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AP_Baro: translated to SPI transactions

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This commit is contained in:
Pat Hickey 2012-12-17 18:11:57 -08:00 committed by Andrew Tridgell
parent b502732249
commit 107ab1a694
1 changed files with 18 additions and 31 deletions
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49
libraries/AP_Baro/AP_Baro_MS5611.cpp
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@ -62,50 +62,37 @@ AP_HAL::Semaphore* AP_Baro_MS5611::_spi_sem = NULL;
uint8_t AP_Baro_MS5611::_spi_read(uint8_t reg)
{
uint8_t return_value;
uint8_t addr = reg; // | 0x80; // Set most significant bit
_spi->cs_assert();
_spi->transfer(addr); // discarded
return_value = _spi->transfer(0);
_spi->cs_release();
return return_value;
uint8_t tx[2];
uint8_t rx[2];
tx[0] = reg; tx[1] = 0;
_spi->transaction(tx, rx, 2);
return rx[1];
}
uint16_t AP_Baro_MS5611::_spi_read_16bits(uint8_t reg)
{
uint8_t byteH, byteL;
uint16_t return_value;
uint8_t addr = reg; // | 0x80; // Set most significant bit
_spi->cs_assert();
_spi->transfer(addr); // discarded
byteH = _spi->transfer(0);
byteL = _spi->transfer(0);
_spi->cs_release();
return_value = ((uint16_t)byteH<<8) | (byteL);
return return_value;
uint8_t tx[3];
uint8_t rx[3];
tx[0] = reg; tx[1] = 0; tx[2] = 0;
_spi->transaction(tx, rx, 3);
return ((uint16_t) rx[1] << 8 ) | ( rx[2] );
}
uint32_t AP_Baro_MS5611::_spi_read_adc()
{
uint8_t byteH,byteM,byteL;
uint32_t return_value;
uint8_t addr = 0x00;
_spi->cs_assert();
_spi->transfer(addr); // discarded
byteH = _spi->transfer(0);
byteM = _spi->transfer(0);
byteL = _spi->transfer(0);
_spi->cs_release();
return_value = (((uint32_t)byteH)<<16) | (((uint32_t)byteM)<<8) | (byteL);
return return_value;
uint8_t tx[4];
uint8_t rx[4];
memset(tx, 0, 4); /* first byte is addr = 0 */
_spi->transaction(tx, rx, 4);
return (((uint32_t)rx[1])<<16) | (((uint32_t)rx[2])<<8) | ((uint32_t)rx[3]);
}
void AP_Baro_MS5611::_spi_write(uint8_t reg)
{
_spi->cs_assert();
_spi->transfer(reg); // discarded
_spi->cs_release();
uint8_t tx[1];
tx[0] = reg;
_spi->transaction(tx, NULL, 1);
}
// Public Methods //////////////////////////////////////////////////////////////