mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-05-31 10:26:52 +08:00
refactor qmc5883: use driver base class
This commit is contained in:
Daniel Agar
@@ -36,9 +36,10 @@ px4_add_module(
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COMPILE_FLAGS
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-Wno-cast-align # TODO: fix and enable
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SRCS
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qmc5883_i2c.cpp
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qmc5883_spi.cpp
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qmc5883.cpp
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QMC5883_I2C.cpp
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QMC5883.cpp
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QMC5883.hpp
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qmc5883_main.cpp
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DEPENDS
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px4_work_queue
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)
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File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,223 @@
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/****************************************************************************
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*
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* Copyright (c) 2012-2019 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
|
||||
* are met:
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||||
*
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||||
* 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.
|
||||
*
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||||
* 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
|
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file qmc5883.cpp
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*
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* Driver for the QMC5883 magnetometer connected via I2C.
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*/
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#pragma once
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#include <px4_platform_common/px4_config.h>
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#include <px4_platform_common/defines.h>
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#include <px4_platform_common/time.h>
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#include <drivers/device/i2c.h>
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#include <sys/types.h>
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#include <stdint.h>
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#include <stdlib.h>
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#include <stdbool.h>
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#include <semaphore.h>
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#include <string.h>
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#include <fcntl.h>
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#include <poll.h>
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#include <errno.h>
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#include <stdio.h>
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#include <math.h>
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#include <unistd.h>
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#include <px4_platform_common/i2c_spi_buses.h>
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#include <lib/perf/perf_counter.h>
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#include <drivers/drv_mag.h>
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#include <drivers/drv_hrt.h>
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#include <drivers/device/ringbuffer.h>
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#include <drivers/drv_device.h>
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#include <uORB/uORB.h>
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#include <float.h>
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#include <lib/conversion/rotation.h>
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#include "qmc5883.h"
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/*
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* QMC5883 internal constants and data structures.
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*/
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/* Max measurement rate is 200Hz */
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#define QMC5883_CONVERSION_INTERVAL (1000000 / 150) /* microseconds */
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#define QMC5883_MAX_COUNT 32767
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#define QMC5883_ADDR_DATA_OUT_X_LSB 0x00
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#define QMC5883_ADDR_DATA_OUT_X_MSB 0x01
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#define QMC5883_ADDR_DATA_OUT_Y_LSB 0x02
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#define QMC5883_ADDR_DATA_OUT_Y_MSB 0x03
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#define QMC5883_ADDR_DATA_OUT_Z_LSB 0x04
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#define QMC5883_ADDR_DATA_OUT_Z_MSB 0x05
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#define QMC5883_ADDR_STATUS 0x06
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#define QMC5883_ADDR_TEMP_OUT_LSB 0x07
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#define QMC5883_ADDR_TEMP_OUT_MSB 0x08
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#define QMC5883_ADDR_CONTROL_1 0x09
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#define QMC5883_ADDR_CONTROL_2 0x0A
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#define QMC5883_ADDR_SET_RESET 0x0B
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#define QMC5883_STATUS_REG_DRDY (1 << 0) /* Data Ready: "0": no new data, "1": new data is ready */
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#define QMC5883_STATUS_REG_OVL (1 << 1) /* Overflow Flag: "0": normal, "1": data overflow */
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#define QMC5883_STATUS_REG_DOR (1 << 2) /* Data Skip: "0": normal, "1": data skipped for reading */
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/* Control Register 1 */
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#define QMC5883_MODE_REG_STANDBY (0 << 0)
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#define QMC5883_MODE_REG_CONTINOUS_MODE (1 << 0)
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#define QMC5883_OUTPUT_DATA_RATE_10 (0 << 2) /* Hz */
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#define QMC5883_OUTPUT_DATA_RATE_50 (1 << 2)
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#define QMC5883_OUTPUT_DATA_RATE_100 (2 << 2)
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#define QMC5883_OUTPUT_DATA_RATE_200 (3 << 2)
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#define QMC5883_OUTPUT_RANGE_2G (0 << 4) /* +/- 2 gauss */
