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https://github.com/PX4/PX4-Autopilot.git
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mpl3115a2: Added stubbed out driver to validate whoami
This commit is contained in:
David Sidrane
committed by
Daniel Agar
Daniel Agar
parent
c17949a1d1
commit
f21025aac7
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############################################################################
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#
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# Copyright (c) 2015 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
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# are met:
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#
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# 1. Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in
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# the documentation and/or other materials provided with the
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# distribution.
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# 3. Neither the name PX4 nor the names of its contributors may be
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# used to endorse or promote products derived from this software
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# 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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set(srcs
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mpl3115a2_i2c.cpp
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mpl3115a2.cpp
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)
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px4_add_module(
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MODULE drivers__mpl3115a2
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MAIN mpl3115a2
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STACK_MAIN 1200
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COMPILE_FLAGS
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SRCS ${srcs}
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DEPENDS
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platforms__common
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)
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# vim: set noet ft=cmake fenc=utf-8 ff=unix :
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File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,47 @@
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/****************************************************************************
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*
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* Copyright (C) 2012-2013 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
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* 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 mpl3115a2.h
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*
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* Shared defines for the mpl3115a2 driver.
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*/
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/* interface ioctls */
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#define IOCTL_RESET 2
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#define IOCTL_MEASURE 3
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/* interface factories */
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extern device::Device *MPL3115A2_i2c_interface(uint8_t busnum);
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extern device::Device *MPL3115A2_sim_interface(uint8_t busnum);
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typedef device::Device *(*MPL3115A2_constructor)(uint8_t busnum);
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@@ -0,0 +1,197 @@
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/****************************************************************************
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*
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* Copyright (c) 2017 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
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* 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 mpl3115a2_i2c.cpp
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*
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* I2C interface for MPL3115A2
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*/
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/* XXX trim includes */
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#include <px4_config.h>
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#include <px4_defines.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 <assert.h>
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#include <errno.h>
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#include <unistd.h>
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#include <arch/board/board.h>
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#include <drivers/device/i2c.h>
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#include "mpl3115a2.h"
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#include "board_config.h"
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#define MPL3115A2_ADDRESS 0x60
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#define MPL3115A2_REG_WHO_AM_I 0x0c
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#define MPL3115A2_WHO_AM_I 0xC4
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device::Device *MPL3115A2_i2c_interface(uint8_t busnum);
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class MPL3115A2_I2C : public device::I2C
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{
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public:
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MPL3115A2_I2C(uint8_t bus);
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virtual ~MPL3115A2_I2C();
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virtual int init();
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virtual int read(unsigned offset, void *data, unsigned count);
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virtual int ioctl(unsigned operation, unsigned &arg);
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protected:
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virtual int probe();
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private:
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/**
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* Send a measure command to the MPL3115A2.
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*
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* @param addr Which address to use for the measure operation.
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*/
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int _measure(unsigned addr);
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int reg_read(unsigned reg, void *data, unsigned count);
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};
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device::Device *
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MPL3115A2_i2c_interface(uint8_t busnum)
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{
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return new MPL3115A2_I2C(busnum);
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}
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MPL3115A2_I2C::MPL3115A2_I2C(uint8_t bus) :
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I2C("MPL3115A2_I2C", nullptr, bus, 0, 400000)
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{
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}
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MPL3115A2_I2C::~MPL3115A2_I2C()
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{
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}
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int
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MPL3115A2_I2C::init()
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{
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/* this will call probe() */
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set_address(MPL3115A2_ADDRESS);
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return I2C::init();
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}
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int
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MPL3115A2_I2C::read(unsigned offset, void *data, unsigned count)
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{
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union _cvt {
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uint8_t b[4];
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uint32_t w;
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} *cvt = (_cvt *)data;
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uint8_t buf[3];
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/* read the most recent measurement */
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uint8_t cmd = 0;
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int ret = transfer(&cmd, 1, &buf[0], 3);
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if (ret == PX4_OK) {
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/* fetch the raw value */
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cvt->b[0] = buf[2];
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cvt->b[1] = buf[1];
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cvt->b[2] = buf[0];
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cvt->b[3] = 0;
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}
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return ret;
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}
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int
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MPL3115A2_I2C::ioctl(unsigned operation, unsigned &arg)
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{
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int ret;
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switch (operation) {
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case IOCTL_RESET:
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PX4_ERR("Not implemented");
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ret = EINVAL;
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break;
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case IOCTL_MEASURE:
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ret = _measure(arg);
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break;
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default:
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ret = EINVAL;
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}
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return ret;
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}
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int
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MPL3115A2_I2C::probe()
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{
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_retries = 10;
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uint8_t whoami = 0;
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if ((reg_read(MPL3115A2_REG_WHO_AM_I, &whoami, 1) > 0) && (whoami == MPL3115A2_WHO_AM_I)) {
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/*
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* Disable retries; we may enable them selectively in some cases,
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* but the device gets confused if we retry some of the commands.
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*/
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_retries = 0;
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return PX4_OK;
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}
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return -EIO;
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}
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int
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MPL3115A2_I2C::_measure(unsigned addr)
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{
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/*
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* Disable retries on this command; we can't know whether failure
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* means the device did or did not see the command.
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*/
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_retries = 0;
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uint8_t cmd = addr;
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return transfer(&cmd, 1, nullptr, 0);
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}
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int MPL3115A2_I2C::reg_read(unsigned reg, void *data, unsigned count)
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{
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uint8_t cmd = reg;
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int ret = transfer(&cmd, 1, (uint8_t *)data, count);
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return ret == PX4_OK ? count : ret;
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}
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