AP_HAL_Linux:examples: Example to test device bus with the new APM API.

libraries/AP_HAL_Linux/examples/BusTest/BusTest.cpp

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+// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+//
+// scan I2C and SPI buses for expected devices
+//
+
+#include <AP_Common/AP_Common.h>
+#include <AP_HAL/AP_HAL.h>
+
+const AP_HAL::HAL& hal = AP_HAL::get_HAL();
+
+static struct {
+    const char *name;
+    uint8_t whoami_reg;
+} whoami_list[] = {
+    { "ms5611",     0x00 | 0x80 },
+    { "mpu9250",    0x75 | 0x80 },
+    { "mpu6000",    0x75 | 0x80 },
+    { "lsm9ds0_am", 0x0F | 0x80 },
+    { "lsm9ds0_g",  0x0F | 0x80 },
+};
+
+AP_HAL::OwnPtr<AP_HAL::Device>
+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);
+    /* Dummy is the default device at index 0 
+       if there isn't registered device for the target board.
+    */
+    const char *dummy = {"**dummy**"};
+    if (!strcmp(dummy, spi_name)) {
+        hal.console->printf("No devices, nothing to do.\n");
+        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.
+        */
+        spi_name = hal.spi->get_device_name(ref);
+        if (!strcmp(name, spi_name)) {
+            dev = hal.spi->get_device(spi_name);
+            break;
+        }
+    }
+
+    return dev;
+}
+
+void setup(void)
+{
+    hal.console->println("BusTest startup...\n");
+}
+
+void loop(void)
+{
+    AP_HAL::OwnPtr<AP_HAL::Device> dev;
+    AP_HAL::Semaphore *spi_sem;
+    const char *bus_type = new char;
+
+    hal.console->printf("Scanning SPI and I2C bus devices\n");
+
+    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();
+        }
+    }
+    hal.scheduler->delay(1000);
+}
+
+AP_HAL_MAIN();

libraries/AP_HAL_Linux/examples/BusTest/Makefile

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+include ../../../../mk/apm.mk

libraries/AP_HAL_Linux/examples/BusTest/make.inc

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+LIBRARIES += AP_Common
+LIBRARIES += AP_Math
+LIBRARIES += AP_Param
+LIBRARIES += StorageManager
+LIBRARIES += AP_ADC

libraries/AP_HAL_Linux/examples/BusTest/wscript

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+#!/usr/bin/env python
+# encoding: utf-8
+
+def build(bld):
+    bld.ap_example(
+        use='ap',
+    )