace SITL;
      32             : 
      33             : #if AP_SIM_RAMTRON_FM25V02_ENABLED
      34             : static RAMTRON_FM25V02 ramtron_FM25V02;  // 32kB 2-byte-addressing
      35             : #endif
      36             : #if AP_SIM_JEDEC_MX25L3206E_ENABLED
      37             : static JEDEC_MX25L3206E jedec_MX25L3206E;
      38             : #endif
      39             : 
      40             : struct spi_device_at_cs_pin {
      41             :     uint8_t bus;
      42             :     uint8_t cs_pin;
      43             :     SPIDevice &device;
      44             : } spi_devices[] {
      45             : #if AP_SIM_RAMTRON_FM25V02_ENABLED
      46             :     { 0, 0, ramtron_FM25V02 },
      47             : #endif
      48             : #if AP_SIM_JEDEC_MX25L3206E_ENABLED
      49             :     { 1, 0, jedec_MX25L3206E },
      50             : #endif
      51             : };
      52             : 
      53           0 : void SPI::init()
      54             : {
      55           0 :     for (auto &i : spi_devices) {
      56           0 :         i.device.init();
      57             :     }
      58             : 
      59             :     // sanity check the spi_devices structure to ensure we don't have
      60             :     // two devices at the same address on the same bus:
      61           0 :     for (uint8_t i=0; i<ARRAY_SIZE(spi_devices)-1; i++) {
      62           0 :         const auto &dev_i = spi_devices[i];
      63           0 :         for (uint8_t j=i+1; j<ARRAY_SIZE(spi_devices); j++) {
      64           0 :             const auto &dev_j = spi_devices[j];
      65           0 :             if (dev_i.bus == dev_j.bus &&
      66           0 :                 dev_i.cs_pin == dev_j.cs_pin) {
      67           0 :                 AP_HAL::panic("Two devices on the same cs_pin on the same bus");
      68             :             }
      69             :         }
      70             :     }
      71           0 : }
      72             : 
      73           0 : void SPI::update(const class Aircraft &aircraft)
      74             : {
      75           0 :     for (auto daa : spi_devices) {
      76           0 :         daa.device.update(aircraft);
      77             :     }
      78           0 : }
      79             : 
      80      263095 : int SPI::ioctl_transaction(uint8_t bus, uint8_t cs_pin, uint8_t count, spi_ioc_transfer *data)
      81             : {
      82      524616 :     for (auto &dev_at_cs_pin : spi_devices) {
      83      524616 :         if (dev_at_cs_pin.cs_pin != cs_pin) {
      84           0 :             continue;
      85             :         }
      86      524616 :         if (dev_at_cs_pin.bus != bus) {
      87      261521 :             continue;
      88             :         }
      89      263095 :         return dev_at_cs_pin.device.rdwr(count, data);
      90             :     }
      91           0 :     GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "Unhandled spi message: bus=%u cs_pin=%u", bus, cs_pin);
      92           0 :     return -1;
      93             : }
      94             : 
      95      263095 : int SPI::ioctl(uint8_t bus, uint8_t cs_pin, uint8_t ioctl_type, void *data)
      96             : {
      97             :     uint8_t count;
      98      263095 :     switch (ioctl_type) {
      99      190082 :     case SPI_TRANSACTION_1LONG:
     100      190082 :         count = 1;
     101      190082 :         break;
     102       73013 :     case SPI_TRANSACTION_2LONG:
     103       73013 :         count = 2;
     104       73013 :         break;
     105           0 :     default:
     106           0 :         AP_HAL::panic("Bad transaction type");
     107             :     }
     108             : 
     109      263095 :     return ioctl_transaction(bus, cs_pin, count, (spi_ioc_transfer*)data);
     110             : }