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#define QMC5883_OUTPUT_RANGE_8G (1 << 4) /* +/- 8 gauss */
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#define QMC5883_OVERSAMPLE_512 (0 << 6) /* controls digital filter bw - larger OSR -> smaller bw */
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#define QMC5883_OVERSAMPLE_256 (1 << 6)
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#define QMC5883_OVERSAMPLE_128 (2 << 6)
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#define QMC5883_OVERSAMPLE_64 (3 << 6)
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/* Control Register 2 */
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#define QMC5883_INT_ENB (1 << 0)
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#define QMC5883_ROL_PNT (1 << 6)
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#define QMC5883_SOFT_RESET (1 << 7)
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/* Set Register */
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#define QMC5883_SET_DEFAULT (1 << 0)
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#define QMC5883_TEMP_OFFSET 50 /* deg celsius */
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class QMC5883 : public device::CDev, public I2CSPIDriver<QMC5883>
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{
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public:
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QMC5883(device::Device *interface, enum Rotation rotation, I2CSPIBusOption bus_option, int bus, int i2c_address);
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virtual ~QMC5883();
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static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
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int runtime_instance);
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static void print_usage();
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void RunImpl();
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int init() override;
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ssize_t read(cdev::file_t *filp, char *buffer, size_t buflen) override;
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int ioctl(cdev::file_t *filp, int cmd, unsigned long arg) override;
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protected:
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void print_status() override;
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private:
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Device *_interface;
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unsigned _measure_interval{0};
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ringbuffer::RingBuffer *_reports;
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struct mag_calibration_s _scale;
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float _range_scale;
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float _range_ga;
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bool _collect_phase;
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int _class_instance;
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int _orb_class_instance;
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orb_advert_t _mag_topic;
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perf_counter_t _sample_perf;
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perf_counter_t _comms_errors;
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perf_counter_t _range_errors;
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perf_counter_t _conf_errors;
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/* status reporting */
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bool _sensor_ok; /**< sensor was found and reports ok */
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enum Rotation _rotation;
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sensor_mag_s _last_report {}; /**< used for info() */
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uint8_t _range_bits;
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uint8_t _conf_reg;
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uint8_t _temperature_counter;
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uint8_t _temperature_error_count;
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/**
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* Initialise the automatic measurement state machine and start it.
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*
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* @note This function is called at open and error time. It might make sense
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* to make it more aggressive about resetting the bus in case of errors.
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*/
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void start();
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/**
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* Reset the device
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*/
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int reset();
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/**
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* check the sensor configuration.
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*
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* checks that the config of the sensor is correctly set, to
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* cope with communication errors causing the configuration to
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* change
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*/
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void check_conf(void);
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/**
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* Write a register.
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*
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* @param reg The register to write.
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* @param val The value to write.
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* @return OK on write success.
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*/
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int write_reg(uint8_t reg, uint8_t val);
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/**
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* Read a register.
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*
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* @param reg The register to read.
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* @param val The value read.
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* @return OK on read success.
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*/
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int read_reg(uint8_t reg, uint8_t &val);
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/**
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* Collect the result of the most recent measurement.
