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fxos8701cq + fxas21002c: add support for I2C

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This commit is contained in:
rfu
2020-02-16 11:09:12 -08:00
committed by Beat Küng
parent 09180b9d4a
commit 90c3819df5
32 changed files with 1193 additions and 297 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/barometer/bmp280/BMP280.cpp
+1 -1
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@@ -63,7 +63,7 @@ BMP280::init()
// check id
if (_interface->get_reg(BMP280_ADDR_ID) != BMP280_VALUE_ID) {
PX4_WARN("id of your baro is not: 0x%02x", BMP280_VALUE_ID);
PX4_DEBUG("id of your baro is not: 0x%02x", BMP280_VALUE_ID);
return -EIO;
}
src/drivers/imu/adis16477/ADIS16477.cpp
+2 -2
View File
@@ -245,13 +245,13 @@ ADIS16477::read_reg16(uint8_t reg)
return cmd[0];
}
void
int
ADIS16477::write_reg(uint8_t reg, uint8_t val)
{
uint8_t cmd[2] {};
cmd[0] = reg | 0x8;
cmd[1] = val;
transfer(cmd, cmd, sizeof(cmd));
return transfer(cmd, cmd, sizeof(cmd));
}
void
src/drivers/imu/adis16477/ADIS16477.hpp
+1 -1
View File
@@ -116,7 +116,7 @@ private:
uint16_t read_reg16(uint8_t reg);
void write_reg(uint8_t reg, uint8_t value);
int write_reg(uint8_t reg, uint8_t value);
void write_reg16(uint8_t reg, uint16_t value);
// ADIS16477 onboard self test
src/drivers/imu/bmi055/BMI055.hpp
+3 -2
View File
@@ -86,7 +86,7 @@ protected:
* @param The register to read.
* @return The value that was read.
*/
uint8_t read_reg(unsigned reg);
uint8_t read_reg(unsigned reg) override;
uint16_t read_reg16(unsigned reg);
/**
@@ -94,7 +94,8 @@ protected:
*
* @param reg The register to write.
* @param value The new value to write.
* @return OK on success, negative errno otherwise.
*/
void write_reg(unsigned reg, uint8_t value);
int write_reg(unsigned reg, uint8_t value) override;
};
src/drivers/imu/bmi055/bmi055_main.cpp
+2 -2
View File
@@ -129,7 +129,7 @@ BMI055::read_reg16(unsigned reg)
return (uint16_t)(cmd[1] << 8) | cmd[2];
}
void
int
BMI055::write_reg(unsigned reg, uint8_t value)
{
uint8_t cmd[2];
@@ -137,7 +137,7 @@ BMI055::write_reg(unsigned reg, uint8_t value)
cmd[0] = reg | DIR_WRITE;
cmd[1] = value;
transfer(cmd, nullptr, sizeof(cmd));
return transfer(cmd, nullptr, sizeof(cmd));
}
int
src/drivers/imu/bmi088/BMI088.hpp
+3 -2
View File
@@ -86,7 +86,7 @@ protected:
* @param The register to read.
* @return The value that was read.
*/
virtual uint8_t read_reg(unsigned reg); // This needs to be declared as virtual, because the
uint8_t read_reg(unsigned reg) override;
virtual uint16_t read_reg16(unsigned reg);
/**
@@ -94,6 +94,7 @@ protected:
*
* @param reg The register to write.
* @param value The new value to write.
* @return OK on success, negative errno otherwise.
*/
void write_reg(unsigned reg, uint8_t value);
int write_reg(unsigned reg, uint8_t value) override;
};
src/drivers/imu/bmi088/bmi088_main.cpp
+2 -2
View File
@@ -130,7 +130,7 @@ BMI088::read_reg16(unsigned reg)
return (uint16_t)(cmd[1] << 8) | cmd[2];
}
void
int
BMI088::write_reg(unsigned reg, uint8_t value)
{
uint8_t cmd[2];
@@ -138,7 +138,7 @@ BMI088::write_reg(unsigned reg, uint8_t value)
cmd[0] = reg | DIR_WRITE;
cmd[1] = value;
transfer(cmd, nullptr, sizeof(cmd));
return transfer(cmd, nullptr, sizeof(cmd));
}
int
src/drivers/imu/bmi160/bmi160.cpp
+3 -4
View File
@@ -295,16 +295,15 @@ uint8_t BMI160::read_reg(uint8_t reg)
return cmd[1];
}
void BMI160::write_reg(uint8_t reg, uint8_t value)
int BMI160::write_reg(unsigned reg, uint8_t value)
{
uint8_t cmd[2];
cmd[0] = reg | DIR_WRITE;
cmd[1] = value;
transfer(cmd, nullptr, sizeof(cmd));
return transfer(cmd, nullptr, sizeof(cmd));
}
void
BMI160::modify_reg(uint8_t reg, uint8_t clearbits, uint8_t setbits)
void BMI160::modify_reg(uint8_t reg, uint8_t clearbits, uint8_t setbits)
{
uint8_t val = read_reg(reg);
val &= ~clearbits;
src/drivers/imu/bmi160/bmi160.hpp
+2 -1
View File
@@ -314,8 +314,9 @@ private:
*
* @param reg The register to write.
* @param value The new value to write.
* @return OK on success, negative errno otherwise.
*/
void write_reg(uint8_t reg, uint8_t value);
int write_reg(uint8_t reg, uint8_t value);
/**
* Modify a register in the BMI160
src/drivers/imu/fxas21002c/CMakeLists.txt
+2
View File
@@ -38,5 +38,7 @@ px4_add_module(
SRCS
FXAS21002C.cpp
FXAS21002C.hpp
fxas21002c_i2c.cpp
fxas21002c_spi.cpp
fxas21002c_main.cpp
)
src/drivers/imu/fxas21002c/FXAS21002C.cpp
+15 -178
View File
@@ -33,127 +33,6 @@
#include "FXAS21002C.hpp"
/* SPI protocol address bits */
#define DIR_READ(a) ((a) | (1 << 7))
#define DIR_WRITE(a) ((a) & 0x7f)
#define swap16(w) __builtin_bswap16((w))
#define FXAS21002C_STATUS 0x00
#define FXAS21002C_OUT_X_MSB 0x01
#define FXAS21002C_OUT_X_LSB 0x02
#define FXAS21002C_OUT_Y_MSB 0x03
#define FXAS21002C_OUT_Y_LSB 0x04
#define FXAS21002C_OUT_Z_MSB 0x05
#define FXAS21002C_OUT_Z_LSB 0x06
#define FXAS21002C_DR_STATUS 0x07
# define DR_STATUS_ZYXOW (1 << 7)
# define DR_STATUS_ZOW (1 << 6)
# define DR_STATUS_YOW (1 << 5)
# define DR_STATUS_XOW (1 << 4)
# define DR_STATUS_ZYXDR (1 << 3)
# define DR_STATUS_ZDR (1 << 2)
# define DR_STATUS_YDR (1 << 1)
# define DR_STATUS_XDR (1 << 0)
#define FXAS21002C_F_STATUS 0x08
# define F_STATUS_F_OVF (1 << 7)
# define F_STATUS_F_WMKF (1 << 6)
# define F_STATUS_F_CNT_SHIFTS 0
# define F_STATUS_F_CNT_MASK (0x3f << F_STATUS_F_CNT_SHIFTS)
#define FXAS21002C_F_SETUP 0x09
# define F_SETUP_F_MODE_SHIFTS 6
# define F_SETUP_F_MODE_MASK (0x3 << F_SETUP_F_MODE_SHIFTS)
# define F_SETUP_F_WMRK_SHIFTS 0
# define F_SETUP_F_WMRK_MASK (0x3f << F_SETUP_F_WMRK_SHIFTS)
#define FXAS21002C_F_EVENT 0x0a
# define F_EVENT_F_EVENT (1 << 5)
# define F_EVENT_FE_TIME_SHIFTS 0
# define F_EVENT_FE_TIME_MASK (0x1f << F_EVENT_FE_TIME_SHIFTS)
#define FXAS21002C_INT_SRC_FLAG 0x0b
