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