diff options
Diffstat (limited to 'src/drivers/hmc5883/hmc5883_spi.cpp')
| -rw-r--r-- | src/drivers/hmc5883/hmc5883_spi.cpp | 189 |
1 files changed, 189 insertions, 0 deletions
diff --git a/src/drivers/hmc5883/hmc5883_spi.cpp b/src/drivers/hmc5883/hmc5883_spi.cpp new file mode 100644 index 000000000..25a2f2b40 --- /dev/null +++ b/src/drivers/hmc5883/hmc5883_spi.cpp @@ -0,0 +1,189 @@ +/**************************************************************************** + * + * 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, + * 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 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 */ |