# define INT_SRC_FLAG_BOOTEND (1 << 3)
# define INT_SRC_FLAG_SRC_FIFO (1 << 2)
# define INT_SRC_FLAG_SRC_RT (1 << 1)
# define INT_SRC_FLAG_SRC_DRDY (1 << 0)
#define FXAS21002C_WHO_AM_I 0x0c
#define WHO_AM_I 0xd7
#define FXAS21002C_CTRL_REG0 0x0d
# define CTRL_REG0_BW_SHIFTS 6
# define CTRL_REG0_BW_MASK (0x3 << CTRL_REG0_BW_SHIFTS)
# define CTRL_REG0_BW(n) (((n) & 0x3) << CTRL_REG0_BW_SHIFTS)
# define CTRL_REG0_BW_HIGH CTRL_REG0_BW(0)
# define CTRL_REG0_BW_MED CTRL_REG0_BW(1)
# define CTRL_REG0_BW_LOW CTRL_REG0_BW(2)
# define CTRL_REG0_SPIW (1 << 6)
# define CTRL_REG0_SEL_SHIFTS 3
# define CTRL_REG0_SEL_MASK (0x2 << CTRL_REG0_SEL_SHIFTS)
# define CTRL_REG0_HPF_EN (1 << 2)
# define CTRL_REG0_FS_SHIFTS 0
# define CTRL_REG0_FS_MASK (0x3 << CTRL_REG0_FS_SHIFTS)
# define CTRL_REG0_FS_2000_DPS (0 << CTRL_REG0_FS_SHIFTS)
# define CTRL_REG0_FS_1000_DPS (1 << CTRL_REG0_FS_SHIFTS)
# define CTRL_REG0_FS_500_DPS (2 << CTRL_REG0_FS_SHIFTS)
# define CTRL_REG0_FS_250_DPS (3 << CTRL_REG0_FS_SHIFTS)
#define FXAS21002C_RT_CFG 0x0e
# define RT_CFG_ELE (1 << 3)
# define RT_CFG_ZTEFE (1 << 2)
# define RT_CFG_YTEFE (1 << 1)
# define RT_CFG_XTEFE (1 << 0)
#define FXAS21002C_RT_SRC 0x0f
# define RT_SRC_EA (1 << 6)
# define RT_SRC_ZRT (1 << 5)
# define RT_SRC_Z_RT_POL (1 << 4)
# define RT_SRC_YRT (1 << 3)
# define RT_SRC_Y_RT_POL (1 << 2)
# define RT_SRC_XRT (1 << 1)
# define RT_SRC_X_RT_POL (1 << 0)
#define FXAS21002C_RT_THS 0x10
# define RT_THS_DBCNTM (1 << 7)
# define RT_THS_THS_SHIFTS 0
# define RT_THS_THS_MASK (0x7f << RT_THS_THS_SHIFTS)
#define FXAS21002C_RT_COUNT 0x11
#define FXAS21002C_TEMP 0x12
#define FXAS21002C_CTRL_REG1 0x13
# define CTRL_REG1_RST (1 << 6)
# define CTRL_REG1_ST (1 << 5)
# define CTRL_REG1_DR_SHIFTS 2
# define CTRL_REG1_DR_MASK (0x07 << CTRL_REG1_DR_SHIFTS)
# define CTRL_REG1_DR_12_5 (7 << CTRL_REG1_DR_SHIFTS)
# define CTRL_REG1_DR_12_5_1 (6 << CTRL_REG1_DR_SHIFTS)
# define CTRL_REG1_DR_25HZ (5 << CTRL_REG1_DR_SHIFTS)
# define CTRL_REG1_DR_50HZ (4 << CTRL_REG1_DR_SHIFTS)
# define CTRL_REG1_DR_100HZ (3 << CTRL_REG1_DR_SHIFTS)
# define CTRL_REG1_DR_200HZ (2 << CTRL_REG1_DR_SHIFTS)
# define CTRL_REG1_DR_400HZ (1 << CTRL_REG1_DR_SHIFTS)
# define CTRL_REG1_DR_800HZ (0 << CTRL_REG1_DR_SHIFTS)
# define CTRL_REG1_ACTIVE (1 << 1)
# define CTRL_REG1_READY (1 << 0)
#define FXAS21002C_CTRL_REG2 0x14
# define CTRL_REG2_INT_CFG_FIFO (1 << 7)
# define CTRL_REG2_INT_EN_FIFO (1 << 6)
# define CTRL_REG2_INT_CFG_RT (1 << 5)
# define CTRL_REG2_INT_EN_RT (1 << 4)
# define CTRL_REG2_INT_CFG_DRDY (1 << 3)
# define CTRL_REG2_INT_EN_DRDY (1 << 2)
# define CTRL_REG2_IPOL (1 << 1)
# define CTRL_REG2_PP_OD (1 << 0)
#define FXAS21002C_CTRL_REG3 0x15
# define CTRL_REG3_WRAPTOONE (1 << 3)
# define CTRL_REG3_EXTCTRLEN (1 << 2)
# define CTRL_REG3_FS_DOUBLE (1 << 0)
#define DEF_REG(r) {r, #r}
/* default values for this device */
@@ -186,11 +65,11 @@ static constexpr uint8_t _checked_registers[] {
using namespace time_literals;
FXAS21002C::FXAS21002C(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation, int bus_frequency,
spi_mode_e spi_mode) :
SPI(DRV_GYR_DEVTYPE_FXAS2100C, MODULE_NAME, bus, device, spi_mode, bus_frequency),
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
_px4_gyro(get_device_id(), (external() ? ORB_PRIO_VERY_HIGH : ORB_PRIO_DEFAULT), rotation),
FXAS21002C::FXAS21002C(device::Device *interface, I2CSPIBusOption bus_option, int bus, enum Rotation rotation,
int i2c_address) :
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(interface->get_device_id()), bus_option, bus, i2c_address),
_interface(interface),
_px4_gyro(_interface->get_device_id(), (_interface->external() ? ORB_PRIO_VERY_HIGH : ORB_PRIO_DEFAULT), rotation),
_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": read")),
_errors(perf_alloc(PC_COUNT, MODULE_NAME": err")),
_bad_registers(perf_alloc(PC_COUNT, MODULE_NAME": bad register")),
@@ -209,12 +88,16 @@ FXAS21002C::~FXAS21002C()
int
FXAS21002C::init()
{
/* do SPI init (and probe) first */
if (SPI::init() != OK) {
PX4_ERR("SPI init failed");
/* do SPI/I2C init (and probe) first */
if (_interface->init() != OK) {
PX4_ERR("SPI/I2C interface init failed");
return PX4_ERROR;
}
// passed SPI::probe or I2C::probe, which checked WHO_AM_I
// measurements will not start before registers are checked OK
_checked_values[0] = WHO_AM_I;
reset();
start();
@@ -253,44 +136,6 @@ FXAS21002C::reset()
_read = 0;
}
int
FXAS21002C::probe()
{
/* verify that the device is attached and functioning */
bool success = (read_reg(FXAS21002C_WHO_AM_I) == WHO_AM_I);
if (success) {
_checked_values[0] = WHO_AM_I;
return OK;
}
return -EIO;
}
uint8_t
FXAS21002C::read_reg(unsigned reg)
{
uint8_t cmd[2];
cmd[0] = DIR_READ(reg);
cmd[1] = 0;
transfer(cmd, cmd, sizeof(cmd));
return cmd[1];
}
void
FXAS21002C::write_reg(unsigned reg, uint8_t value)
{
uint8_t cmd[2];
cmd[0] = DIR_WRITE(reg);
cmd[1] = value;
transfer(cmd, nullptr, sizeof(cmd));
}
void
FXAS21002C::write_checked_reg(unsigned reg, uint8_t value)
{
@@ -508,15 +353,7 @@ FXAS21002C::RunImpl()
perf_begin(_sample_perf);
/* status register and data as read back from the device */
#pragma pack(push, 1)
struct {
uint8_t cmd;
uint8_t status;
int16_t x;
int16_t y;
int16_t z;
} raw_gyro_report{};
#pragma pack(pop)
RawGyroReport raw_gyro_report{};
check_registers();
@@ -529,9 +366,9 @@ FXAS21002C::RunImpl()
}
/* fetch data from the sensor */
raw_gyro_report.cmd = DIR_READ(FXAS21002C_STATUS);
const hrt_abstime timestamp_sample = hrt_absolute_time();
transfer((uint8_t *)&raw_gyro_report, (uint8_t *)&raw_gyro_report, sizeof(raw_gyro_report));
_interface->read(FXAS21002C_STATUS, (uint8_t *)&raw_gyro_report, sizeof(raw_gyro_report));
if (!(raw_gyro_report.status & DR_STATUS_ZYXDR)) {
perf_end(_sample_perf);
src/drivers/imu/fxas21002c/FXAS21002C.hpp
+157 -10
View File
@@ -34,30 +34,171 @@
/**
* @file FXAS21002C.hpp
* Driver for the NXP FXAS21002C 3-Axis Digital Angular Rate Gyroscope
