rm3100_spi.cpp
3.74 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
/****************************************************************************
*
* 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_spi.cpp
*
* SPI 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/spi.h>
#include "board_config.h"
#include "rm3100.h"
/* SPI protocol address bits */
#define DIR_READ (1<<7)
#define DIR_WRITE (0<<7)
class RM3100_SPI : public device::SPI
{
public:
RM3100_SPI(int bus, uint32_t devid, int bus_frequency, spi_mode_e spi_mode);
virtual ~RM3100_SPI() = default;
virtual int init();
virtual int read(unsigned address, void *data, unsigned count);
virtual int write(unsigned address, void *data, unsigned count);
};
device::Device *
RM3100_SPI_interface(int bus, uint32_t devid, int bus_frequency, spi_mode_e spi_mode);
device::Device *
RM3100_SPI_interface(int bus, uint32_t devid, int bus_frequency, spi_mode_e spi_mode)
{
return new RM3100_SPI(bus, devid, bus_frequency, spi_mode);
}
RM3100_SPI::RM3100_SPI(int bus, uint32_t devid, int bus_frequency, spi_mode_e spi_mode) :
SPI(DRV_MAG_DEVTYPE_RM3100, MODULE_NAME, bus, devid, spi_mode, bus_frequency)
{
}
int RM3100_SPI::init()
{
int ret;
ret = SPI::init();
if (ret != OK) {
DEVICE_DEBUG("SPI init failed");
return -EIO;
}
// Read REV_ID value
uint8_t data = 0;
if (read(ADDR_REVID, &data, 1)) {
DEVICE_DEBUG("RM3100 read_reg fail");
}
if (data != RM3100_REVID) {
DEVICE_DEBUG("RM3100 ID: %02x", data);
return -EIO;
}
return OK;
}
int RM3100_SPI::read(unsigned address, void *data, unsigned count)
{
uint8_t buf[32];
if (sizeof(buf) < (count + 1)) {
return -EIO;
}
buf[0] = address | DIR_READ;
int ret = transfer(&buf[0], &buf[0], count + 1);
memcpy(data, &buf[1], count);
return ret;
}
int RM3100_SPI::write(unsigned address, void *data, unsigned count)
{
uint8_t buf[32];
if (sizeof(buf) < (count + 1)) {
return -EIO;
}
buf[0] = address | DIR_WRITE;
memcpy(&buf[1], data, count);
return transfer(&buf[0], &buf[0], count + 1);
}