#include <SPIDevice.h>

Inheritance diagram for F4Light::SPIDevice:

Collaboration diagram for F4Light::SPIDevice:

Public Member Functions
	SPIDevice (const SPIDesc &device_desc)

	~SPIDevice ()

bool	set_speed (AP_HAL::Device::Speed speed) override

bool	transfer (const uint8_t send, uint32_t send_len, uint8_t recv, uint32_t recv_len) override

uint8_t	transfer (uint8_t out)

void	send (uint8_t out)

bool	transfer_fullduplex (const uint8_t send, uint8_t recv, uint32_t len) override

void	apply_speed ()

uint16_t	send_strobe (const uint8_t *buffer, uint16_t len)

void	wait_busy ()

uint8_t	wait_for (uint8_t out, spi_WaitFunc cb, uint32_t dly)

F4Light::Semaphore *	get_semaphore ()

AP_HAL::Device::PeriodicHandle	register_periodic_callback (uint32_t period_usec, AP_HAL::Device::PeriodicCb proc) override

bool	adjust_periodic_callback (AP_HAL::Device::PeriodicHandle h, uint32_t period_usec) override

bool	unregister_callback (PeriodicHandle h)

void	register_completion_callback (Handler h)

void	register_completion_callback (AP_HAL::MemberProc proc)

void	register_completion_callback (AP_HAL::Proc proc)

void	dma_isr ()

void	spi_isr ()

Public Member Functions inherited from AP_HAL::SPIDevice
	SPIDevice ()

virtual bool	clock_pulse (uint32_t len)

virtual Device::PeriodicHandle	register_periodic_callback (uint32_t period_usec, Device::PeriodicCb) override=0

Public Member Functions inherited from AP_HAL::Device
	FUNCTOR_TYPEDEF (PeriodicCb, void)

	Device (enum BusType type)

enum BusType	bus_type (void) const

uint8_t	bus_num (void) const

uint32_t	get_bus_id (void) const

uint8_t	get_bus_address (void) const

void	set_device_type (uint8_t devtype)

virtual	~Device ()

virtual void	set_address (uint8_t address)

bool	read_registers (uint8_t first_reg, uint8_t *recv, uint32_t recv_len)

bool	write_register (uint8_t reg, uint8_t val, bool checked=false)

void	set_checked_register (uint8_t reg, uint8_t val)

bool	setup_checked_registers (uint8_t num_regs, uint8_t frequency=10)

bool	check_next_register (void)

bool	read (uint8_t *recv, uint32_t recv_len)

virtual PeriodicHandle	register_periodic_callback (uint32_t period_usec, PeriodicCb)=0

virtual bool	set_chip_select (bool set)

void	set_read_flag (uint8_t flag)

uint32_t	get_bus_id_devtype (uint8_t devtype)

virtual void	set_retries (uint8_t retries)

Protected Member Functions
void	init (void)

void	_cs_assert ()

void	_cs_release ()

const spi_pins *	dev_to_spi_pins (const spi_dev *dev)

spi_baud_rate	determine_baud_rate (SPIFrequency freq)

uint8_t	_transfer (uint8_t data)

void	get_dma_ready ()

void	setup_dma_transfer (const uint8_t send, const uint8_t recv, uint32_t btr)

void	setup_isr_transfer ()

void	start_dma_transfer ()

uint8_t	do_transfer (bool is_DMA, uint32_t nbytes)

void	isr_transfer_finish ()

void	disable_dma ()

Protected Member Functions inherited from AP_HAL::Device
void	set_device_address (uint8_t address)

void	set_device_bus (uint8_t bus)

Protected Attributes
const SPIDesc &	_desc

DigitalSource *	_cs

SPIFrequency	_speed

bool	_initialized

uint8_t	byte_time

Handler	_completion_cb

void *	_task

const uint8_t *	_send_address

uint16_t	_send_len

uint16_t	_dummy_len

uint8_t *	_recv_address

uint16_t	_recv_len

SPI_ISR_MODE	_isr_mode

spi_WaitFunc	_compare_cb

uint8_t	_recv_data

Protected Attributes inherited from AP_HAL::Device
uint8_t	_read_flag = 0

union DeviceId	_bus_id

Static Protected Attributes
static F4Light::Semaphore	_semaphores [MAX_BUS_NUM]

static void *	owner [MAX_BUS_NUM]

static uint8_t *	buffer [MAX_BUS_NUM]

Additional Inherited Members
Public Types inherited from AP_HAL::Device
enum	BusType { BUS_TYPE_UNKNOWN = 0, BUS_TYPE_I2C = 1, BUS_TYPE_SPI = 2, BUS_TYPE_UAVCAN = 3 }

enum	Speed { SPEED_HIGH, SPEED_LOW }

typedef void *	PeriodicHandle

Static Public Member Functions inherited from AP_HAL::Device
static uint32_t	make_bus_id (enum BusType bus_type, uint8_t bus, uint8_t address, uint8_t devtype)

static uint32_t	change_bus_id (uint32_t old_id, uint8_t devtype)

Detailed Description

Definition at line 113 of file SPIDevice.h.