* connected via SPI
* connected via SPI or I2C
*/
#pragma once
#include <drivers/device/spi.h>
#include <drivers/device/Device.hpp>
#include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
#include <perf/perf_counter.h>
#include <px4_platform_common/getopt.h>
#include <px4_platform_common/i2c_spi_buses.h>
#if defined(PX4_I2C_FXAS21002C_ADDR) && defined(PX4_I2C_BUS_EXPANSION)
# define FXAS21002C_USE_I2C
#endif
class FXAS21002C : public device::SPI, public I2CSPIDriver<FXAS21002C>
/* SPI protocol address bits */
#define DIR_READ(a) ((a) | (1 << 7))
#define DIR_WRITE(a) ((a) & 0x7f)
#define swap16(w) __builtin_bswap16((w))
#define FXAS21002C_REG_MASK 0x00FF
#define FXAS21002C_REG(r) ((r) & FXAS21002C_REG_MASK)
#define FXAS21002C_STATUS 0x00
#define FXAS21002C_OUT_X_MSB 0x01
#define FXAS21002C_OUT_X_LSB 0x02
#define FXAS21002C_OUT_Y_MSB 0x03
#define FXAS21002C_OUT_Y_LSB 0x04
#define FXAS21002C_OUT_Z_MSB 0x05
#define FXAS21002C_OUT_Z_LSB 0x06
#define FXAS21002C_DR_STATUS 0x07
# define DR_STATUS_ZYXOW (1 << 7)
# define DR_STATUS_ZOW (1 << 6)
# define DR_STATUS_YOW (1 << 5)
# define DR_STATUS_XOW (1 << 4)
# define DR_STATUS_ZYXDR (1 << 3)
# define DR_STATUS_ZDR (1 << 2)
# define DR_STATUS_YDR (1 << 1)
# define DR_STATUS_XDR (1 << 0)
#define FXAS21002C_F_STATUS 0x08
# define F_STATUS_F_OVF (1 << 7)
# define F_STATUS_F_WMKF (1 << 6)
# define F_STATUS_F_CNT_SHIFTS 0
# define F_STATUS_F_CNT_MASK (0x3f << F_STATUS_F_CNT_SHIFTS)
#define FXAS21002C_F_SETUP 0x09
# define F_SETUP_F_MODE_SHIFTS 6
# define F_SETUP_F_MODE_MASK (0x3 << F_SETUP_F_MODE_SHIFTS)
# define F_SETUP_F_WMRK_SHIFTS 0
# define F_SETUP_F_WMRK_MASK (0x3f << F_SETUP_F_WMRK_SHIFTS)
#define FXAS21002C_F_EVENT 0x0a
# define F_EVENT_F_EVENT (1 << 5)
# define F_EVENT_FE_TIME_SHIFTS 0
# define F_EVENT_FE_TIME_MASK (0x1f << F_EVENT_FE_TIME_SHIFTS)
#define FXAS21002C_INT_SRC_FLAG 0x0b
# define INT_SRC_FLAG_BOOTEND (1 << 3)
# define INT_SRC_FLAG_SRC_FIFO (1 << 2)
# define INT_SRC_FLAG_SRC_RT (1 << 1)
# define INT_SRC_FLAG_SRC_DRDY (1 << 0)
#define FXAS21002C_WHO_AM_I 0x0c
#define WHO_AM_I 0xd7
#define FXAS21002C_CTRL_REG0 0x0d
# define CTRL_REG0_BW_SHIFTS 6
# define CTRL_REG0_BW_MASK (0x3 << CTRL_REG0_BW_SHIFTS)
# define CTRL_REG0_BW(n) (((n) & 0x3) << CTRL_REG0_BW_SHIFTS)
# define CTRL_REG0_BW_HIGH CTRL_REG0_BW(0)
# define CTRL_REG0_BW_MED CTRL_REG0_BW(1)
# define CTRL_REG0_BW_LOW CTRL_REG0_BW(2)
# define CTRL_REG0_SPIW (1 << 6)
# define CTRL_REG0_SEL_SHIFTS 3
# define CTRL_REG0_SEL_MASK (0x2 << CTRL_REG0_SEL_SHIFTS)
# define CTRL_REG0_HPF_EN (1 << 2)
# define CTRL_REG0_FS_SHIFTS 0
# define CTRL_REG0_FS_MASK (0x3 << CTRL_REG0_FS_SHIFTS)
# define CTRL_REG0_FS_2000_DPS (0 << CTRL_REG0_FS_SHIFTS)
# define CTRL_REG0_FS_1000_DPS (1 << CTRL_REG0_FS_SHIFTS)
# define CTRL_REG0_FS_500_DPS (2 << CTRL_REG0_FS_SHIFTS)
# define CTRL_REG0_FS_250_DPS (3 << CTRL_REG0_FS_SHIFTS)
#define FXAS21002C_RT_CFG 0x0e
# define RT_CFG_ELE (1 << 3)
# define RT_CFG_ZTEFE (1 << 2)
# define RT_CFG_YTEFE (1 << 1)
# define RT_CFG_XTEFE (1 << 0)
#define FXAS21002C_RT_SRC 0x0f
# define RT_SRC_EA (1 << 6)
# define RT_SRC_ZRT (1 << 5)
# define RT_SRC_Z_RT_POL (1 << 4)
# define RT_SRC_YRT (1 << 3)
# define RT_SRC_Y_RT_POL (1 << 2)
# define RT_SRC_XRT (1 << 1)
# define RT_SRC_X_RT_POL (1 << 0)
#define FXAS21002C_RT_THS 0x10
# define RT_THS_DBCNTM (1 << 7)
# define RT_THS_THS_SHIFTS 0
# define RT_THS_THS_MASK (0x7f << RT_THS_THS_SHIFTS)
#define FXAS21002C_RT_COUNT 0x11
#define FXAS21002C_TEMP 0x12
#define FXAS21002C_CTRL_REG1 0x13
# define CTRL_REG1_RST (1 << 6)
# define CTRL_REG1_ST (1 << 5)
# define CTRL_REG1_DR_SHIFTS 2
# define CTRL_REG1_DR_MASK (0x07 << CTRL_REG1_DR_SHIFTS)
# define CTRL_REG1_DR_12_5 (7 << CTRL_REG1_DR_SHIFTS)
# define CTRL_REG1_DR_12_5_1 (6 << CTRL_REG1_DR_SHIFTS)
# define CTRL_REG1_DR_25HZ (5 << CTRL_REG1_DR_SHIFTS)
# define CTRL_REG1_DR_50HZ (4 << CTRL_REG1_DR_SHIFTS)
# define CTRL_REG1_DR_100HZ (3 << CTRL_REG1_DR_SHIFTS)
# define CTRL_REG1_DR_200HZ (2 << CTRL_REG1_DR_SHIFTS)
# define CTRL_REG1_DR_400HZ (1 << CTRL_REG1_DR_SHIFTS)
# define CTRL_REG1_DR_800HZ (0 << CTRL_REG1_DR_SHIFTS)
# define CTRL_REG1_ACTIVE (1 << 1)
# define CTRL_REG1_READY (1 << 0)
#define FXAS21002C_CTRL_REG2 0x14
# define CTRL_REG2_INT_CFG_FIFO (1 << 7)
# define CTRL_REG2_INT_EN_FIFO (1 << 6)
# define CTRL_REG2_INT_CFG_RT (1 << 5)
# define CTRL_REG2_INT_EN_RT (1 << 4)
# define CTRL_REG2_INT_CFG_DRDY (1 << 3)
# define CTRL_REG2_INT_EN_DRDY (1 << 2)
# define CTRL_REG2_IPOL (1 << 1)
# define CTRL_REG2_PP_OD (1 << 0)
#define FXAS21002C_CTRL_REG3 0x15
# define CTRL_REG3_WRAPTOONE (1 << 3)
# define CTRL_REG3_EXTCTRLEN (1 << 2)
# define CTRL_REG3_FS_DOUBLE (1 << 0)
device::Device *FXAS21002C_SPI_interface(int bus, uint32_t chip_select, int bus_frequency, spi_mode_e spi_mode);
device::Device *FXAS21002C_I2C_interface(int bus, int bus_frequency, int i2c_address);
/* status register and data as read back from the device */
#pragma pack(push, 1)
struct RawGyroReport {
uint8_t cmd;
uint8_t status;
int16_t x;
int16_t y;
int16_t z;
};
#pragma pack(pop)
class FXAS21002C : public I2CSPIDriver<FXAS21002C>
{
public:
FXAS21002C(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation, int bus_frequency,
spi_mode_e spi_mode);
FXAS21002C(device::Device *interface, I2CSPIBusOption bus_option, int bus, enum Rotation rotation, int i2c_address);
virtual ~FXAS21002C();
static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
int runtime_instance);
static void print_usage();
int init() override;
int init();
void print_status() override;
@@ -67,10 +208,10 @@ public:
void test_error();
protected:
void custom_method(const BusCLIArguments &cli);
int probe() override;
int probe();
private:
device::Device *_interface;
PX4Gyroscope _px4_gyro;
unsigned _current_rate{800};
@@ -121,7 +262,10 @@ private:
* @param The register to read.
