mirror of
https://git.intern.spaceteamaachen.de/ALPAKA/sta-core.git
synced 2025-06-11 17:16:00 +00:00
Added some buxfixes to spi code
This commit is contained in:
parent
0bc924bba2
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38bdbbe526
11
include/sta/config.hpp
Normal file
11
include/sta/config.hpp
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@ -0,0 +1,11 @@
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#ifndef STA_CONFIG
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#define STA_CONFIG
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// Use the raspberry pi for this project.
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#include <sta/raspi/mcu/common.hpp>
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// #define DEBUG
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#define STA_PRINTF_USE_STDLIB
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#define STA_DEBUG_PRINTF
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#endif
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@ -70,14 +70,6 @@ namespace sta
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*/
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void print(uint32_t num, IntegerBase base = IntegerBase::DEC);
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/**
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* @brief Print integer in selected base.
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*
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* @param num Integer
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* @param base Integer base
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*/
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void print(size_t num, IntegerBase base = IntegerBase::DEC);
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/**
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* @brief Print c-string.
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*
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@ -143,14 +135,6 @@ namespace sta
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*/
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void println(uint32_t num, IntegerBase base = IntegerBase::DEC);
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/**
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* @brief Print integer in selected base followed by a new-line.
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*
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* @param num Integer
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* @param base Integer base
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*/
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void println(size_t num, IntegerBase base = IntegerBase::DEC);
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/**
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* @brief Print c-string followed by a new-line.
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*
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44
include/sta/raspi/delay.hpp
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44
include/sta/raspi/delay.hpp
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@ -0,0 +1,44 @@
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/**
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* @file
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* @brief Delay functions.
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*
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* Configuration:
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* * STA_RASPI_DELAY_US_TIM: 1 MHz TIM instance used by sta::delayUs
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*
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* NOTE: TIM time base must be started before use of sta::delayUs by calling sta::initHAL.
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* When using startup system task this is handled automatically.
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*/
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#ifndef STA_CORE_RASPI_DELAY_HPP
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#define STA_CORE_RASPI_DELAY_HPP
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// Only enable module on RASPI platform
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#include <sta/config.hpp>
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#if defined(STA_PLATFORM_RASPI) || defined(DOXYGEN)
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#include <cstdint>
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namespace sta
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{
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/**
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* @brief Millisecond delay.
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*
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* @param ms Milliseconds
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*/
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void delayMs(uint32_t ms);
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/**
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* @brief Microsecond delay.
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*
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* @param us Microseconds
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*/
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void delayUs(uint32_t us);
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} // namespace sta
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#endif // STA_PLATFORM_RASPI
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#endif // STA_CORE_RASPI_DELAY_HPP
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@ -37,12 +37,6 @@ namespace sta
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uint8_t pin_;
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GpioMode mode_;
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};
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class DummyGpioPin : public RaspiGpioPin {
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DummyGpioPin();
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void setState(GpioPinState state) override;
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};
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} // namespace sta
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#endif // STA_RASPI_GPIO_ENABLED
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@ -36,9 +36,15 @@ namespace sta
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int spifd_;
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bool open_;
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const bool persistent_open_;
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SPISettings settings_;
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uint8_t mode_;
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uint8_t dataSize_;
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uint8_t bitOrder_;
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uint32_t clkSpeed_;
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void update_setting(int setting, int value);
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int get_setting(int setting, void * rslt_ptr);
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void get_setting(int setting, void * rslt_ptr);
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void update_settings();
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};
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@ -81,8 +81,7 @@ namespace sta
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*
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* @return %SPI settings
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*/
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const SPISettings & settings() const;
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const SPISettings & settings();
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/**
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* @brief Acquire usage rights to use the interface.
