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AP_HAL_Linux: examples: small fixes to BusTest 

- Fix char allocation
  - Fix coding style
  - Fix accessing dev->bus_type(): it's a function
This commit is contained in:
Lucas De Marchi 2017-04-19 01:03:21 -07:00
parent 0d1d430600
commit 875538ccb5
1 changed files with 37 additions and 35 deletions
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72
libraries/AP_HAL_Linux/examples/BusTest/BusTest.cpp
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@ -1,5 +1,3 @@
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
//
// scan I2C and SPI buses for expected devices
//
@ -25,23 +23,25 @@ get_device(const char *name)
{
AP_HAL::OwnPtr<AP_HAL::Device> dev;
const char *spi_name = new char;
spi_name = hal.spi->get_device_name(0);
const char *spi_name = hal.spi->get_device_name(0);
/* Dummy is the default device at index 0
if there isn't registered device for the target board.
*/
const char *dummy = {"**dummy**"};
const char *dummy = "**dummy**";
if (!strcmp(dummy, spi_name)) {
hal.console->printf("No devices, nothing to do.\n");
while(1) { hal.scheduler->delay(500); };
while (1) {
hal.scheduler->delay(500);
}
}
/* We get possible registered device count on the target board */
uint8_t spicount = hal.spi->get_count();
for (uint8_t ref = 0; ref < spicount; ref++) {
/* We get the name from the index and we compare
with our possible devices list.
*/
/*
* We get the name from the index and we compare
* with our possible devices list.
*/
spi_name = hal.spi->get_device_name(ref);
if (!strcmp(name, spi_name)) {
dev = hal.spi->get_device(spi_name);
@ -67,34 +67,36 @@ void loop(void)
for (uint8_t i = 0; i < ARRAY_SIZE(whoami_list); i++) {
dev = get_device(whoami_list[i].name);
if (dev) {
if (dev->bus_type == AP_HAL::Device::BusType::BUS_TYPE_SPI) {
bus_type = "SPI";
} else {
bus_type = "I2C";
}
hal.console->printf("Device %s registered on %s bus\n", whoami_list[i].name, bus_type);
hal.console->printf("Trying to send data...\n");
spi_sem = dev->get_semaphore();
if (!spi_sem->take(1000)) {
hal.console->printf("Failed to get SPI semaphore for %s\n", whoami_list[i].name);
break;
}
uint8_t tx[2] = { whoami_list[i].whoami_reg, 0 };
uint8_t rx[2] = { 0, 0 };
dev->transfer(tx, sizeof(tx), rx, sizeof(rx));
if (rx[1] != 0) {
hal.console->printf("WHO_AM_I for %s: 0x%02x\n\n", whoami_list[i].name, (unsigned)rx[1]);
} else {
hal.console->printf("No response %s!\n\n", whoami_list[i].name);
break;
}
spi_sem->give();
if (!dev) {
continue;
}
if (dev->bus_type() == AP_HAL::Device::BusType::BUS_TYPE_SPI) {
bus_type = "SPI";
} else {
bus_type = "I2C";
}
hal.console->printf("Device %s registered on %s bus\n", whoami_list[i].name, bus_type);
hal.console->printf("Trying to send data...\n");
spi_sem = dev->get_semaphore();
if (!spi_sem->take(1000)) {
hal.console->printf("Failed to get SPI semaphore for %s\n", whoami_list[i].name);
break;
}
uint8_t tx[2] = { whoami_list[i].whoami_reg, 0 };
uint8_t rx[2] = { 0, 0 };
dev->transfer(tx, sizeof(tx), rx, sizeof(rx));
if (rx[1] != 0) {
hal.console->printf("WHO_AM_I for %s: 0x%02x\n\n", whoami_list[i].name, (unsigned)rx[1]);
} else {
hal.console->printf("No response %s!\n\n", whoami_list[i].name);
break;
}
spi_sem->give();
}
hal.scheduler->delay(1000);
}