* @return The value that was read.
*/
uint8_t read_reg(unsigned reg);
inline uint8_t read_reg(unsigned reg)
{
return _interface->read_reg(reg);
}
/**
* Write a register in the FXAS21002C
@@ -129,7 +273,10 @@ private:
* @param reg The register to write.
* @param value The new value to write.
*/
void write_reg(unsigned reg, uint8_t value);
inline int write_reg(unsigned reg, uint8_t value)
{
return _interface->write_reg(reg, value);
}
/**
* Modify a register in the FXAS21002C
src/drivers/imu/fxas21002c/fxas21002c_i2c.cpp
+202
View File
@@ -0,0 +1,202 @@
/****************************************************************************
*
* Copyright (c) 2016-2020 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 fxas21002c_i2c.cpp
*
* Driver for the NXP FXAS21002C connected via I2C.
*
* @author Robert Fu
*/
#include <drivers/device/i2c.h>
#include "FXAS21002C.hpp"
device::Device *FXAS21002C_I2C_interface(int bus, int bus_frequenc, int i2c_addressy);
class FXAS21002C_I2C : public device::I2C
{
public:
FXAS21002C_I2C(int bus, int bus_frequency, int i2c_address);
~FXAS21002C_I2C() override = default;
/**
* Read directly from the device.
*
* The actual size of each unit quantity is device-specific.
*
* @param reg The register address at which to start reading
* @param data The buffer into which the read values should be placed.
* @param count The number of items to read.
* @return The number of items read on success, negative errno otherwise.
*/
int read(unsigned reg, void *data, unsigned count) override;
/**
* Write directly to the device.
*
* The actual size of each unit quantity is device-specific.
*
* @param reg The register address at which to start writing.
* @param data The buffer from which values should be read.
* @param count The number of items to write.
* @return The number of items written on success, negative errno otherwise.
*/
int write(unsigned reg, void *data, unsigned count) override;
/**
* Read a register from the device.
*
* @param The register to read.
* @return The value that was read.
*/
uint8_t read_reg(unsigned reg) override;
/**
* Write a register in the device.
*
* @param reg The register to write.
* @param value The new value to write.
* @return OK on success, negative errno otherwise.
*/
int write_reg(unsigned reg, uint8_t value) override;
protected:
int probe() override;
};
device::Device *
FXAS21002C_I2C_interface(int bus, int bus_frequency, int i2c_address)
{
return new FXAS21002C_I2C(bus, bus_frequency, i2c_address);
}
FXAS21002C_I2C::FXAS21002C_I2C(int bus, int bus_frequency, int i2c_address) :
I2C(DRV_GYR_DEVTYPE_FXAS2100C, MODULE_NAME, bus, i2c_address, bus_frequency)
{
}
int
FXAS21002C_I2C::probe()
{
uint8_t whoami = read_reg(FXAS21002C_WHO_AM_I);
bool success = (whoami == WHO_AM_I);
return success ? OK : -EIO;
}
/**
* Read directly from the device.
*
* The actual size of each unit quantity is device-specific.
*
* @param reg The register address at which to start reading
* @param data The buffer into which the read values should be placed.
* @param count The number of items to read.
* @return The number of items read on success, negative errno otherwise.
*/
int FXAS21002C_I2C::read(unsigned reg, void *data, unsigned count)
{
/* Same as in mpu9250_i2c.cpp:
* We want to avoid copying the data of RawGyroReport: So if the caller
* supplies a buffer not RawGyroReport in size, it is assume to be a reg or
* reg 16 read
* Since RawGyroReport has a cmd at front, we must return the data
* after that. Foe anthing else we must return it
*/
uint32_t offset = count < sizeof(RawGyroReport) ? 0 : offsetof(RawGyroReport, status);
uint8_t cmd = FXAS21002C_REG(reg);
return transfer(&cmd, 1, &((uint8_t *)data)[offset], count - offset);
}
/**
* Write directly to the device.
*
* The actual size of each unit quantity is device-specific.
*
* @param reg The register address at which to start writing.
* @param data The buffer from which values should be read.
* @param count The number of items to write.
* @return The number of items written on success, negative errno otherwise.
*/
int FXAS21002C_I2C::write(unsigned reg, void *data, unsigned count)
{
uint8_t cmd[2];
if (sizeof(cmd) < (count + 1)) {
// same as in mpu9250_i2c.cpp
// This condition means only supportting the case of count == 1
// so this API is the same as write_reg
return -EIO;
}
cmd[0] = FXAS21002C_REG(reg);
cmd[1] = *(uint8_t *)data;
return transfer(cmd, sizeof(cmd), nullptr, 0);
}
/**
* Read a register from the device.
*
* @param The register to read.
* @return The value that was read.
*/
uint8_t FXAS21002C_I2C::read_reg(unsigned reg)
{
uint8_t cmd[1];
uint8_t data[1];
cmd[0] = reg & 0x00FF;
transfer(cmd, 1, data, 1);
return data[0];
}
/**
* Write a register in the device.
*
* @param reg The register to write.
* @param value The new value to write.
* @return OK on success, negative errno otherwise.
*/
int FXAS21002C_I2C::write_reg(unsigned reg, uint8_t value)
{
uint8_t cmd[2];
cmd[0] = reg & 0x00FF;
cmd[1] = value;
return transfer(cmd, 2, nullptr, 0);
}
src/drivers/imu/fxas21002c/fxas21002c_main.cpp
+26 -9
View File
@@ -42,7 +42,8 @@ FXAS21002C::print_usage()
PRINT_MODULE_USAGE_NAME("fxas21002c", "driver");
PRINT_MODULE_USAGE_SUBCATEGORY("imu");
PRINT_MODULE_USAGE_COMMAND("start");
PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(false, true);
PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, true);
PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x20);
PRINT_MODULE_USAGE_PARAM_INT('R', 0, 0, 35, "Rotation", true);
PRINT_MODULE_USAGE_COMMAND("regdump");
PRINT_MODULE_USAGE_COMMAND("testerror");
@@ -52,20 +53,34 @@ FXAS21002C::print_usage()
I2CSPIDriverBase *FXAS21002C::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
int runtime_instance)
{
FXAS21002C *instance = new FXAS21002C(iterator.configuredBusOption(), iterator.bus(), iterator.devid(), cli.rotation,
cli.bus_frequency, cli.spi_mode);
device::Device *interface = nullptr;
if (!instance) {
if (iterator.busType() == BOARD_I2C_BUS) {
interface = FXAS21002C_I2C_interface(iterator.bus(), cli.bus_frequency, cli.i2c_address);
} else if (iterator.busType() == BOARD_SPI_BUS) {
interface = FXAS21002C_SPI_interface(iterator.bus(), iterator.devid(), cli.bus_frequency, cli.spi_mode);
}
if (interface == nullptr) {
PX4_ERR("alloc failed");
return nullptr;
}
if (OK != instance->init()) {
delete instance;
FXAS21002C *dev = new FXAS21002C(interface, iterator.configuredBusOption(), iterator.bus(), cli.rotation,
cli.i2c_address);
if (dev == nullptr) {
delete interface;
return nullptr;
}
return instance;
if (OK != dev->init()) {
delete dev;
return nullptr;
}
return dev;
}
void FXAS21002C::custom_method(const BusCLIArguments &cli)
@@ -82,9 +97,11 @@ extern "C" int fxas21002c_main(int argc, char *argv[])
{
int ch;
using ThisDriver = FXAS21002C;
BusCLIArguments cli{false, true};
BusCLIArguments cli{true, true};
cli.default_i2c_frequency = 400 * 1000;
cli.default_spi_frequency = 2 * 1000 * 1000;
cli.spi_mode = SPIDEV_MODE0;
cli.i2c_address = 0x20;
while ((ch = cli.getopt(argc, argv, "R:")) != EOF) {
switch (ch) {
@@ -126,5 +143,5 @@ extern "C" int fxas21002c_main(int argc, char *argv[])
}
ThisDriver::print_usage();
return -1;
return PX4_ERROR;
}
src/drivers/imu/fxas21002c/fxas21002c_spi.cpp
+223
View File
@@ -0,0 +1,223 @@
/****************************************************************************
*
* Copyright (c) 2016-2020 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 fxas21002c_spi.cpp
*
* Driver for the NXP FXAS21002C connected via SPI.
