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Complete refactor of the lis3mdl driver. This has been bench tested, flight tested, and verified functional.

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This commit is contained in:
Jake Dahl
2018-05-16 08:35:55 +02:00
committed by Lorenz Meier
parent 8a114c2f05
commit 6324a8851d
7 changed files with 1500 additions and 1543 deletions
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src/drivers/magnetometer/lis3mdl/lis3mdl_spi.cpp
+30 -30
View File
@@ -37,16 +37,15 @@
* SPI interface for LIS3MDL
*/
/* XXX trim includes */
#include <px4_config.h>
#include <sys/types.h>
#include <stdint.h>
#include <stdbool.h>
#include <string.h>
#include <assert.h>
#include <debug.h>
#include <errno.h>
#include <stdint.h>
#include <stdbool.h>
#include <string.h>
#include <sys/types.h>
#include <unistd.h>
#include <arch/board/board.h>
@@ -55,17 +54,15 @@
#include <drivers/drv_mag.h>
#include <drivers/drv_device.h>
#include "lis3mdl.h"
#include "board_config.h"
#include "lis3mdl.h"
#ifdef PX4_SPIDEV_LIS
/* SPI protocol address bits */
#define DIR_READ (1<<7)
#define DIR_WRITE (0<<7)
#define ADDR_INCREMENT (1<<6)
device::Device *LIS3MDL_SPI_interface(int bus);
#define DIR_READ (1<<7)
#define DIR_WRITE (0<<7)
#define ADDR_INCREMENT (1<<6)
class LIS3MDL_SPI : public device::SPI
{
@@ -73,12 +70,15 @@ public:
LIS3MDL_SPI(int bus, uint32_t device);
virtual ~LIS3MDL_SPI();
virtual int init();
virtual int read(unsigned address, void *data, unsigned count);
virtual int write(unsigned address, void *data, unsigned count);
virtual int ioctl(unsigned operation, unsigned &arg);
virtual int init();
virtual int ioctl(unsigned operation, unsigned &arg);
virtual int read(unsigned address, void *data, unsigned count);
virtual int write(unsigned address, void *data, unsigned count);
};
device::Device *
LIS3MDL_SPI_interface(int bus);
device::Device *
LIS3MDL_SPI_interface(int bus)
{
@@ -148,21 +148,6 @@ LIS3MDL_SPI::ioctl(unsigned operation, unsigned &arg)
return ret;
}
int
LIS3MDL_SPI::write(unsigned address, void *data, unsigned count)
{
uint8_t buf[32];
if (sizeof(buf) < (count + 1)) {
return -EIO;
}
buf[0] = address | DIR_WRITE;
memcpy(&buf[1], data, count);
return transfer(&buf[0], &buf[0], count + 1);
}
int
LIS3MDL_SPI::read(unsigned address, void *data, unsigned count)
{
@@ -179,4 +164,19 @@ LIS3MDL_SPI::read(unsigned address, void *data, unsigned count)
return ret;
}
int
LIS3MDL_SPI::write(unsigned address, void *data, unsigned count)
{
uint8_t buf[32];
if (sizeof(buf) < (count + 1)) {
return -EIO;
}
buf[0] = address | DIR_WRITE;
memcpy(&buf[1], data, count);
return transfer(&buf[0], &buf[0], count + 1);
}
#endif /* PX4_SPIDEV_LIS */