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@ -2,6 +2,8 @@
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#include <cinttypes>
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#include <cstring>
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#include <sta/assert.hpp>
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#include <sta/lang.hpp>
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namespace sta
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{
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@ -22,17 +24,17 @@ namespace sta
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print(buffer);
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}
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void print(uint8_t num, IntegerBase base /* = IntegerBase::DEC */)
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void print(uint8_t num, IntegerBase base)
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{
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printBase(num, base, "%" PRIu8, sizeof(num));
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}
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void print(uint16_t num, IntegerBase base /* = IntegerBase::DEC */)
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void print(uint16_t num, IntegerBase base)
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{
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printBase(num, base, "%" PRIu16, sizeof(num));
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}
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void print(uint32_t num, IntegerBase base /* = IntegerBase::DEC */)
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void print(uint32_t num, IntegerBase base)
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{
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printBase(num, base, "%" PRIu32, sizeof(num));
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}
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@ -42,6 +44,10 @@ namespace sta
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print(str, strlen(str));
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}
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void print(const char * str, size_t length) {
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print(str, length);
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}
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void println()
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{
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print("\r\n", 2);
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@ -65,19 +71,19 @@ namespace sta
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println();
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}
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void println(uint8_t num, IntegerBase base /* = IntegerBase::DEC */)
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void println(uint8_t num, IntegerBase base)
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{
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print(num, base);
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println();
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}
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void println(uint16_t num, IntegerBase base /* = IntegerBase::DEC */)
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void println(uint16_t num, IntegerBase base)
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{
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print(num, base);
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println();
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}
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void println(uint32_t num, IntegerBase base /* = IntegerBase::DEC */)
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void println(uint32_t num, IntegerBase base)
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{
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print(num, base);
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println();
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@ -96,12 +102,26 @@ namespace sta
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void printBase(uintmax_t value, IntegerBase base, const char * fmt, size_t size)
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{
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switch (base)
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{
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case IntegerBase::DEC:
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printDec(value, fmt);
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break;
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case IntegerBase::HEX:
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printHex(value, size);
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break;
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case IntegerBase::BIN:
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printBin(value, size);
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break;
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default:
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STA_ASSERT_MSG(false, "Case for IntegerBase enum not handled");
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STA_UNREACHABLE();
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}
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}
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void printDec(uintmax_t value, const char * fmt)
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{
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printf(fmt, value);
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}
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void printBin(uintmax_t value, size_t digits)
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@ -111,7 +131,7 @@ namespace sta
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void printHex(uintmax_t value, size_t digits)
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{
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printf("%x", value);
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}
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} // namespace sta
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23
src/raspi/delay.cpp
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23
src/raspi/delay.cpp
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#include <sta/raspi/delay.hpp>
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#ifdef STA_PLATFORM_RASPI
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#include <sta/raspi/hal.hpp>
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#include <sta/assert.hpp>
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#include <sta/lang.hpp>
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namespace sta
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{
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void delayMs(uint32_t ms)
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{
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delay(ms);
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}
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void delayUs(uint32_t us)
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{
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delayMicroseconds(us);
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}
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} // namespace sta
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#endif // STA_PLATFORM_RASPI
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digitalWrite(pin_, state == GpioPinState::GPIO_LOW ? LOW : HIGH);
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}
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DummyGpioPin::DummyGpioPin() : RaspiGpioPin { -1 , GpioMode::GPIO_INPUT }
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{
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class DummyGpioPin : public RaspiGpioPin {
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public:
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DummyGpioPin() : RaspiGpioPin { 0, GpioMode::GPIO_INPUT } {}
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}
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void DummyGpioPin::setState(GpioPinState state)
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{
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// Don't do anything.
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}
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void setState(GpioPinState state) override {}
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};
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static DummyGpioPin dummyGpio;
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#include <cstdlib>
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#include <string.h>
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#include <cstdio>
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// Imports needed for SPI handling on Linux.
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#include <linux/spi/spidev.h>
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#include <unistd.h>
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#include <sys/ioctl.h>
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#include <fcntl.h>
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#include <errno.h>
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#define STA_DEBUG_IOCTL_WRITE(result) STA_ASSERT_MSG(result >= 0, "ioctl writing failed!")
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#define STA_DEBUG_IOCTL_READ(result) STA_ASSERT_MSG(result >= 0, "ioctl reading failed!")
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@ -28,8 +30,8 @@
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namespace sta
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{
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RaspiSPI::RaspiSPI(SPINode node, const SPISettings & settings, Mutex * mutex, bool persistent_open = true)
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: SPI(settings, mutex), open_{ false }, persistent_open_{ persistent_open }
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RaspiSPI::RaspiSPI(SPINode node, const SPISettings & settings, Mutex * mutex, bool persistent_open)
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: SPI(settings, mutex), open_{ false }, persistent_open_{ persistent_open }, settings_{ settings }
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{
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// Check validity of parameters.
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STA_DEBUG_NULLPTR(mutex);
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@ -60,6 +62,8 @@ namespace sta
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STA_DEBUG_FD_OPEN();
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struct spi_ioc_transfer spi_message[1];
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// According to the documentation, spi_message should be zero intialized.
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memset(spi_message, 0, sizeof(spi_message));
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spi_message[0].tx_buf = (unsigned long)&value;
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spi_message[0].len = 1;
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@ -74,6 +78,8 @@ namespace sta
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STA_DEBUG_FD_OPEN();
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struct spi_ioc_transfer spi_message[1];
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// According to the documentation, spi_message should be zero intialized.