*
* @author Robert Fu
*/
#include <drivers/device/spi.h>
#include "FXAS21002C.hpp"
device::Device *FXAS21002C_SPI_interface(int bus, uint32_t chip_select, int bus_frequency,
spi_mode_e spi_mode);
class FXAS21002C_SPI : public device::SPI
{
public:
FXAS21002C_SPI(int bus, uint32_t chip_select, int bus_frequency, spi_mode_e spi_mode);
~FXAS21002C_SPI() override = default;
/**
* Read directly from the device.
*
* The actual size of each unit quantity is device-specific.
*
* @param reg The register address at which to start reading
* @param data The buffer into which the read values should be placed.
* @param count The number of items to read.
* @return The number of items read on success, negative errno otherwise.
*/
int read(unsigned reg, void *data, unsigned count) override;
/**
* Write directly to the device.
*
* The actual size of each unit quantity is device-specific.
*
* @param reg The register address at which to start writing.
* @param data The buffer from which values should be read.
* @param count The number of items to write.
* @return The number of items written on success, negative errno otherwise.
*/
int write(unsigned reg, void *data, unsigned count) override;
/**
* Read a register from the device.
*
* @param The register to read.
* @return The value that was read.
*/
uint8_t read_reg(unsigned reg) override;
/**
* Write a register to the device.
*
* @param reg The register to write.
* @param value The new value to write.
* @return OK on success, negative errno otherwise.
*/
int write_reg(unsigned reg, uint8_t value) override;
protected:
int probe() override;
};
device::Device *
FXAS21002C_SPI_interface(int bus, uint32_t chip_select, int bus_frequency, spi_mode_e spi_mode)
{
return new FXAS21002C_SPI(bus, chip_select, bus_frequency, spi_mode);
}
FXAS21002C_SPI::FXAS21002C_SPI(int bus, uint32_t chip_select, int bus_frequency, spi_mode_e spi_mode) :
SPI(DRV_GYR_DEVTYPE_FXAS2100C, MODULE_NAME, bus, chip_select, spi_mode, bus_frequency)
{
}
int
FXAS21002C_SPI::probe()
{
uint8_t whoami = read_reg(FXAS21002C_WHO_AM_I);
bool success = (whoami == WHO_AM_I);
DEVICE_DEBUG("FXAS21002C_SPI::probe: %s, whoami: 0x%02x", (success ? "Succeeded" : "failed"), whoami);
return success ? OK : -EIO;
}
/**
* Read directly from the device.
*
* The actual size of each unit quantity is device-specific.
*
* @param reg The register address at which to start reading
* @param data The buffer into which the read values should be placed.
* @param count The number of items to read.
* @return The number of items read on success, negative errno otherwise.
*/
int FXAS21002C_SPI::read(unsigned reg, void *data, unsigned count)
{
/* Same as in mpu9250_spi.cpp:
* We want to avoid copying the data of RawGyroReport: So if the caller
* supplies a buffer not RawGyroReport in size, it is assume to be a reg or reg 16 read
* and we need to provied the buffer large enough for the callers data
* and our command.
*/
uint8_t cmd[3] {};
uint8_t *pBuf = count < sizeof(RawGyroReport) ? cmd : (uint8_t *) data ;
if (count < sizeof(RawGyroReport)) {
/* add command */
count++;
}
/* Set command */
pBuf[0] = DIR_READ(reg);
/* Transfer the command and get the data */
int ret = transfer(pBuf, pBuf, count);
if (ret == OK && pBuf == &cmd[0]) {
/* Adjust the count back */
count--;
/* Return the data */
memcpy(data, &cmd[1], count);
}
return ret;
}
/**
* Write directly to the device.
*
* The actual size of each unit quantity is device-specific.
*
* @param reg The register address at which to start writing.
* @param data The buffer from which values should be read.
* @param count The number of items to write.
* @return The number of items written on success, negative errno otherwise.
*/
int FXAS21002C_SPI::write(unsigned reg, void *data, unsigned count)
{
uint8_t cmd[2] {};
if (sizeof(cmd) < (count + 1)) {
// same as in mpu9250_spi.cpp
// This condition means only supportting the case of count == 1
// so this API is the same as write_reg
return -EIO;
}
cmd[0] = DIR_WRITE(reg);
cmd[1] = *(uint8_t *)data;
return transfer(cmd, nullptr, sizeof(cmd));
}
/**
* Read a register from the device.
*
* @param The register to read.
* @return The value that was read.
*/
uint8_t FXAS21002C_SPI::read_reg(unsigned reg)
{
uint8_t cmd[2];
cmd[0] = DIR_READ(reg);
cmd[1] = 0;
transfer(cmd, cmd, sizeof(cmd));
return cmd[1];
}
/**
* Write a register to the device.
*
* @param reg The register to write.
* @param value The new value to write.
* @return OK on success, negative errno otherwise.
