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
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
|
/****************************************************************************
*
* 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:
if (_bus == PX4_I2C_BUS_EXPANSION) {
return 1;
} else {
return 0;
}
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 */
|