rm3100_i2c.cpp
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/****************************************************************************
*
* Copyright (c) 2018 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 rm3100_i2c.cpp
*
* I2C interface for RM3100
*/
#include <px4_platform_common/px4_config.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 <drivers/device/i2c.h>
#include "board_config.h"
#include "rm3100.h"
#define RM3100_ADDRESS 0x20
class RM3100_I2C : public device::I2C
{
public:
RM3100_I2C(int bus, int bus_frequency);
~RM3100_I2C() override = default;
int read(unsigned address, void *data, unsigned count) override;
int write(unsigned address, void *data, unsigned count) override;
protected:
int probe() override;
};
device::Device *
RM3100_I2C_interface(int bus, int bus_frequency);
device::Device *
RM3100_I2C_interface(int bus, int bus_frequency)
{
return new RM3100_I2C(bus, bus_frequency);
}
RM3100_I2C::RM3100_I2C(int bus, int bus_frequency) :
I2C(DRV_MAG_DEVTYPE_RM3100, MODULE_NAME, bus, RM3100_ADDRESS, bus_frequency)
{
}
int RM3100_I2C::probe()
{
uint8_t data = 0;
_retries = 10;
if (read(ADDR_REVID, &data, 1)) {
DEVICE_DEBUG("RM3100 read_reg fail");
return -EIO;
}
_retries = 2;
if (data != RM3100_REVID) {
DEVICE_DEBUG("RM3100 bad ID: %02x", data);
return -EIO;
}
return OK;
}
int RM3100_I2C::read(unsigned address, void *data, unsigned count)
{
uint8_t cmd = address;
int ret;
/* We need a first transfer where we write the register to read */
ret = transfer(&cmd, 1, nullptr, 0);
if (ret != OK) {
return ret;
}
/* Now we read the previously selected register */
ret = transfer(nullptr, 0, (uint8_t *)data, count);
return ret;
}
int RM3100_I2C::write(unsigned address, void *data, unsigned count)
{
uint8_t buf[32];
if (sizeof(buf) < (count + 1)) {
return -EIO;
}
buf[0] = address;
memcpy(&buf[1], data, count);
return transfer(&buf[0], count + 1, nullptr, 0);
}