*/
int FXAS21002C_SPI::write_reg(unsigned reg, uint8_t value)
{
uint8_t cmd[2];
cmd[0] = DIR_WRITE(reg);
cmd[1] = value;
return transfer(cmd, nullptr, sizeof(cmd));
}
src/drivers/imu/fxos8701cq/CMakeLists.txt
+2
View File
@@ -38,5 +38,7 @@ px4_add_module(
SRCS
FXOS8701CQ.cpp
FXOS8701CQ.hpp
fxos8701cq_i2c.cpp
fxos8701cq_spi.cpp
fxos8701cq_main.cpp
)
src/drivers/imu/fxos8701cq/FXOS8701CQ.cpp
+21 -50
View File
@@ -53,13 +53,13 @@ const uint8_t FXOS8701CQ::_checked_registers[FXOS8701C_NUM_CHECKED_REGISTERS] =
FXOS8701CQ_M_CTRL_REG2,
};
FXOS8701CQ::FXOS8701CQ(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation, int bus_frequency,
spi_mode_e spi_mode) :
SPI(DRV_ACC_DEVTYPE_FXOS8701C, MODULE_NAME, bus, device, spi_mode, bus_frequency),
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
_px4_accel(get_device_id(), ORB_PRIO_LOW, rotation),
FXOS8701CQ::FXOS8701CQ(device::Device *interface, I2CSPIBusOption bus_option, int bus, enum Rotation rotation,
int i2c_address) :
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(interface->get_device_id()), bus_option, bus, i2c_address),
_interface(interface),
_px4_accel(interface->get_device_id(), ORB_PRIO_LOW, rotation),
#if !defined(BOARD_HAS_NOISY_FXOS8700_MAG)
_px4_mag(get_device_id(), ORB_PRIO_LOW, rotation),
_px4_mag(interface->get_device_id(), ORB_PRIO_LOW, rotation),
_mag_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": mag read")),
#endif
_accel_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": acc read")),
@@ -86,11 +86,20 @@ FXOS8701CQ::~FXOS8701CQ()
int
FXOS8701CQ::init()
{
// do SPI init (and probe) first
int ret = SPI::init();
// do SPI/I2C init (and probe) first
int ret = _interface->init();
if (ret != OK) {
PX4_ERR("SPI init failed");
PX4_ERR("SPI/I2C interface init failed");
return ret;
}
// There are 2 possible WHOAMI return values,
// so probe here again to set proper _checked_values[0]
ret = probe();
if (ret != OK) {
PX4_ERR("FXOS8701CQ::probe() failed");
return ret;
}
@@ -136,32 +145,6 @@ FXOS8701CQ::probe()
return -EIO;
}
uint8_t
FXOS8701CQ::read_reg(unsigned reg)
{
uint8_t cmd[3];
cmd[0] = DIR_READ(reg);
cmd[1] = ADDR_7(reg);
cmd[2] = 0;
transfer(cmd, cmd, sizeof(cmd));
return cmd[2];
}
void
FXOS8701CQ::write_reg(unsigned reg, uint8_t value)
{
uint8_t cmd[3];
cmd[0] = DIR_WRITE(reg);
cmd[1] = ADDR_7(reg);
cmd[2] = value;
transfer(cmd, nullptr, sizeof(cmd));
}
void
FXOS8701CQ::write_checked_reg(unsigned reg, uint8_t value)
{
@@ -318,18 +301,7 @@ FXOS8701CQ::RunImpl()
perf_begin(_accel_sample_perf);
// status register and data as read back from the device
#pragma pack(push, 1)
struct {
uint8_t cmd[2];
uint8_t status;
int16_t x;
int16_t y;
int16_t z;
int16_t mx;
int16_t my;
int16_t mz;
} raw_accel_mag_report{};
#pragma pack(pop)
RawAccelMagReport raw_accel_mag_report{};
check_registers();
@@ -342,10 +314,9 @@ FXOS8701CQ::RunImpl()
}
/* fetch data from the sensor */
raw_accel_mag_report.cmd[0] = DIR_READ(FXOS8701CQ_DR_STATUS);
raw_accel_mag_report.cmd[1] = ADDR_7(FXOS8701CQ_DR_STATUS);
const hrt_abstime timestamp_sample = hrt_absolute_time();
transfer((uint8_t *)&raw_accel_mag_report, (uint8_t *)&raw_accel_mag_report, sizeof(raw_accel_mag_report));
_interface->read(FXOS8701CQ_DR_STATUS, (uint8_t *)&raw_accel_mag_report, sizeof(raw_accel_mag_report));
if (!(raw_accel_mag_report.status & DR_STATUS_ZYXDR)) {
perf_end(_accel_sample_perf);
src/drivers/imu/fxos8701cq/FXOS8701CQ.hpp
+46 -8
View File
@@ -34,17 +34,22 @@
/**
* @file FXOS8701CQ.hpp
* Driver for the NXP FXOS8701CQ 6-axis sensor with integrated linear accelerometer and
* magnetometer connected via SPI.
* magnetometer connected via SPI or I2C.
*/
#pragma once
#include <drivers/device/i2c.h>
#include <drivers/device/spi.h>
#include <lib/drivers/accelerometer/PX4Accelerometer.hpp>
#include <lib/ecl/geo/geo.h>
#include <lib/perf/perf_counter.h>
#include <px4_platform_common/i2c_spi_buses.h>
#if defined(PX4_I2C_FXOS8701CQ_ADDR) && defined(PX4_I2C_BUS_EXPANSION)
# define FXOS8701CQ_USE_I2C
#endif
#if !defined(BOARD_HAS_NOISY_FXOS8700_MAG)
#include <lib/drivers/magnetometer/PX4Magnetometer.hpp>
#endif
@@ -56,6 +61,10 @@
#define swap16(w) __builtin_bswap16((w))
#define swap16RightJustify14(w) (((int16_t)swap16(w)) >> 2)
// I2C address
#define FXOS8701CQ_REG_MASK 0x00FF
#define FXOS8701CQ_REG(r) ((r) & FXOS8701CQ_REG_MASK)
#define FXOS8701CQ_DR_STATUS 0x00
# define DR_STATUS_ZYXDR (1 << 3)
@@ -103,6 +112,28 @@
#define FXOS8701C_ACCEL_DEFAULT_RANGE_G 8
#define FXOS8701C_ACCEL_DEFAULT_RATE 400 /* ODR is 400 in Hybird mode (accel + mag) */
#pragma pack(push, 1)
struct RawAccelMagReport {
# ifdef FXOS8701CQ_USE_I2C
uint8_t cmd;
# else
uint8_t cmd[2];
# endif
uint8_t status;
int16_t x;
int16_t y;
int16_t z;
int16_t mx;
int16_t my;
int16_t mz;
};
#pragma pack(pop)
extern device::Device *FXOS8701CQ_SPI_interface(int bus, uint32_t chip_select, int bus_frequency, spi_mode_e spi_mode);
extern device::Device *FXOS8701CQ_I2C_interface(int bus, int bus_frequency, int i2c_address);
/*
we set the timer interrupt to run a bit faster than the desired
sample rate and then throw away duplicates using the data ready bit.
@@ -111,18 +142,17 @@
*/
#define FXOS8701C_TIMER_REDUCTION 240
class FXOS8701CQ : public device::SPI, public I2CSPIDriver<FXOS8701CQ>
class FXOS8701CQ : public I2CSPIDriver<FXOS8701CQ>
{
public:
FXOS8701CQ(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation, int bus_frequency,
spi_mode_e spi_mode);
FXOS8701CQ(device::Device *interface, I2CSPIBusOption bus_option, int bus, enum Rotation rotation, int i2c_address);
virtual ~FXOS8701CQ();
static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
int runtime_instance);
static void print_usage();
int init() override;
int init();
void print_status() override;
@@ -131,10 +161,11 @@ public:
void print_registers();
void test_error();
protected:
int probe() override;
int probe();
void custom_method(const BusCLIArguments &cli) override;
private:
device::Device *_interface;
void start();
void reset();
@@ -150,15 +181,22 @@ private:
* @param The register to read.
* @return The value that was read.
*/
uint8_t read_reg(unsigned reg);
inline uint8_t read_reg(unsigned reg)
{
return _interface->read_reg(reg);
}
/**
* Write a register in the FXOS8701C
*
* @param reg The register to write.
* @param value The new value to write.
* @return OK on success, negative errno otherwise.
*/
void write_reg(unsigned reg, uint8_t value);
inline int write_reg(unsigned reg, uint8_t value)
{
return _interface->write_reg(reg, value);
}
/**
* Modify a register in the FXOS8701C
src/drivers/imu/fxos8701cq/fxos8701cq_i2c.cpp
+202
View File
@@ -0,0 +1,202 @@
/****************************************************************************
*
* Copyright (c) 2016-2020 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 fxos8701cq_i2c.cpp
*
* Driver for the NXP FXOS8701CQ connected via I2C.
*
* @author Robert Fu
*/
#include "FXOS8701CQ.hpp"
device::Device *FXOS8701CQ_I2C_interface(int bus, int bus_frequency, int i2c_address);
class FXOS8701CQ_I2C : public device::I2C
{
public:
FXOS8701CQ_I2C(int bus, int bus_frequency, int i2c_address);
~FXOS8701CQ_I2C() override = default;
/**
* Read directly from the device.
*
* The actual size of each unit quantity is device-specific.
*
* @param reg The register address at which to start reading
* @param data The buffer into which the read values should be placed.
* @param count The number of items to read.
* @return The number of items read on success, negative errno otherwise.
*/
int read(unsigned reg, void *data, unsigned count) override;
/**
* Write directly to the device.
*
* The actual size of each unit quantity is device-specific.
*
* @param reg The register address at which to start writing.
* @param data The buffer from which values should be read.
* @param count The number of items to write.
* @return The number of items written on success, negative errno otherwise.
*/
int write(unsigned reg, void *data, unsigned count) override;
/**
* Read a register from the device.
*
* @param The register to read.
* @return The value that was read.
*/
uint8_t read_reg(unsigned reg) override;
/**
* Write a register in the device.
*
* @param reg The register to write.
* @param value The new value to write.
* @return OK on success, negative errno otherwise.
*/
int write_reg(unsigned reg, uint8_t value) override;
protected:
int probe() override;
};
device::Device *
FXOS8701CQ_I2C_interface(int bus, int bus_frequency, int i2c_address)
{
return new FXOS8701CQ_I2C(bus, bus_frequency, i2c_address);
}
FXOS8701CQ_I2C::FXOS8701CQ_I2C(int bus, int bus_frequency, int i2c_address) :
I2C(DRV_ACC_DEVTYPE_FXOS8701C, MODULE_NAME, bus, i2c_address, bus_frequency)
{
}
int
FXOS8701CQ_I2C::probe()
{
uint8_t whoami = read_reg(FXOS8701CQ_WHOAMI);
bool success = (whoami == FXOS8700CQ_WHOAMI_VAL) || (whoami == FXOS8701CQ_WHOAMI_VAL);
return success ? OK : -EIO;
}
/**
* Read directly from the device.