Constructor & Destructor Documentation

◆ SPIDevice()

SPIDevice::SPIDevice ( const SPIDesc & device_desc )

Definition at line 449 of file SPIDevice.cpp.

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◆ ~SPIDevice()

F4Light::SPIDevice::~SPIDevice ( )

inlinevirtual

Reimplemented from AP_HAL::SPIDevice.

Definition at line 117 of file SPIDevice.h.

Member Function Documentation

◆ _cs_assert()

void F4Light::SPIDevice::_cs_assert ( )

inlineprotected

Definition at line 190 of file SPIDevice.h.

Referenced by transfer(), and transfer_fullduplex().

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◆ _cs_release()

void F4Light::SPIDevice::_cs_release ( )

inlineprotected

Definition at line 191 of file SPIDevice.h.

Referenced by init(), isr_transfer_finish(), transfer(), and transfer_fullduplex().

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◆ _transfer()

uint8_t SPIDevice::_transfer ( uint8_t data )

protected

Definition at line 159 of file SPIDevice.cpp.

Referenced by transfer(), and transfer_fullduplex().

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◆ adjust_periodic_callback()

bool F4Light::SPIDevice::adjust_periodic_callback	(	AP_HAL::Device::PeriodicHandle	h,
		uint32_t	period_usec
	)

inlineoverridevirtual

Reimplemented from AP_HAL::SPIDevice.

Definition at line 151 of file SPIDevice.h.

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◆ apply_speed()

void F4Light::SPIDevice::apply_speed ( )

inline

Definition at line 134 of file SPIDevice.h.

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◆ determine_baud_rate()

spi_baud_rate SPIDevice::determine_baud_rate ( SPIFrequency freq )

protected

Definition at line 478 of file SPIDevice.cpp.

Referenced by init(), transfer(), and transfer_fullduplex().

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◆ dev_to_spi_pins()

const spi_pins * SPIDevice::dev_to_spi_pins ( const spi_dev * dev )

protected

Definition at line 465 of file SPIDevice.cpp.

Referenced by init().

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◆ disable_dma()

void SPIDevice::disable_dma ( )

protected

Definition at line 602 of file SPIDevice.cpp.

Referenced by dma_isr(), and do_transfer().

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◆ dma_isr()

void SPIDevice::dma_isr ( )

Definition at line 614 of file SPIDevice.cpp.

Referenced by setup_dma_transfer().

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◆ do_transfer()

uint8_t SPIDevice::do_transfer	(	bool	is_DMA,
		uint32_t	nbytes
	)

protected

Definition at line 771 of file SPIDevice.cpp.

Referenced by send_strobe(), transfer(), and transfer_fullduplex().

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◆ get_dma_ready()

void SPIDevice::get_dma_ready ( )

protected

Definition at line 529 of file SPIDevice.cpp.

Referenced by transfer().

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◆ get_semaphore()

F4Light::Semaphore* F4Light::SPIDevice::get_semaphore ( )

inlinevirtual

Implements AP_HAL::SPIDevice.

Definition at line 143 of file SPIDevice.h.

◆ init()

void SPIDevice::init ( void )

protected

hardware

Definition at line 667 of file SPIDevice.cpp.

Referenced by set_speed(), transfer(), and transfer_fullduplex().

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◆ isr_transfer_finish()

void SPIDevice::isr_transfer_finish ( )

protected

Definition at line 908 of file SPIDevice.cpp.

Referenced by dma_isr(), do_transfer(), spi_isr(), and wait_for().

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◆ register_completion_callback() [1/3]

void SPIDevice::register_completion_callback ( Handler h )

Definition at line 138 of file SPIDevice.cpp.

◆ register_completion_callback() [2/3]

void F4Light::SPIDevice::register_completion_callback ( AP_HAL::MemberProc proc )

inlinevirtual

Reimplemented from AP_HAL::Device.

Definition at line 160 of file SPIDevice.h.

