mirror of https://github.com/ArduPilot/ardupilot
66 lines
1.8 KiB
Plaintext
66 lines
1.8 KiB
Plaintext
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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//
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// scan I2C and SPI buses for expected devices
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//
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#include <AP_Common.h>
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#include <AP_Progmem.h>
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#include <AP_HAL.h>
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#include <AP_HAL_Linux.h>
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#include <AP_HAL_Empty.h>
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#include <AP_Math.h>
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#include <AP_Param.h>
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#include <StorageManager.h>
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const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
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void setup(void)
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{
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hal.console->println("BusTest startup...");
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}
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static struct {
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const char *name;
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enum AP_HAL::SPIDevice dev;
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uint8_t whoami_reg;
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} whoami_list[] = {
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{ "MS5611", AP_HAL::SPIDevice_MS5611, 0x00 | 0x80 },
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{ "MPU9250", AP_HAL::SPIDevice_MPU9250, 0x75 | 0x80 },
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{ "MPU6000", AP_HAL::SPIDevice_MPU6000, 0x75 | 0x80 },
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{ "FRAM", AP_HAL::SPIDevice_Dataflash, 0x00 | 0x80 },
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{ "LSM9DS0_AM", AP_HAL::SPIDevice_LSM9DS0_AM, 0x0F | 0x80 },
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{ "LSM9DS0_G", AP_HAL::SPIDevice_LSM9DS0_G, 0x0F | 0x80 },
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};
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void loop(void)
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{
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AP_HAL::SPIDeviceDriver *spi;
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AP_HAL::Semaphore *spi_sem;
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hal.console->printf("Scanning SPI bus devices\n");
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for (uint8_t i=0; i<sizeof(whoami_list)/sizeof(whoami_list[0]); i++) {
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spi = hal.spi->device(whoami_list[i].dev);
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if (spi == NULL) {
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hal.console->printf("Failed to get SPI device for %s\n", whoami_list[i].name);
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continue;
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}
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spi_sem = spi->get_semaphore();
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if (!spi_sem->take(1000)) {
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hal.console->printf("Failed to get SPI semaphore for %s\n", whoami_list[i].name);
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continue;
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}
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uint8_t tx[2] = { whoami_list[i].whoami_reg, 0 };
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uint8_t rx[2];
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spi->transaction(tx, rx, 2);
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hal.console->printf("WHO_AM_I for %s: 0x%02x\n", whoami_list[i].name, (unsigned)rx[1]);
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spi_sem->give();
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}
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hal.scheduler->delay(200);
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}
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AP_HAL_MAIN();
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