*
* The actual size of each unit quantity is device-specific.
*
* @param reg The register address at which to start reading
* @param data The buffer into which the read values should be placed.
* @param count The number of items to read.
* @return The number of items read on success, negative errno otherwise.
*/
int FXOS8701CQ_I2C::read(unsigned reg, void *data, unsigned count)
{
/* Same as in mpu9250_i2c.cpp:
* We want to avoid copying the data of RawAccelMagReport: So if the caller
* supplies a buffer not RawAccelMagReport in size, it is assume to be a reg or
* reg 16 read
* Since RawAccelMagReport has a cmd at front, we must return the data
* after that. Foe anthing else we must return it
*/
uint32_t offset = count < sizeof(RawAccelMagReport) ? 0 : offsetof(RawAccelMagReport, status);
uint8_t cmd = FXOS8701CQ_REG(reg);
return transfer(&cmd, 1, &((uint8_t *)data)[offset], count - offset);
}
/**
* Write directly to the device.
*
* The actual size of each unit quantity is device-specific.
*
* @param reg The register address at which to start writing.
* @param data The buffer from which values should be read.
* @param count The number of items to write.
* @return The number of items written on success, negative errno otherwise.
*/
int FXOS8701CQ_I2C::write(unsigned reg, void *data, unsigned count)
{
uint8_t cmd[2] {};
if (sizeof(cmd) < (count + 1)) {
// same as in mpu9250_i2c.cpp
// This condition means only supportting the case of count == 1
// so this API is the same as write_reg
return -EIO;
}
cmd[0] = FXOS8701CQ_REG(reg);
cmd[1] = *(uint8_t *)data;
return transfer(cmd, sizeof(cmd), nullptr, 0);
}
/**
* Read a register from the device.
*
* @param The register to read.
* @return The value that was read.
*/
uint8_t FXOS8701CQ_I2C::read_reg(unsigned reg)
{
uint8_t cmd[1];
uint8_t data[1];
cmd[0] = reg & 0x00FF;
transfer(cmd, 1, data, 1);
return data[0];
}
/**
* Write a register in the device.
*
* @param reg The register to write.
* @param value The new value to write.
* @return OK on success, negative errno otherwise.
*/
int FXOS8701CQ_I2C::write_reg(unsigned reg, uint8_t value)
{
uint8_t cmd[2];
cmd[0] = reg & 0x00FF;
cmd[1] = value;
return transfer(cmd, 2, nullptr, 0);
}
src/drivers/imu/fxos8701cq/fxos8701cq_main.cpp
+25 -8
View File
@@ -48,7 +48,8 @@ FXOS8701CQ::print_usage()
PRINT_MODULE_USAGE_NAME("fxos8701cq", "driver");
PRINT_MODULE_USAGE_SUBCATEGORY("imu");
PRINT_MODULE_USAGE_COMMAND("start");
PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(false, true);
PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, true);
PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x1E);
PRINT_MODULE_USAGE_PARAM_INT('R', 0, 0, 35, "Rotation", true);
PRINT_MODULE_USAGE_COMMAND("regdump");
PRINT_MODULE_USAGE_COMMAND("testerror");
@@ -58,20 +59,34 @@ FXOS8701CQ::print_usage()
I2CSPIDriverBase *FXOS8701CQ::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
int runtime_instance)
{
FXOS8701CQ *instance = new FXOS8701CQ(iterator.configuredBusOption(), iterator.bus(), iterator.devid(), cli.rotation,
cli.bus_frequency, cli.spi_mode);
device::Device *interface = nullptr;
if (!instance) {
if (iterator.busType() == BOARD_I2C_BUS) {
interface = FXOS8701CQ_I2C_interface(iterator.bus(), cli.bus_frequency, cli.i2c_address);
} else if (iterator.busType() == BOARD_SPI_BUS) {
interface = FXOS8701CQ_SPI_interface(iterator.bus(), iterator.devid(), cli.bus_frequency, cli.spi_mode);
}
if (interface == nullptr) {
PX4_ERR("alloc failed");
return nullptr;
}
if (OK != instance->init()) {
delete instance;
FXOS8701CQ *dev = new FXOS8701CQ(interface, iterator.configuredBusOption(), iterator.bus(), cli.rotation,
cli.i2c_address);
if (dev == nullptr) {
delete interface;
return nullptr;
}
return instance;
if (OK != dev->init()) {
delete dev;
return nullptr;
}
return dev;
}
void FXOS8701CQ::custom_method(const BusCLIArguments &cli)
@@ -88,9 +103,11 @@ extern "C" int fxos8701cq_main(int argc, char *argv[])
{
int ch;
using ThisDriver = FXOS8701CQ;
BusCLIArguments cli{false, true};
BusCLIArguments cli{true, true};
cli.default_i2c_frequency = 400 * 1000;
cli.default_spi_frequency = 1 * 1000 * 1000;
cli.spi_mode = SPIDEV_MODE0;
cli.i2c_address = 0x1E;
while ((ch = cli.getopt(argc, argv, "R:")) != EOF) {
switch (ch) {
src/drivers/imu/fxos8701cq/fxos8701cq_spi.cpp
+216
View File
@@ -0,0 +1,216 @@
/****************************************************************************
*
* Copyright (c) 2016-2020 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 fxos8701cq_spi.cpp
*
* Driver for the NXP FXOS8701CQ connected via SPI.
*
* @author Robert Fu
*/
#include "FXOS8701CQ.hpp"
device::Device *FXOS8701CQ_SPI_interface(int bus, uint32_t chip_select, int bus_frequency, spi_mode_e spi_mode);
class FXOS8701CQ_SPI : public device::SPI
{
public:
FXOS8701CQ_SPI(int bus, uint32_t chip_select, int bus_frequency, spi_mode_e spi_mode);
~FXOS8701CQ_SPI() override = default;
/**
* Read directly from the device.
*
* The actual size of each unit quantity is device-specific.
*
* @param reg The register address at which to start reading
* @param data The buffer into which the read values should be placed.
* @param count The number of items to read.
* @return The number of items read on success, negative errno otherwise.
*/
int read(unsigned reg, void *data, unsigned count) override;
/**
* Write directly to the device.
*
* The actual size of each unit quantity is device-specific.
*
* @param reg The register address at which to start writing.
* @param data The buffer from which values should be read.
* @param count The number of items to write.
* @return The number of items written on success, negative errno otherwise.
*/
int write(unsigned reg, void *data, unsigned count) override;
/**
* Read a register from FXOS8701CQ
*
* @param The register to read.
* @return The value that was read.
*/
uint8_t read_reg(unsigned reg) override;
/**
* Write a register FXOS8701CQ.
*
* @param reg The register to write.
* @param value The new value to write.
* @return OK on success, negative errno otherwise.
*/
int write_reg(unsigned reg, uint8_t value) override;
protected:
int probe() override;
};
device::Device *
FXOS8701CQ_SPI_interface(int bus, uint32_t chip_select, int bus_frequency, spi_mode_e spi_mode)
{
return new FXOS8701CQ_SPI(bus, chip_select, bus_frequency, spi_mode);
}
FXOS8701CQ_SPI::FXOS8701CQ_SPI(int bus, uint32_t chip_select, int bus_frequency, spi_mode_e spi_mode) :
SPI(DRV_ACC_DEVTYPE_FXOS8701C, MODULE_NAME, bus, chip_select, spi_mode, bus_frequency)
{
}
int
FXOS8701CQ_SPI::probe()
{
uint8_t whoami = read_reg(FXOS8701CQ_WHOAMI);
bool success = (whoami == FXOS8700CQ_WHOAMI_VAL) || (whoami == FXOS8701CQ_WHOAMI_VAL);
DEVICE_DEBUG("FXAS21002C_SPI::probe: %s, whoami: 0x%02x", (success ? "Succeeded" : "failed"), whoami);
return success ? OK : -EIO;
}
uint8_t
FXOS8701CQ_SPI::read_reg(unsigned reg)
{
uint8_t cmd[3];
cmd[0] = DIR_READ(reg);
cmd[1] = ADDR_7(reg);
cmd[2] = 0;
transfer(cmd, cmd, sizeof(cmd));
return cmd[2];
}
int
FXOS8701CQ_SPI::write_reg(unsigned reg, uint8_t value)
{
uint8_t cmd[3];
cmd[0] = DIR_WRITE(reg);
cmd[1] = ADDR_7(reg);
cmd[2] = value;
return transfer(cmd, nullptr, sizeof(cmd));
}
/**
* Read directly from the device.