◆ register_completion_callback() [3/3]

void F4Light::SPIDevice::register_completion_callback ( AP_HAL::Proc proc )

inlinevirtual

Reimplemented from AP_HAL::Device.

Definition at line 165 of file SPIDevice.h.

◆ register_periodic_callback()

AP_HAL::Device::PeriodicHandle F4Light::SPIDevice::register_periodic_callback	(	uint32_t	period_usec,
		AP_HAL::Device::PeriodicCb	proc
	)

inlineoverride

Definition at line 146 of file SPIDevice.h.

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◆ send()

void SPIDevice::send ( uint8_t out )

Definition at line 178 of file SPIDevice.cpp.

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◆ send_strobe()

uint16_t SPIDevice::send_strobe	(	const uint8_t *	buffer,
		uint16_t	len
	)

Definition at line 847 of file SPIDevice.cpp.

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◆ set_speed()

bool SPIDevice::set_speed ( AP_HAL::Device::Speed speed )

overridevirtual

Implements AP_HAL::SPIDevice.

Definition at line 742 of file SPIDevice.cpp.

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◆ setup_dma_transfer()

void SPIDevice::setup_dma_transfer	(	const uint8_t *	send,
		const uint8_t *	recv,
		uint32_t	btr
	)

protected

Definition at line 546 of file SPIDevice.cpp.

Referenced by dma_isr(), spi_isr(), transfer(), and transfer_fullduplex().

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◆ setup_isr_transfer()

void SPIDevice::setup_isr_transfer ( )

protected

Definition at line 839 of file SPIDevice.cpp.

Referenced by dma_isr(), transfer(), and transfer_fullduplex().

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◆ spi_isr()

void SPIDevice::spi_isr ( )

Definition at line 938 of file SPIDevice.cpp.

Referenced by send_strobe(), setup_isr_transfer(), and wait_for().

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◆ start_dma_transfer()

void SPIDevice::start_dma_transfer ( )

protected

Definition at line 597 of file SPIDevice.cpp.

Referenced by dma_isr(), do_transfer(), and spi_isr().

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◆ transfer() [1/2]

bool SPIDevice::transfer	(	const uint8_t *	send,
		uint32_t	send_len,
		uint8_t *	recv,
		uint32_t	recv_len
	)

overridevirtual

Implements AP_HAL::SPIDevice.

Definition at line 188 of file SPIDevice.cpp.

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◆ transfer() [2/2]

uint8_t SPIDevice::transfer ( uint8_t out )

Definition at line 146 of file SPIDevice.cpp.

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◆ transfer_fullduplex()

bool SPIDevice::transfer_fullduplex	(	const uint8_t *	send,
		uint8_t *	recv,
		uint32_t	len
	)

overridevirtual

Implements AP_HAL::SPIDevice.

Definition at line 368 of file SPIDevice.cpp.

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◆ unregister_callback()

bool F4Light::SPIDevice::unregister_callback ( PeriodicHandle h )

inlinevirtual

Reimplemented from AP_HAL::Device.

Definition at line 156 of file SPIDevice.h.

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◆ wait_busy()

void F4Light::SPIDevice::wait_busy ( )

inline

Definition at line 139 of file SPIDevice.h.

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◆ wait_for()

uint8_t SPIDevice::wait_for	(	uint8_t	out,
		spi_WaitFunc	cb,
		uint32_t	dly
	)

Definition at line 875 of file SPIDevice.cpp.

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Member Data Documentation

◆ _compare_cb

spi_WaitFunc F4Light::SPIDevice::_compare_cb

protected

Definition at line 219 of file SPIDevice.h.

Referenced by spi_isr(), and wait_for().

◆ _completion_cb

Handler F4Light::SPIDevice::_completion_cb

protected

Definition at line 207 of file SPIDevice.h.

Referenced by do_transfer(), init(), isr_transfer_finish(), register_completion_callback(), and transfer().

◆ _cs

DigitalSource* F4Light::SPIDevice::_cs

protected

Definition at line 178 of file SPIDevice.h.

Referenced by init(), send_strobe(), spi_isr(), and SPIDevice().

◆ _desc

const SPIDesc& F4Light::SPIDevice::_desc

protected

Definition at line 176 of file SPIDevice.h.

Referenced by _transfer(), disable_dma(), dma_isr(), do_transfer(), get_dma_ready(), init(), isr_transfer_finish(), send(), send_strobe(), set_speed(), setup_dma_transfer(), setup_isr_transfer(), spi_isr(), SPIDevice(), start_dma_transfer(), transfer(), transfer_fullduplex(), and wait_for().

