drivers: magnetometer: mmc5983ma: Add SPI support (#23925)

src/drivers/magnetometer/memsic/mmc5983ma/CMakeLists.txt

@@ -36,6 +36,7 @@ px4_add_module(
 	COMPILE_FLAGS
 	SRCS
 		mmc5983ma_i2c.cpp
+		mmc5983ma_spi.cpp
 		mmc5983ma_main.cpp
 		mmc5983ma.cpp
 	DEPENDS

src/drivers/magnetometer/memsic/mmc5983ma/mmc5983ma.h

@@ -54,6 +54,7 @@
 #define MMC5983MA_CTRL_REG1_SW_RESET     (1 << 7)
 
 extern device::Device *MMC5983MA_I2C_interface(const I2CSPIDriverConfig &config);
+extern device::Device *MMC5983MA_SPI_interface(const I2CSPIDriverConfig &config);
 
 class MMC5983MA : public I2CSPIDriver<MMC5983MA>
 {

src/drivers/magnetometer/memsic/mmc5983ma/mmc5983ma_main.cpp

@@ -36,7 +36,14 @@
 
 I2CSPIDriverBase *MMC5983MA::instantiate(const I2CSPIDriverConfig &config, int runtime_instance)
 {
-	device::Device *interface = MMC5983MA_I2C_interface(config);
+	device::Device *interface = nullptr;
+
+	if (config.bus_type == BOARD_I2C_BUS) {
+		interface = MMC5983MA_I2C_interface(config);
+
+	} else if (config.bus_type == BOARD_SPI_BUS) {
+		interface = MMC5983MA_SPI_interface(config);
+	}
 
 	if (interface == nullptr) {
 		PX4_ERR("alloc failed");
@@ -69,8 +76,9 @@ void MMC5983MA::print_usage()
 	PRINT_MODULE_USAGE_NAME("mmc5983ma", "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_SPI_DRIVER(true, true);
 	PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x30);
+	PRINT_MODULE_USAGE_PARAM_INT('R', 0, 0, 35, "Rotation", true);
 	PRINT_MODULE_USAGE_COMMAND("reset");
 	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
 }
@@ -79,9 +87,10 @@ extern "C" int mmc5983ma_main(int argc, char *argv[])
 {
 	using ThisDriver = MMC5983MA;
 	int ch;
-	BusCLIArguments cli{true, false};
+	BusCLIArguments cli{true, true};
 	cli.i2c_address = 0x30;
 	cli.default_i2c_frequency = 400000;
+	cli.default_spi_frequency = 10 * 1000 * 1000;
 
 	while ((ch = cli.getOpt(argc, argv, "R:")) != EOF) {
 		switch (ch) {

src/drivers/magnetometer/memsic/mmc5983ma/mmc5983ma_spi.cpp

@@ -0,0 +1,109 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2024 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.
+ *
+ ****************************************************************************/
+
+#include "mmc5983ma.h"
+#include <drivers/device/spi.h>
+
+/* SPI protocol address bits */
+#define DIR_READ			(1<<7)
+#define DIR_WRITE			(0<<7)
+#define ADDR_INCREMENT			(1<<6)
+
+
+class MMC5983MA_SPI : public device::SPI
+{
+public:
+	MMC5983MA_SPI(const I2CSPIDriverConfig &config);
+	virtual ~MMC5983MA_SPI() = default;
+
+	virtual int read(unsigned address, void *data, unsigned count) override;
+	virtual int write(unsigned address, void *data, unsigned count) override;
+
+protected:
+	virtual int probe();
+};
+
+MMC5983MA_SPI::MMC5983MA_SPI(const I2CSPIDriverConfig &config) :
+	SPI(config)
+{
+}
+
+int MMC5983MA_SPI::probe()
+{
+	uint8_t data = 0;
+
+	if (read(MMC5983MA_ADDR_PRODUCT_ID, &data, 1)) {
+		DEVICE_DEBUG("read_reg fail");
+		return -EIO;
+	}
+
+	if (data != MMC5983MA_PRODUCT_ID) {
+		DEVICE_DEBUG("MMC5983MA bad ID: %02x", data);
+		return -EIO;
+	}
+
+	return OK;
+}
+
+int MMC5983MA_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;
+}
+
+int MMC5983MA_SPI::write(unsigned address, void *data, unsigned count)
+{
+	uint8_t buf[32];
+
+	if (sizeof(buf) < (count + 1)) {
+		return -EIO;
+	}
+
+	buf[0] = (uint8_t)(address | DIR_WRITE);
+	memcpy(&buf[1], data, count);
+
+	return transfer(&buf[0], nullptr, count + 1);
+}
+
+device::Device *MMC5983MA_SPI_interface(const I2CSPIDriverConfig &config)
+{
+	return new MMC5983MA_SPI(config);
+}