mpu9250: start building "NuttX" driver for Linux and QuRT

src/lib/drivers/device/qurt/SPI.cpp

@@ -0,0 +1,167 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2019 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 SPI.cpp
+ *
+ * Base class for devices connected via SPI.
+ *
+ */
+
+#include "SPI.hpp"
+
+#include <fcntl.h>
+#include <unistd.h>
+#include <sys/ioctl.h>
+#include "dev_fs_lib_spi.h"
+
+#include <px4_platform_common/px4_config.h>
+
+namespace device
+{
+
+SPI::SPI(const char *name, const char *devname, int bus, uint32_t device, enum spi_mode_e mode, uint32_t frequency) :
+	CDev(name, devname),
+	_device(device),
+	_mode(mode),
+	_frequency(frequency)
+{
+	DEVICE_DEBUG("SPI::SPI name = %s devname = %s", name, devname);
+
+	// fill in _device_id fields for a SPI device
+	_device_id.devid_s.bus_type = DeviceBusType_SPI;
+	_device_id.devid_s.bus = bus;
+	_device_id.devid_s.address = (uint8_t)device;
+	// devtype needs to be filled in by the driver
+	_device_id.devid_s.devtype = 0;
+}
+
+SPI::~SPI()
+{
+	if (_fd >= 0) {
+		::close(_fd);
+		_fd = -1;
+	}
+}
+
+int
+SPI::init()
+{
+	// Open the actual SPI device
+	char dev_path[16];
+	snprintf(dev_path, sizeof(dev_path), "dev/spi-%lu", PX4_SPI_DEV_ID(_device));
+	DEVICE_DEBUG("%s", dev_path);
+	_fd = ::open(dev_path, O_RDWR);
+
+	if (_fd < 0) {
+		PX4_ERR("could not open %s", dev_path);
+		return PX4_ERROR;
+	}
+
+	/* call the probe function to check whether the device is present */
+	int ret = probe();
+
+	if (ret != OK) {
+		DEVICE_DEBUG("probe failed");
+		return ret;
+	}
+
+	/* do base class init, which will create the device node, etc. */
+	ret = CDev::init();
+
+	if (ret != OK) {
+		DEVICE_DEBUG("cdev init failed");
+		return ret;
+	}
+
+	/* tell the workd where we are */
+	DEVICE_LOG("on SPI bus %d at %d (%u KHz)", get_device_bus(), PX4_SPI_DEV_ID(_device), _frequency / 1000);
+
+	return PX4_OK;
+}
+
+int
+SPI::transfer(uint8_t *send, uint8_t *recv, unsigned len)
+{
+	if ((send == nullptr) && (recv == nullptr)) {
+		return -EINVAL;
+	}
+
+	dspal_spi_ioctl_read_write ioctl_write_read{};
+	ioctl_write_read.read_buffer = send;
+	ioctl_write_read.read_buffer_length = len;
+	ioctl_write_read.write_buffer = recv;
+	ioctl_write_read.write_buffer_length = len;
+
+	int result = ::ioctl(_fd, SPI_IOCTL_RDWR, &ioctl_write_read);
+
+	if (result < 0) {
+		PX4_ERR("transfer error %d", result);
+		return result;
+	}
+
+	return result;
+}
+
+int
+SPI::transferhword(uint16_t *send, uint16_t *recv, unsigned len)
+{
+	if ((send == nullptr) && (recv == nullptr)) {
+		return -EINVAL;
+	}
+
+	// int bits = 16;
+	// result = ::ioctl(_fd, SPI_IOC_WR_BITS_PER_WORD, &bits);
+
+	// if (result == -1) {
+	// 	PX4_ERR("can’t set 16 bit spi mode");
+	// 	return PX4_ERROR;
+	// }
+
+	dspal_spi_ioctl_read_write ioctl_write_read{};
+	ioctl_write_read.read_buffer = send;
+	ioctl_write_read.read_buffer_length = len * 2;
+	ioctl_write_read.write_buffer = recv;
+	ioctl_write_read.write_buffer_length = len * 2;
+
+	int result = ::ioctl(_fd, SPI_IOCTL_RDWR, &ioctl_write_read);
+
+	if (result < 0) {
+		PX4_ERR("transfer error %d", result);
+		return result;
+	}
+
+	return result;
+}
+
+} // namespace device