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memset(spi_message, 0, sizeof(spi_message));
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spi_message[0].tx_buf = (unsigned long)&value;
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spi_message[0].len = 1;
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@ -90,10 +96,18 @@ namespace sta
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STA_ASSERT_MSG(size != 0, "Buffer size cannot be 0!");
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struct spi_ioc_transfer spi_message[1];
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// According to the documentation, spi_message should be zero intialized.
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memset(spi_message, 0, sizeof(spi_message));
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spi_message[0].tx_buf = (unsigned long)buffer;
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spi_message[0].len = size;
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printf("Sending ");
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for (int i = 0; i < size; i++) {
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printf("%x, ", buffer[i]);
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}
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printf("\n");
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int result = ioctl(spifd_, SPI_IOC_MESSAGE(1), spi_message);
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STA_DEBUG_IOCTL_SEND(result);
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@ -107,6 +121,8 @@ namespace sta
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STA_ASSERT_MSG(size != 0, "Buffer size cannot be 0!");
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struct spi_ioc_transfer spi_message[1];
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// According to the documentation, spi_message should be zero intialized.
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memset(spi_message, 0, sizeof(spi_message));
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spi_message[0].rx_buf = (unsigned long)rxBuffer;
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@ -115,6 +131,10 @@ namespace sta
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int result = ioctl(spifd_, SPI_IOC_MESSAGE(1), spi_message);
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if (result == -1) {
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printf("Sending failed with error '%s'! \n", strerror(errno));
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}
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STA_DEBUG_IOCTL_SEND(result);
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}
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@ -125,6 +145,8 @@ namespace sta
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STA_ASSERT_MSG(size != 0, "Buffer size cannot be 0!");
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struct spi_ioc_transfer spi_message[1];
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// According to the documentation, spi_message should be zero intialized.
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memset(spi_message, 0, sizeof(spi_message));
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spi_message[0].rx_buf = (unsigned long)buffer;
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@ -132,6 +154,12 @@ namespace sta
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int result = ioctl(spifd_, SPI_IOC_MESSAGE(1), spi_message);
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printf("Receiving ");
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for (int i = 0; i < size; i++) {
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printf("%x, ", buffer[i]);
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}
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printf("\n");
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STA_DEBUG_IOCTL_SEND(result);
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}
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@ -157,70 +185,75 @@ namespace sta
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void RaspiSPI::update_setting(int setting, int value)
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{
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STA_DEBUG_FD_OPEN();
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int result = ioctl(spifd_, setting, value);
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STA_DEBUG_IOCTL_WRITE(result);
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}
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int RaspiSPI::get_setting(int setting, void * rslt_ptr)
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void RaspiSPI::get_setting(int setting, void * rslt_ptr)
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{
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STA_DEBUG_FD_OPEN();
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int result = ioctl(spifd_, setting, rslt_ptr);
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STA_DEBUG_IOCTL_READ(result);
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STA_DEBUG_IOCTL_READ(result);
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}
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void RaspiSPI::update_settings()
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{
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SPISettings settings = this->settings();
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int mode;
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STA_DEBUG_FD_OPEN();
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switch (settings.mode)
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switch (settings_.mode)
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{
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case SPIMode::MODE_0:
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mode = SPI_MODE_0;
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mode_ = SPI_MODE_0;
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break;
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case SPIMode::MODE_1:
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mode = SPI_MODE_1;
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mode_ = SPI_MODE_1;
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break;
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case SPIMode::MODE_2:
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mode = SPI_MODE_2;
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mode_ = SPI_MODE_2;
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break;
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case SPIMode::MODE_3:
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mode = SPI_MODE_3;
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mode_ = SPI_MODE_3;
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break;
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default:
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STA_ASSERT_MSG(false, "Case for SPIMode enum not handled");
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STA_UNREACHABLE();
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}
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dataSize_ = settings_.dataSize == SPIDataSize::SIZE_8 ? 0 : 16;
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bitOrder_ = settings_.bitOrder == SPIBitOrder::MSB ? 0 : 1;
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clkSpeed_ = settings_.clkSpeed;
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// Set the spi mode.
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update_setting(SPI_IOC_WR_MODE, mode);
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int result = ioctl(spifd_, SPI_IOC_WR_MODE, &mode_);
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STA_DEBUG_IOCTL_WRITE(result);
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// Set the word size. According to the documentation "the value zero signifies eight bits".
