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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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138 lines
3.5 KiB
C++
138 lines
3.5 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 LPS22HB_SPI.cpp
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*
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* SPI interface for LPS22HB
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*/
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#include "LPS22HB.hpp"
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#include <cstring>
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#include <px4_config.h>
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#include <drivers/device/spi.h>
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#include <drivers/drv_device.h>
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#ifdef PX4_SPIDEV_LPS22HB
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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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device::Device *LPS22HB_SPI_interface(int bus);
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class LPS22HB_SPI : public device::SPI
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{
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public:
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LPS22HB_SPI(int bus, uint32_t device);
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virtual ~LPS22HB_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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LPS22HB_SPI_interface(int bus)
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{
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return new LPS22HB_SPI(bus, PX4_SPIDEV_LPS22HB);
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}
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LPS22HB_SPI::LPS22HB_SPI(int bus, uint32_t device) : SPI("LPS22HB_SPI", nullptr, bus, device, SPIDEV_MODE3, 10000000)
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{
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_device_id.devid_s.devtype = DRV_BARO_DEVTYPE_LPS22HB;
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}
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int
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LPS22HB_SPI::init()
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{
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int 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 WHO_AM_I value
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uint8_t id = 0;
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if (read(WHO_AM_I, &id, 1)) {
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DEVICE_DEBUG("read_reg fail");
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return -EIO;
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}
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if (id != LPS22HB_ID_WHO_AM_I) {
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DEVICE_DEBUG("ID byte mismatch (%02x != %02x)", LPS22HB_ID_WHO_AM_I, id);
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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
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LPS22HB_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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int
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LPS22HB_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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#endif /* PX4_SPIDEV_LPS22HB */
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