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/****************************************************************************
*
* 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_I2C.cpp
*
* I2C interface for HMC5883 / HMC 5983
*/
/* 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/i2c.h>
#include <drivers/drv_mag.h>
#include <drivers/drv_device.h>
#include "hmc5883.h"
#include "board_config.h"
#ifdef PX4_I2C_OBDEV_HMC5883
#define HMC5883L_ADDRESS PX4_I2C_OBDEV_HMC5883
device::Device *HMC5883_I2C_interface(int bus);
class HMC5883_I2C : public device::I2C
{
public:
HMC5883_I2C(int bus);
virtual ~HMC5883_I2C();
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);
protected:
virtual int probe();
};
device::Device *
HMC5883_I2C_interface(int bus)
{
return new HMC5883_I2C(bus);
}
HMC5883_I2C::HMC5883_I2C(int bus) :
I2C("HMC5883_I2C", nullptr, bus, HMC5883L_ADDRESS, 400000)
{
_device_id.devid_s.devtype = DRV_MAG_DEVTYPE_HMC5883;
}
HMC5883_I2C::~HMC5883_I2C()
{
}
int
HMC5883_I2C::init()
{
/* this will call probe() */
return I2C::init();
}
int
HMC5883_I2C::ioctl(unsigned operation, unsigned &arg)
{
int ret;
switch (operation) {
case MAGIOCGEXTERNAL:
// On PX4v1 the MAG can be on an internal I2C
// On everything else its always external
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
if (_bus == PX4_I2C_BUS_EXPANSION) {
return 1;
} else {
return 0;
}
#else
return 1;
#endif
case DEVIOCGDEVICEID:
return CDev::ioctl(nullptr, operation, arg);
default:
ret = -EINVAL;
}
return ret;
}
int
HMC5883_I2C::probe()
{
uint8_t data[3] = {0, 0, 0};
_retries = 10;
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");
return -EIO;
}
_retries = 2;
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_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);
}
int
HMC5883_I2C::read(unsigned address, void *data, unsigned count)
{
uint8_t cmd = address;
return transfer(&cmd, 1, (uint8_t *)data, count);
}
#endif /* PX4_I2C_OBDEV_HMC5883 */
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