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update_setting(SPI_IOC_WR_BITS_PER_WORD, settings.dataSize == SPIDataSize::SIZE_8 ? 0 : 16);
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result = ioctl(spifd_, SPI_IOC_WR_BITS_PER_WORD, &dataSize_);
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STA_DEBUG_IOCTL_WRITE(result);
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// Set the bit order. According to the documentation zero means MSB first, everything else means LSB first.
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update_setting(SPI_IOC_WR_LSB_FIRST, settings.bitOrder == SPIBitOrder::MSB ? 0 : 1);
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result = ioctl(spifd_, SPI_IOC_WR_LSB_FIRST, &bitOrder_);
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STA_DEBUG_IOCTL_WRITE(result);
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// Set the maximum clock speed.
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update_setting(SPI_IOC_WR_MAX_SPEED_HZ, settings.clkSpeed);
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result = ioctl(spifd_, SPI_IOC_WR_MAX_SPEED_HZ, &clkSpeed_);
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STA_DEBUG_IOCTL_WRITE(result);
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#if defined(DEBUG)
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uint8_t r_mode = 0;
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get_setting(SPI_IOC_RD_MODE, &r_mode);
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STA_ASSERT_MSG(r_mode == mode, "The mode wasn't set correctly!");
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STA_ASSERT_MSG(r_mode == mode_, "The mode wasn't set correctly!");
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uint8_t r_dataSize = 0;
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get_setting(SPI_IOC_WR_BITS_PER_WORD, &r_dataSize);
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STA_ASSERT_MSG(r_dataSize == (settings.dataSize == SPIDataSize::SIZE_8 ? 0 : 16), "The data size wasn't set correctly!");
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STA_ASSERT_MSG(r_dataSize == (settings_.dataSize == SPIDataSize::SIZE_8 ? 8 : 16), "The data size wasn't set correctly!");
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uint8_t r_bitOrder = 0;
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get_setting(SPI_IOC_RD_LSB_FIRST, &r_bitOrder);
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STA_ASSERT_MSG(r_bitOrder == (settings.bitOrder == SPIBitOrder::MSB ? 0 : 1), "The data size wasn't set correctly!");
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STA_ASSERT_MSG(r_bitOrder == (settings_.bitOrder == SPIBitOrder::MSB ? 0 : 1), "The data size wasn't set correctly!");
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uint32_t r_clk_Speed;
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get_setting(SPI_IOC_RD_MAX_SPEED_HZ, &r_clk_Speed);
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STA_ASSERT_MSG(r_clk_Speed == settings.clkSpeed, "The clock speed wasn't set correctly!");
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STA_ASSERT_MSG(r_clk_Speed == settings_.clkSpeed, "The clock speed wasn't set correctly!");
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#endif // STA_DEBUG
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}
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@ -235,16 +268,18 @@ namespace sta
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return;
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spifd_ = open(spidev_, O_RDWR);
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STA_ASSERT(spifd_ >= 0);
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open_ = true;
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STA_ASSERT(spifd_ >= 0);
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update_settings();
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}
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void RaspiSPI::release()
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{
|
||||
if (!persistent_open_) {
|
||||
STA_ASSERT_MSG(open_, "'release' was called despite the device being closed! This has to be a bug!");
|
||||
|
||||
if (!persistent_open_ && open_) {
|
||||
close(spifd_);
|
||||
}
|
||||
|
||||
|
@ -1,5 +1,6 @@
|
||||
#include <sta/spi/spi.hpp>
|
||||
|
||||
#include <cstdio>
|
||||
|
||||
namespace sta
|
||||
{
|
||||
@ -7,7 +8,7 @@ namespace sta
|
||||
: settings_{settings}, mutex_{mutex}
|
||||
{}
|
||||
|
||||
const SPISettings & SPI::settings() const
|
||||
const SPISettings & SPI::settings()
|
||||
{
|
||||
return settings_;
|
||||
}
|
||||
|
@ -1,5 +1,7 @@
|
||||
#include <sta/stm32/i2c.hpp>
|
||||
|
||||
#if false
|
||||
|
||||
namespace sta {
|
||||
STM32I2cDevice::STM32I2cDevice(I2C_HandleTypeDef* i2cHandle, uint16_t address, Mutex* mutex, bool master, bool blocking)
|
||||
: I2cDevice(address, mutex, master, blocking) {
|
||||
@ -51,3 +53,5 @@ namespace sta {
|
||||
return res == HAL_OK;
|
||||
}
|
||||
}
|
||||
|
||||
#endif // false
|
Loading…
x
Reference in New Issue
Block a user