mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-25 22:13:34 +08:00
Liu1
b1b0032b8d
* BMP581: Add Bosch BMP581 barometer * Copyright：fix copyright header year * style: not use pointers and Bool returns, Check the failed condition return * delay: Replace usleep() with ScheduleDelayed() * definitions: Delete unused definitions * comment: Delet redundant comments * constants: Change to uppercase * BMP581: run make format
103 lines
3.4 KiB
C++
103 lines
3.4 KiB
C++
/****************************************************************************
|
|
*
|
|
* Copyright (c) 2024 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 bmp581_spi.cpp
|
|
*
|
|
* SPI interface for BMP 581 (NOTE: untested!)
|
|
*/
|
|
|
|
#include <drivers/device/spi.h>
|
|
|
|
#include "bmp581.h"
|
|
|
|
/* SPI protocol address bits */
|
|
#define DIR_READ (1<<7) //for set
|
|
#define DIR_WRITE ~(1<<7) //for clear
|
|
|
|
class BMP581_SPI: public device::SPI, public IBMP581
|
|
{
|
|
public:
|
|
BMP581_SPI(uint8_t bus, uint32_t device, int bus_frequency, spi_mode_e spi_mode);
|
|
virtual ~BMP581_SPI() = default;
|
|
|
|
int init();
|
|
|
|
uint8_t get_reg(uint8_t addr);
|
|
int get_reg_buf(uint8_t addr, uint8_t *buf, uint8_t len);
|
|
int set_reg(uint8_t value, uint8_t addr);
|
|
|
|
uint32_t get_device_id() const override { return device::SPI::get_device_id(); }
|
|
|
|
uint8_t get_device_address() const override { return device::SPI::get_device_address(); }
|
|
};
|
|
|
|
IBMP581 *bmp581_spi_interface(uint8_t busnum, uint32_t device, int bus_frequency, spi_mode_e spi_mode)
|
|
{
|
|
return new BMP581_SPI(busnum, device, bus_frequency, spi_mode);
|
|
}
|
|
|
|
BMP581_SPI::BMP581_SPI(uint8_t bus, uint32_t device, int bus_frequency, spi_mode_e spi_mode) :
|
|
SPI(DRV_BARO_DEVTYPE_BMP581, MODULE_NAME, bus, device, spi_mode, bus_frequency)
|
|
{
|
|
}
|
|
|
|
int BMP581_SPI::init()
|
|
{
|
|
return SPI::init();
|
|
}
|
|
|
|
uint8_t BMP581_SPI::get_reg(uint8_t addr)
|
|
{
|
|
uint8_t cmd[2] = { (uint8_t)(addr | DIR_READ), 0}; //set MSB bit
|
|
transfer(&cmd[0], &cmd[0], 2);
|
|
return cmd[1];
|
|
}
|
|
|
|
int BMP581_SPI::get_reg_buf(uint8_t addr, uint8_t *buf, uint8_t len)
|
|
{
|
|
uint8_t cmd[len + 1] = {(uint8_t)(addr | DIR_READ)};
|
|
int ret;
|
|
|
|
ret = transfer(&cmd[0], &cmd[0], (len + 1));
|
|
memcpy(buf, &cmd[1], len);
|
|
|
|
return ret;
|
|
}
|
|
|
|
int BMP581_SPI::set_reg(uint8_t value, uint8_t addr)
|
|
{
|
|
uint8_t cmd[2] = { (uint8_t)(addr & DIR_WRITE), value}; //clear MSB bit
|
|
return transfer(&cmd[0], nullptr, 2);
|
|
}
|