mirror of https://github.com/ArduPilot/ardupilot
104 lines
2.7 KiB
C++
104 lines
2.7 KiB
C++
//
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// scan I2C and SPI buses for expected devices
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//
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#include <AP_Common/AP_Common.h>
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#include <AP_HAL/AP_HAL.h>
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const AP_HAL::HAL& hal = AP_HAL::get_HAL();
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static struct {
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const char *name;
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uint8_t whoami_reg;
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} whoami_list[] = {
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{ "ms5611", 0x00 | 0x80 },
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{ "mpu9250", 0x75 | 0x80 },
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{ "mpu6000", 0x75 | 0x80 },
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{ "lsm9ds0_am", 0x0F | 0x80 },
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{ "lsm9ds0_g", 0x0F | 0x80 },
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};
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AP_HAL::OwnPtr<AP_HAL::Device>
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get_device(const char *name)
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{
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AP_HAL::OwnPtr<AP_HAL::Device> dev;
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const char *spi_name = hal.spi->get_device_name(0);
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/* Dummy is the default device at index 0
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if there isn't registered device for the target board.
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*/
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const char *dummy = "**dummy**";
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if (!strcmp(dummy, spi_name)) {
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hal.console->printf("No devices, nothing to do.\n");
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while (1) {
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hal.scheduler->delay(500);
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}
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}
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/* We get possible registered device count on the target board */
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uint8_t spicount = hal.spi->get_count();
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for (uint8_t ref = 0; ref < spicount; ref++) {
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/*
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* We get the name from the index and we compare
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* with our possible devices list.
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*/
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spi_name = hal.spi->get_device_name(ref);
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if (!strcmp(name, spi_name)) {
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dev = hal.spi->get_device(spi_name);
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break;
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}
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}
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return dev;
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}
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void setup(void)
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{
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hal.console->println("BusTest startup...\n");
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}
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void loop(void)
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{
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AP_HAL::OwnPtr<AP_HAL::Device> dev;
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AP_HAL::Semaphore *spi_sem;
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const char *bus_type = new char;
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hal.console->printf("Scanning SPI and I2C bus devices\n");
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for (uint8_t i = 0; i < ARRAY_SIZE(whoami_list); i++) {
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dev = get_device(whoami_list[i].name);
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if (!dev) {
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continue;
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}
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if (dev->bus_type() == AP_HAL::Device::BusType::BUS_TYPE_SPI) {
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bus_type = "SPI";
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} else {
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bus_type = "I2C";
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}
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hal.console->printf("Device %s registered on %s bus\n", whoami_list[i].name, bus_type);
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hal.console->printf("Trying to send data...\n");
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spi_sem = dev->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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break;
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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] = { 0, 0 };
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dev->transfer(tx, sizeof(tx), rx, sizeof(rx));
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if (rx[1] != 0) {
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hal.console->printf("WHO_AM_I for %s: 0x%02x\n\n", whoami_list[i].name, (unsigned)rx[1]);
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} else {
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hal.console->printf("No response %s!\n\n", whoami_list[i].name);
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break;
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}
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spi_sem->give();
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}
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hal.scheduler->delay(1000);
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}
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AP_HAL_MAIN();
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