Fresh import of the PX4 firmware sources.

1 files changed, 142 insertions, 0 deletions

diff --git a/apps/drivers/device/spi.cpp b/apps/drivers/device/spi.cpp
new file mode 100644
index 000000000..d0647bef6
--- /dev/null
+++ b/apps/drivers/device/spi.cpp
@@ -0,0 +1,142 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file Base class for devices connected via SPI.
+ *
+ * @todo Work out if caching the mode/frequency would save any time.
+ */
+
+#include "spi.h"
+
+#ifndef CONFIG_SPI_EXCHANGE
+# error This driver requires CONFIG_SPI_EXCHANGE
+#endif
+
+namespace device
+{
+
+SPI::SPI(const char *name,
+	 const char *devname,
+	 int bus,
+	 enum spi_dev_e device,
+	 enum spi_mode_e mode,
+	 uint32_t frequency,
+	 int irq) :
+	// base class
+	CDev(name, devname, irq),
+	// public
+	// protected
+	// private
+	_bus(bus),
+	_device(device),
+	_mode(mode),
+	_frequency(frequency),
+	_dev(nullptr)
+{
+}
+
+SPI::~SPI()
+{
+	// XXX no way to let go of the bus...
+}
+
+int
+SPI::init()
+{
+	int ret = OK;
+
+	// attach to the spi bus
+	if (_dev == nullptr)
+		_dev = up_spiinitialize(_bus);
+
+	if (_dev == nullptr) {
+		debug("failed to init SPI");
+		ret = -ENOENT;
+		goto out;
+	}
+
+	// call the probe function to check whether the device is present
+	ret = probe();
+
+	if (ret != OK) {
+		debug("probe failed");
+		goto out;
+	}
+
+	// do base class init, which will create the device node, etc.
+	ret = CDev::init();
+
+	if (ret != OK) {
+		debug("cdev init failed");
+		goto out;
+	}
+
+	// tell the workd where we are
+	log("on bus %d at %d", _bus, _device);
+
+out:
+	return ret;
+}
+
+int
+SPI::probe()
+{
+	// assume the device is too stupid to be discoverable
+	return OK;
+}
+
+int
+SPI::transfer(uint8_t *send, uint8_t *recv, unsigned len)
+{
+
+	if ((send == nullptr) && (recv == nullptr))
+		return -EINVAL;
+
+	/* do common setup */
+	SPI_LOCK(_dev, true);
+	SPI_SETFREQUENCY(_dev, _frequency);
+	SPI_SETMODE(_dev, _mode);
+	SPI_SELECT(_dev, _device, true);
+
+	/* do the transfer */
+	SPI_EXCHANGE(_dev, send, recv, len);
+
+	/* and clean up */
+	SPI_SELECT(_dev, _device, false);
+	SPI_LOCK(_dev, false);
+
+	return OK;
+}
+
+} // namespace device
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