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*/
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int collect();
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};
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+6
-21
@@ -37,34 +37,19 @@
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* I2C interface for QMC5883
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*/
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/* XXX trim includes */
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#include <px4_platform_common/px4_config.h>
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#include <sys/types.h>
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#include <stdint.h>
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#include <stdbool.h>
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#include <string.h>
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#include <assert.h>
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#include <debug.h>
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#include <errno.h>
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#include <unistd.h>
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#include <drivers/device/i2c.h>
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#include <drivers/drv_mag.h>
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#include <drivers/drv_device.h>
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#include "qmc5883.h"
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#include "board_config.h"
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#define QMC5883L_ADDRESS 0x0D
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device::Device *QMC5883_I2C_interface(int bus);
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device::Device *QMC5883_I2C_interface(int bus, int bus_frequency, int i2c_address);
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class QMC5883_I2C : public device::I2C
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{
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public:
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QMC5883_I2C(int bus);
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QMC5883_I2C(int bus, int bus_frequency, int i2c_address);
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virtual ~QMC5883_I2C() = default;
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virtual int read(unsigned address, void *data, unsigned count);
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@@ -78,13 +63,13 @@ protected:
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};
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device::Device *
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QMC5883_I2C_interface(int bus)
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QMC5883_I2C_interface(int bus, int bus_frequency, int i2c_address)
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{
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return new QMC5883_I2C(bus);
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return new QMC5883_I2C(bus, bus_frequency, i2c_address);
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}
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QMC5883_I2C::QMC5883_I2C(int bus) :
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I2C("QMC5883_I2C", nullptr, bus, QMC5883L_ADDRESS, 400000)
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QMC5883_I2C::QMC5883_I2C(int bus, int bus_frequency, int i2c_address) :
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I2C("QMC5883_I2C", nullptr, bus, i2c_address, bus_frequency)
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{
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_device_id.devid_s.devtype = DRV_MAG_DEVTYPE_QMC5883;
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}
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File diff suppressed because it is too large
Load Diff
@@ -39,6 +39,8 @@
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#pragma once
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#include <drivers/device/Device.hpp>
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#define ADDR_ID_A 0x0C
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#define ADDR_ID_B 0x0D
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@@ -47,6 +49,4 @@
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/* interface factories */
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extern device::Device *QMC5883_SPI_interface(int bus);
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extern device::Device *QMC5883_I2C_interface(int bus);
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typedef device::Device *(*QMC5883_constructor)(int);
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extern device::Device *QMC5883_I2C_interface(int bus, int bus_frequency, int i2c_address);
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@@ -0,0 +1,133 @@
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/****************************************************************************
|
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*
|
||||
* Copyright (c) 2012-2019 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
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/**
|
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* @file qmc5883.cpp
|
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*
|
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* Driver for the QMC5883 magnetometer connected via I2C.
|
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*/
|
||||
|
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#include <px4_platform_common/getopt.h>
|
||||
#include <px4_platform_common/module.h>
|
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|
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#include "QMC5883.hpp"
|
||||
#include "qmc5883.h"
|