*
* The actual size of each unit quantity is device-specific.
*
* @param reg The register address at which to start reading
* @param data The buffer into which the read values should be placed.
* @param count The number of items to read.
* @return The number of items read on success, negative errno otherwise.
*/
int FXOS8701CQ_SPI::read(unsigned reg, void *data, unsigned count)
{
/* Same as in mpu9250_spi.cpp:
* We want to avoid copying the data of RawAccelMagReport: So if the caller
* supplies a buffer not RawAccelMagReport in size, it is assume to be a reg or reg 16 read
* and we need to provied the buffer large enough for the callers data
* and our command.
*/
uint8_t cmd[4] {};
uint8_t *pBuf = count < sizeof(RawAccelMagReport) ? cmd : (uint8_t *) data ;
if (count < sizeof(RawAccelMagReport)) {
/* add command */
count += 2;
}
/* Set command */
pBuf[0] = DIR_READ(reg);
pBuf[1] = ADDR_7(reg);
/* Transfer the command and get the data */
int ret = transfer(pBuf, pBuf, count);
if (ret == OK && pBuf == &cmd[0]) {
/* Adjust the count back */
count -= 2;
/* Return the data */
memcpy(data, &cmd[2], count);
}
return ret;
}
/**
* Write directly to the device.
*
* The actual size of each unit quantity is device-specific.
*
* @param reg The register address at which to start writing.
* @param data The buffer from which values should be read.
* @param count The number of items to write.
* @return The number of items written on success, negative errno otherwise.
*/
int FXOS8701CQ_SPI::write(unsigned reg, void *data, unsigned count)
{
uint8_t cmd[3] {};
if (sizeof(cmd) < (count + 1)) {
// same as in mpu9250_spi.cpp
// This condition means only supportting the case of count == 1
// so this API is the same as write_reg
return -EIO;
}
cmd[0] = DIR_WRITE(reg);
cmd[1] = ADDR_7(reg);
cmd[2] = *(uint8_t *)data;
return transfer(cmd, nullptr, sizeof(cmd));
}
src/drivers/imu/icm20948/icm20948_i2c.cpp
+1 -1
View File
@@ -55,7 +55,7 @@ public:
int write(unsigned address, void *data, unsigned count) override;
protected:
virtual int probe();
virtual int probe() override;
private:
src/drivers/imu/l3gd20/L3GD20.cpp
+2 -2
View File
@@ -117,7 +117,7 @@ L3GD20::read_reg(unsigned reg)
return cmd[1];
}
void
int
L3GD20::write_reg(unsigned reg, uint8_t value)
{
uint8_t cmd[2] {};
@@ -125,7 +125,7 @@ L3GD20::write_reg(unsigned reg, uint8_t value)
cmd[0] = reg | DIR_WRITE;
cmd[1] = value;
transfer(cmd, nullptr, sizeof(cmd));
return transfer(cmd, nullptr, sizeof(cmd));
}
void
src/drivers/imu/l3gd20/L3GD20.hpp
+3 -2
View File
@@ -236,15 +236,16 @@ private:
* @param The register to read.
* @return The value that was read.
*/
uint8_t read_reg(unsigned reg);
uint8_t read_reg(unsigned reg) override;
/**
* Write a register in the L3GD20
*
* @param reg The register to write.
* @param value The new value to write.
* @return OK on success, negative errno otherwise.
*/
void write_reg(unsigned reg, uint8_t value);
int write_reg(unsigned reg, uint8_t value) override;
/**
* Modify a register in the L3GD20
src/drivers/imu/lsm303d/LSM303D.cpp
+2 -2
View File
@@ -164,7 +164,7 @@ LSM303D::read_reg(unsigned reg)
return cmd[1];
}
void
int
LSM303D::write_reg(unsigned reg, uint8_t value)
{
uint8_t cmd[2] {};
@@ -172,7 +172,7 @@ LSM303D::write_reg(unsigned reg, uint8_t value)
cmd[0] = reg | DIR_WRITE;
cmd[1] = value;
transfer(cmd, nullptr, sizeof(cmd));
return transfer(cmd, nullptr, sizeof(cmd));
}
void
src/drivers/imu/lsm303d/LSM303D.hpp
+3 -2
View File
@@ -188,15 +188,16 @@ private:
* @param The register to read.
* @return The value that was read.
*/
uint8_t read_reg(unsigned reg);
uint8_t read_reg(unsigned reg) override;
/**
* Write a register in the LSM303D
*
* @param reg The register to write.
* @param value The new value to write.
* @return OK on success, negative errno otherwise.
*/
void write_reg(unsigned reg, uint8_t value);
int write_reg(unsigned reg, uint8_t value) override;
/**
* Modify a register in the LSM303D
src/drivers/imu/mpu9250/mpu9250_spi.cpp
+1 -1
View File
@@ -96,7 +96,7 @@ MPU9250_SPI::set_bus_frequency(unsigned &reg_speed)
/* Set the desired speed */
set_frequency(MPU9250_IS_HIGH_SPEED(reg_speed) ? MPU9250_HIGH_SPI_BUS_SPEED : MPU9250_LOW_SPI_BUS_SPEED);
/* Isoolate the register on return */
/* Isolate the register on return */
reg_speed = MPU9250_REG(reg_speed);
}
src/drivers/magnetometer/ak09916/ak09916.cpp
+2 -2
View File
@@ -170,11 +170,11 @@ AK09916::check_id()
return (AK09916_DEVICE_ID_A == deviceid);
}
void
int
AK09916::write_reg(uint8_t reg, uint8_t value)
{
const uint8_t cmd[2] = { reg, value};
transfer(cmd, 2, nullptr, 0);
return transfer(cmd, 2, nullptr, 0);
}
int
src/drivers/magnetometer/ak09916/ak09916.hpp
+1 -1
View File
@@ -105,7 +105,7 @@ protected:
uint8_t read_reg(uint8_t reg);
void read_block(uint8_t reg, uint8_t *val, uint8_t count);
void write_reg(uint8_t reg, uint8_t value);
int write_reg(uint8_t reg, uint8_t value);
private:
src/drivers/magnetometer/lsm303agr/LSM303AGR.cpp
+2 -2
View File
@@ -233,13 +233,13 @@ uint8_t LSM303AGR::read_reg(unsigned reg)
return cmd[1];
}
void LSM303AGR::write_reg(unsigned reg, uint8_t value)
int LSM303AGR::write_reg(unsigned reg, uint8_t value)
{
uint8_t cmd[2];
cmd[0] = reg | DIR_WRITE;
cmd[1] = value;
transfer(cmd, nullptr, sizeof(cmd));
return transfer(cmd, nullptr, sizeof(cmd));
}
void LSM303AGR::start()
src/drivers/magnetometer/lsm303agr/LSM303AGR.hpp
+3 -2
View File
@@ -152,13 +152,14 @@ private:
* @param The register to read.
* @return The value that was read.
*/
uint8_t read_reg(unsigned reg);
uint8_t read_reg(unsigned reg) override;
/**
* Write a register in the LSM303AGR
*
* @param reg The register to write.
* @param value The new value to write.
* @return OK on success, negative errno otherwise.
*/
void write_reg(unsigned reg, uint8_t value);
int write_reg(unsigned reg, uint8_t value) override;
};
src/lib/drivers/device/Device.hpp
+17
View File
@@ -114,6 +114,23 @@ public:
*/
virtual int write(unsigned address, void *data, unsigned count) { return -ENODEV; }
/**
* Read a register from the device.
*
* @param The register to read.
* @return The value that was read.
*/
virtual uint8_t read_reg(unsigned reg) { return -ENODEV; }
/**
* Write a register in the device.
*
* @param reg The register to write.
* @param value The new value to write.
* @return OK on success, negative errno otherwise.
*/
virtual int write_reg(unsigned reg, uint8_t value) { return -ENODEV; }
/**
* Perform a device-specific operation.
*