mirror of https://github.com/ArduPilot/ardupilot
39 lines
1.1 KiB
Plaintext
39 lines
1.1 KiB
Plaintext
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#include <AP_Common.h>
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#include <AP_Math.h>
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// Loopback test for SPI driver
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// Connect MISO and MOSI pins together (12 and 13 on Flymaple)
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#include <AP_Param.h>
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#include <AP_Progmem.h>
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#include <AP_HAL.h>
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#include <AP_HAL_FLYMAPLE.h>
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const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
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AP_HAL::SPIDeviceDriver* spidev;
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void setup (void) {
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hal.scheduler->delay(5000);
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hal.console->printf_P(PSTR("Starting AP_HAL_FLYMAPLE::SPIDriver test\r\n"));
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spidev = hal.spi->device(AP_HAL::SPIDevice_MPU6000); // Not really MPU6000, just a generic SPU driver
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if (!spidev)
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hal.scheduler->panic(PSTR("Starting AP_HAL_FLYMAPLE::SPIDriver failed to get spidev\r\n"));
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}
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void loop (void) {
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uint8_t tx_data[] = { 'h', 'e', 'l', 'l', 'o', 0 };
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uint8_t rx_data[] = { 0, 0, 0, 0, 0, 0 };
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spidev->transaction(tx_data, rx_data, sizeof(tx_data));
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if (memcmp(tx_data, rx_data, sizeof(tx_data)))
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hal.console->println("Incorrect data read from SPI loopback. Do you have the loopback wire installed between pins 11 and 12?");
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else
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hal.console->println("Correct data read from SPI loopback");
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hal.scheduler->delay(500);
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}
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AP_HAL_MAIN();
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