#include <SPIDevice.h>

Inheritance diagram for VRBRAIN::SPIDevice:

Collaboration diagram for VRBRAIN::SPIDevice:

Public Member Functions
	SPIDevice (SPIBus &_bus, SPIDesc &_device_desc)

virtual	~SPIDevice ()

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

void	do_transfer (const uint8_t send, uint8_t recv, uint32_t len)

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

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

AP_HAL::Semaphore *	get_semaphore () override

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

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

bool	set_chip_select (bool set) override

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	unregister_callback (PeriodicHandle h)

virtual void	register_completion_callback (AP_HAL::MemberProc proc)

virtual void	register_completion_callback (AP_HAL::Proc proc)

void	set_read_flag (uint8_t flag)

uint32_t	get_bus_id_devtype (uint8_t devtype)

virtual void	set_retries (uint8_t retries)

Static Private Member Functions
static void *	spi_thread (void *arg)

Private Attributes
SPIBus &	bus

SPIDesc &	device_desc

uint32_t	frequency

perf_counter_t	perf

char *	pname

bool	cs_forced

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)

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

void	set_device_bus (uint8_t bus)

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

union DeviceId	_bus_id

Detailed Description

Definition at line 55 of file SPIDevice.h.

Constructor & Destructor Documentation

◆ SPIDevice()

VRBRAIN::SPIDevice::SPIDevice	(	SPIBus &	_bus,
		SPIDesc &	_device_desc
	)

Definition at line 149 of file SPIDevice.cpp.

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◆ ~SPIDevice()

VRBRAIN::SPIDevice::~SPIDevice ( )

virtual

Reimplemented from AP_HAL::SPIDevice.

Definition at line 167 of file SPIDevice.cpp.

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Member Function Documentation

◆ adjust_periodic_callback()

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

overridevirtual

Reimplemented from AP_HAL::SPIDevice.

Definition at line 271 of file SPIDevice.cpp.

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◆ do_transfer()

void VRBRAIN::SPIDevice::do_transfer	(	const uint8_t *	send,
		uint8_t *	recv,
		uint32_t	len
	)

Definition at line 191 of file SPIDevice.cpp.

Referenced by transfer(), and transfer_fullduplex().

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◆ get_semaphore()

AP_HAL::Semaphore * VRBRAIN::SPIDevice::get_semaphore ( )

overridevirtual

Implements AP_HAL::SPIDevice.

Definition at line 260 of file SPIDevice.cpp.

◆ register_periodic_callback()

AP_HAL::Device::PeriodicHandle VRBRAIN::SPIDevice::register_periodic_callback	(	uint32_t	period_usec,
		AP_HAL::Device::PeriodicCb	cb
	)

override

Definition at line 266 of file SPIDevice.cpp.

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◆ set_chip_select()

bool VRBRAIN::SPIDevice::set_chip_select ( bool set )

overridevirtual

Reimplemented from AP_HAL::Device.

Definition at line 279 of file SPIDevice.cpp.

◆ set_speed()

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

overridevirtual

Implements AP_HAL::SPIDevice.

Definition at line 175 of file SPIDevice.cpp.

Referenced by SPIDevice().

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◆ spi_thread()

static void* VRBRAIN::SPIDevice::spi_thread ( void * arg )

staticprivate

◆ transfer()

bool VRBRAIN::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 229 of file SPIDevice.cpp.

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◆ transfer_fullduplex()

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

overridevirtual

Implements AP_HAL::SPIDevice.

Definition at line 251 of file SPIDevice.cpp.

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Member Data Documentation

◆ bus

SPIBus& VRBRAIN::SPIDevice::bus

private

Definition at line 88 of file SPIDevice.h.

Referenced by adjust_periodic_callback(), do_transfer(), get_semaphore(), register_periodic_callback(), set_chip_select(), SPIDevice(), and ~SPIDevice().

◆ cs_forced

bool VRBRAIN::SPIDevice::cs_forced

private

Definition at line 93 of file SPIDevice.h.

Referenced by do_transfer(), and set_chip_select().

◆ device_desc

SPIDesc& VRBRAIN::SPIDevice::device_desc

private

Definition at line 89 of file SPIDevice.h.

Referenced by do_transfer(), set_chip_select(), set_speed(), SPIDevice(), and ~SPIDevice().

◆ frequency

uint32_t VRBRAIN::SPIDevice::frequency

private

Definition at line 90 of file SPIDevice.h.

Referenced by do_transfer(), set_speed(), and SPIDevice().

◆ perf

perf_counter_t VRBRAIN::SPIDevice::perf

private

Definition at line 91 of file SPIDevice.h.

Referenced by do_transfer(), SPIDevice(), and ~SPIDevice().

◆ pname

char* VRBRAIN::SPIDevice::pname

private

Definition at line 92 of file SPIDevice.h.

Referenced by SPIDevice(), and ~SPIDevice().

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

libraries/AP_HAL_VRBRAIN/SPIDevice.h
libraries/AP_HAL_VRBRAIN/SPIDevice.cpp

Public Member Functions

Static Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ SPIDevice()

◆ ~SPIDevice()

Member Function Documentation

◆ adjust_periodic_callback()

◆ do_transfer()

◆ get_semaphore()

◆ register_periodic_callback()

◆ set_chip_select()

◆ set_speed()

◆ spi_thread()

◆ transfer()

◆ transfer_fullduplex()

Member Data Documentation

◆ bus

◆ cs_forced

◆ device_desc

◆ frequency

◆ perf

◆ pname