◆ _dummy_len

uint16_t F4Light::SPIDevice::_dummy_len

protected

Definition at line 214 of file SPIDevice.h.

Referenced by do_transfer(), spi_isr(), and transfer().

◆ _initialized

bool F4Light::SPIDevice::_initialized

protected

Definition at line 185 of file SPIDevice.h.

Referenced by init(), set_speed(), transfer(), and transfer_fullduplex().

◆ _isr_mode

SPI_ISR_MODE F4Light::SPIDevice::_isr_mode

protected

Definition at line 218 of file SPIDevice.h.

Referenced by dma_isr(), do_transfer(), isr_transfer_finish(), send_strobe(), spi_isr(), transfer(), transfer_fullduplex(), and wait_for().

◆ _recv_address

uint8_t* F4Light::SPIDevice::_recv_address

protected

Definition at line 215 of file SPIDevice.h.

Referenced by dma_isr(), spi_isr(), and transfer().

◆ _recv_data

uint8_t F4Light::SPIDevice::_recv_data

protected

Definition at line 220 of file SPIDevice.h.

Referenced by spi_isr(), and wait_for().

◆ _recv_len

uint16_t F4Light::SPIDevice::_recv_len

protected

Definition at line 216 of file SPIDevice.h.

Referenced by dma_isr(), do_transfer(), send_strobe(), spi_isr(), transfer(), and wait_for().

◆ _semaphores

F4Light::Semaphore F4Light::SPIDevice::_semaphores[MAX_BUS_NUM]

staticprotected

Definition at line 181 of file SPIDevice.h.

◆ _send_address

const uint8_t* F4Light::SPIDevice::_send_address

protected

Definition at line 212 of file SPIDevice.h.

Referenced by do_transfer(), send_strobe(), spi_isr(), and transfer().

◆ _send_len

uint16_t F4Light::SPIDevice::_send_len

protected

Definition at line 213 of file SPIDevice.h.

Referenced by dma_isr(), do_transfer(), send_strobe(), spi_isr(), transfer(), and wait_for().

◆ _speed

SPIFrequency F4Light::SPIDevice::_speed

protected

Definition at line 179 of file SPIDevice.h.

Referenced by set_speed(), transfer(), and transfer_fullduplex().

◆ _task

void* F4Light::SPIDevice::_task

protected

Definition at line 208 of file SPIDevice.h.

Referenced by do_transfer(), isr_transfer_finish(), and wait_for().

◆ buffer

uint8_t * SPIDevice::buffer

staticprotected

Definition at line 183 of file SPIDevice.h.

Referenced by dma_isr(), send_strobe(), spi_isr(), and transfer().

◆ byte_time

uint8_t F4Light::SPIDevice::byte_time

protected

Definition at line 186 of file SPIDevice.h.

Referenced by determine_baud_rate().

◆ owner

void * SPIDevice::owner

staticprotected

Definition at line 182 of file SPIDevice.h.

Referenced by set_speed(), transfer(), and transfer_fullduplex().

The documentation for this class was generated from the following files:

libraries/AP_HAL_F4Light/SPIDevice.h
libraries/AP_HAL_F4Light/SPIDevice.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Static Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ SPIDevice()

◆ ~SPIDevice()

Member Function Documentation

◆ _cs_assert()

◆ _cs_release()

◆ _transfer()

◆ adjust_periodic_callback()

◆ apply_speed()

◆ determine_baud_rate()

◆ dev_to_spi_pins()

◆ disable_dma()

◆ dma_isr()

◆ do_transfer()

◆ get_dma_ready()

◆ get_semaphore()

◆ init()

◆ isr_transfer_finish()

◆ register_completion_callback() [1/3]

◆ register_completion_callback() [2/3]

◆ register_completion_callback() [3/3]

◆ register_periodic_callback()

◆ send()

◆ send_strobe()

◆ set_speed()

◆ setup_dma_transfer()

◆ setup_isr_transfer()

◆ spi_isr()

◆ start_dma_transfer()

◆ transfer() [1/2]

◆ transfer() [2/2]

◆ transfer_fullduplex()

◆ unregister_callback()

◆ wait_busy()

◆ wait_for()

Member Data Documentation

◆ _compare_cb

◆ _completion_cb

◆ _cs

◆ _desc

◆ _dummy_len

◆ _initialized

◆ _isr_mode

◆ _recv_address

◆ _recv_data

◆ _recv_len

◆ _semaphores

◆ _send_address

◆ _send_len

◆ _speed

◆ _task

◆ buffer

◆ byte_time

◆ owner