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|
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extern "C" __EXPORT int qmc5883_main(int argc, char *argv[]);
|
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|
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I2CSPIDriverBase *QMC5883::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
|
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int runtime_instance)
|
||||
{
|
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device::Device *interface = nullptr;
|
||||
|
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if (iterator.busType() == BOARD_I2C_BUS) {
|
||||
interface = QMC5883_I2C_interface(iterator.bus(), cli.bus_frequency, cli.i2c_address);
|
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}
|
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|
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if (interface == nullptr) {
|
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PX4_ERR("alloc failed");
|
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return nullptr;
|
||||
}
|
||||
|
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if (interface->init() != OK) {
|
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delete interface;
|
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PX4_DEBUG("no device on bus %i (devid 0x%x)", iterator.bus(), iterator.devid());
|
||||
return nullptr;
|
||||
}
|
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|
||||
QMC5883 *dev = new QMC5883(interface, cli.rotation, iterator.configuredBusOption(), iterator.bus(), cli.i2c_address);
|
||||
|
||||
if (dev == nullptr) {
|
||||
delete interface;
|
||||
return nullptr;
|
||||
}
|
||||
|
||||
if (OK != dev->init()) {
|
||||
delete dev;
|
||||
return nullptr;
|
||||
}
|
||||
|
||||
return dev;
|
||||
}
|
||||
|
||||
void QMC5883::print_usage()
|
||||
{
|
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PRINT_MODULE_USAGE_NAME("qmc5883", "driver");
|
||||
PRINT_MODULE_USAGE_SUBCATEGORY("magnetometer");
|
||||
PRINT_MODULE_USAGE_COMMAND("start");
|
||||
PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false);
|
||||
PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x0D);
|
||||
PRINT_MODULE_USAGE_PARAM_INT('R', 0, 0, 35, "Rotation", true);
|
||||
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
|
||||
}
|
||||
|
||||
extern "C" int qmc5883_main(int argc, char *argv[])
|
||||
{
|
||||
using ThisDriver = QMC5883;
|
||||
int ch;
|
||||
BusCLIArguments cli{true, false};
|
||||
cli.i2c_address = ADDR_ID_B;
|
||||
cli.default_i2c_frequency = 400000;
|
||||
|
||||
while ((ch = cli.getopt(argc, argv, "R:")) != EOF) {
|
||||
switch (ch) {
|
||||
case 'R':
|
||||
cli.rotation = (enum Rotation)atoi(cli.optarg());
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
const char *verb = cli.optarg();
|
||||
|
||||
if (!verb) {
|
||||
ThisDriver::print_usage();
|
||||
return -1;
|
||||
}
|
||||
|
||||
BusInstanceIterator iterator(MODULE_NAME, cli, DRV_MAG_DEVTYPE_QMC5883);
|
||||
|
||||
if (!strcmp(verb, "start")) {
|
||||
return ThisDriver::module_start(cli, iterator);
|
||||
}
|
||||
|
||||
if (!strcmp(verb, "stop")) {
|
||||
return ThisDriver::module_stop(iterator);
|
||||
}
|
||||
|
||||
if (!strcmp(verb, "status")) {
|
||||
return ThisDriver::module_status(iterator);
|
||||
}
|
||||
|
||||
ThisDriver::print_usage();
|
||||
return -1;
|
||||
}
|
||||
@@ -1,183 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2013-2019 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 QMC5883_SPI.cpp
|
||||
*
|
||||
* SPI interface for HMC5983
|
||||
*/
|
||||
|
||||
/* XXX trim includes */
|
||||
#include <px4_platform_common/px4_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 <drivers/device/spi.h>
|
||||
#include <drivers/drv_mag.h>
|
||||
#include <drivers/drv_device.h>
|
||||
|
||||
#include "qmc5883.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 *QMC5883_SPI_interface(int bus);
|
||||
|
||||
class QMC5883_SPI : public device::SPI
|
||||
{
|
||||
public:
|
||||
QMC5883_SPI(int bus, uint32_t device);
|
||||
virtual ~QMC5883_SPI() = default;
|
||||
|
||||
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 *
|
||||
QMC5883_SPI_interface(int bus)
|
||||
{
|
||||
return new QMC5883_SPI(bus, PX4_SPIDEV_HMC);
|
||||
}
|
||||
|
||||
QMC5883_SPI::QMC5883_SPI(int bus, uint32_t device) :
|
||||
SPI("QMC5883_SPI", nullptr, bus, device, SPIDEV_MODE3, 11 * 1000 * 1000 /* will be rounded to 10.4 MHz */)
|
||||
{
|
||||
_device_id.devid_s.devtype = DRV_MAG_DEVTYPE_QMC5883;
|
||||
}
|
||||
|
||||
int
|
||||
QMC5883_SPI::init()
|
||||
{
|
||||
int ret;
|
||||
|
||||
ret = SPI::init();
|
||||
|
||||
if (ret != OK) {
|
||||
DEVICE_DEBUG("SPI init failed");
|
||||
return -EIO;
|
||||
}
|
||||
|
||||
// read WHO_AM_I value
|
||||
uint8_t data[2] = {0, 0};
|
||||
|
||||
if (read(ADDR_ID_A, &data[0], 1) ||
|
||||
read(ADDR_ID_B, &data[1], 1)) {
|
||||
DEVICE_DEBUG("read_reg fail");
|
||||
}
|
||||
|
||||
if ((data[0] != ID_A_WHO_AM_I) ||
|
||||
(data[1] != ID_B_WHO_AM_I)) {
|
||||
DEVICE_DEBUG("ID byte mismatch (%02x,%02x)", data[0], data[1]);
|
||||
return -EIO;
|
||||
}
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
int
|
||||
QMC5883_SPI::ioctl(unsigned operation, unsigned &arg)
|
||||
{
|
||||
int ret;
|
||||
|
||||
switch (operation) {
|
||||
|
||||
case MAGIOCGEXTERNAL:
|
||||
/*
|
||||
* Even if this sensor is on the external SPI
|
||||
* bus it is still internal to the autopilot
|
||||
* assembly, so always return 0 for internal.
|
||||
*/
|
||||
return 0;
|
||||
|
||||
case DEVIOCGDEVICEID:
|
||||
return CDev::ioctl(nullptr, operation, arg);
|
||||
|
||||
default: {
|
||||
ret = -EINVAL;
|
||||
}
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
int
|
||||
QMC5883_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
|
||||
QMC5883_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 */
|
||||
Reference in New Issue
Block a user