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