/****************************************************************************
*
* Copyright (c) 2013-2015 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,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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****************************************************************************/
/**
* @file HMC5883_SPI.cpp
*
* SPI interface for HMC5983
*/
/* XXX trim includes */
#include <nuttx/config.h>
#include <sys/types.h>
#include <stdint.h>
#include <stdbool.h>
#include <string.h>
#include <assert.h>
#include <debug.h>
#include <errno.h>
#include <unistd.h>
#include <arch/board/board.h>
#include <drivers/device/spi.h>
#include <drivers/drv_mag.h>
#include "hmc5883.h"
#include <board_config.h>
#ifdef PX4_SPIDEV_HMC
/* SPI protocol address bits */
#define DIR_READ (1<<7)
#define DIR_WRITE (0<<7)
#define ADDR_INCREMENT (1<<6)
#define HMC_MAX_SEND_LEN 4
#define HMC_MAX_RCV_LEN 8
device::Device *HMC5883_SPI_interface(int bus);
class HMC5883_SPI : public device::SPI
{
public:
HMC5883_SPI(int bus, spi_dev_e device);
virtual ~HMC5883_SPI();
virtual int init();
virtual int read(unsigned address, void *data, unsigned count);
virtual int write(unsigned address, void *data, unsigned count);
virtual int ioctl(unsigned operation, unsigned &arg);
};
device::Device *
HMC5883_SPI_interface(int bus)
{
return new HMC5883_SPI(bus, (spi_dev_e)PX4_SPIDEV_HMC);
}
HMC5883_SPI::HMC5883_SPI(int bus, spi_dev_e device) :
SPI("HMC5883_SPI", nullptr, bus, device, SPIDEV_MODE3, 11*1000*1000 /* will be rounded to 10.4 MHz */)
{
}
HMC5883_SPI::~HMC5883_SPI()
{
}
int
HMC5883_SPI::init()
{
int ret;
ret = SPI::init();
if (ret != OK) {
debug("SPI init failed");
return -EIO;
}
// read WHO_AM_I value
uint8_t data[3] = {0, 0, 0};
if (read(ADDR_ID_A, &data[0], 1) ||
read(ADDR_ID_B, &data[1], 1) ||
read(ADDR_ID_C, &data[2], 1)) {
debug("read_reg fail");
}
if ((data[0] != ID_A_WHO_AM_I) ||
(data[1] != ID_B_WHO_AM_I) ||
(data[2] != ID_C_WHO_AM_I)) {
debug("ID byte mismatch (%02x,%02x,%02x)", data[0], data[1], data[2]);
return -EIO;
}
return OK;
}
int
HMC5883_SPI::ioctl(unsigned operation, unsigned &arg)
{
int ret;
switch (operation) {
case MAGIOCGEXTERNAL:
#ifdef PX4_SPI_BUS_EXT
if (_bus == PX4_SPI_BUS_EXT) {
return 1;
} else
#endif
{
return 0;
}
default:
{
ret = -EINVAL;
}
}
return ret;
}
int
HMC5883_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);
}
int
HMC5883_SPI::read(unsigned address, void *data, unsigned count)
{
uint8_t buf[32];
if (sizeof(buf) < (count + 1)) {
return -EIO;
}
buf[0] = address | DIR_READ | ADDR_INCREMENT;
int ret = transfer(&buf[0], &buf[0], count + 1);
memcpy(data, &buf[1], count);
return ret;
}
#endif /* PX4_SPIDEV_HMC */
