mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-06-29 05:00:36 +08:00
Daniel Agar
141 lines
3.8 KiB
C++
141 lines
3.8 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2018 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file rm3100_spi.cpp
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*
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* SPI interface for RM3100
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*/
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#include <px4_platform_common/px4_config.h>
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#include <assert.h>
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#include <debug.h>
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#include <errno.h>
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#include <stdint.h>
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#include <stdbool.h>
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#include <string.h>
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#include <sys/types.h>
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#include <unistd.h>
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#include <drivers/device/spi.h>
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#include <drivers/drv_mag.h>
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#include <drivers/drv_device.h>
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#include "board_config.h"
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#include "rm3100.h"
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/* SPI protocol address bits */
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#define DIR_READ (1<<7)
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#define DIR_WRITE (0<<7)
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class RM3100_SPI : public device::SPI
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{
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public:
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RM3100_SPI(int bus, uint32_t devid, int bus_frequency, spi_mode_e spi_mode);
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virtual ~RM3100_SPI() = default;
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virtual int init();
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virtual int read(unsigned address, void *data, unsigned count);
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virtual int write(unsigned address, void *data, unsigned count);
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};
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device::Device *
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RM3100_SPI_interface(int bus, uint32_t devid, int bus_frequency, spi_mode_e spi_mode);
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device::Device *
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RM3100_SPI_interface(int bus, uint32_t devid, int bus_frequency, spi_mode_e spi_mode)
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{
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return new RM3100_SPI(bus, devid, bus_frequency, spi_mode);
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}
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RM3100_SPI::RM3100_SPI(int bus, uint32_t devid, int bus_frequency, spi_mode_e spi_mode) :
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SPI(DRV_MAG_DEVTYPE_RM3100, MODULE_NAME, bus, devid, spi_mode, bus_frequency)
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{
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}
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int RM3100_SPI::init()
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{
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int ret;
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ret = SPI::init();
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if (ret != OK) {
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DEVICE_DEBUG("SPI init failed");
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return -EIO;
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}
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// Read REV_ID value
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uint8_t data = 0;
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if (read(ADDR_REVID, &data, 1)) {
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DEVICE_DEBUG("RM3100 read_reg fail");
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}
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if (data != RM3100_REVID) {
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DEVICE_DEBUG("RM3100 ID: %02x", data);
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return -EIO;
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}
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return OK;
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}
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int RM3100_SPI::read(unsigned address, void *data, unsigned count)
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{
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uint8_t buf[32];
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if (sizeof(buf) < (count + 1)) {
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return -EIO;
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}
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buf[0] = address | DIR_READ;
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int ret = transfer(&buf[0], &buf[0], count + 1);
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memcpy(data, &buf[1], count);
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return ret;
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}
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int RM3100_SPI::write(unsigned address, void *data, unsigned count)
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{
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uint8_t buf[32];
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if (sizeof(buf) < (count + 1)) {
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return -EIO;
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}
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buf[0] = address | DIR_WRITE;
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memcpy(&buf[1], data, count);
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return transfer(&buf[0], &buf[0], count + 1);
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}
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