rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2025-01-30 15:52:12 +01:00
Code Issues Releases Activity

OP-1477 - Add pios_ubx_ddc driver to handle i2c comms with UBlox GPS

Browse Source
This commit is contained in:
Alessio Morale 2014-06-17 08:37:32 +02:00
parent 71af403c9d
commit f2a0daac5c
2 changed files with 148 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

115
flight/pios/common/pios_ubx_dcc.c Normal file
View File

@ -0,0 +1,115 @@
/**
******************************************************************************
*
* @file pios_ubx_dcc.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
* @brief PIOS UBlox I2C(DDC) driver
* --
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include <stdint.h>
#include <pios_i2c.h>
#include <pios_helpers.h>
#define GPS_I2C_ADDRESS (0x42 << 1)
#define GPS_I2C_STREAM_REG 0xFF
#define GPS_I2C_STREAM_SIZE_HIGH_REG 0xFD
#define GPS_I2C_STREAM_SIZE_LOW_REG 0xFE
int32_t PIOS_UBX_DDC_GetAvailableBytes(uint32_t i2c_id)
{
uint8_t tmp[2];
const uint8_t addr_buffer[1] = { GPS_I2C_STREAM_SIZE_HIGH_REG };
struct pios_i2c_txn txn_list[] = {
{
.info = __func__,
.addr = GPS_I2C_ADDRESS,
.rw = PIOS_I2C_TXN_WRITE,
.len = 1,
.buf = (uint8_t *)addr_buffer,
}
,
{
.info = __func__,
.addr = GPS_I2C_ADDRESS,
.rw = PIOS_I2C_TXN_READ,
.len = 2,
.buf = tmp,
}
};
if (PIOS_I2C_Transfer(i2c_id, txn_list, NELEMENTS(txn_list)) != 0) {
return -1;
}
return (tmp[0] << 8) | tmp[1];
}
int32_t PIOS_UBX_DDC_ReadData(uint32_t i2c_id, uint8_t *buffer, uint8_t size)
{
const uint8_t addr_buffer[1] = { GPS_I2C_STREAM_REG };
const struct pios_i2c_txn txn_list[] = {
{
.info = __func__,
.addr = GPS_I2C_ADDRESS,
.rw = PIOS_I2C_TXN_WRITE,
.len = 1,
.buf = (uint8_t *)addr_buffer,
}
,
{
.info = __func__,
.addr = GPS_I2C_ADDRESS,
.rw = PIOS_I2C_TXN_READ,
.len = size,
.buf = buffer,
}
};
if (PIOS_I2C_Transfer(i2c_id, txn_list, NELEMENTS(txn_list)) != 0) {
return -1;
}
return 0;
}
int32_t PIOS_UBX_DDC_WriteData(const uint32_t i2c_id, const uint8_t *buffer, const uint8_t size)
{
const uint8_t addr_buffer[1] = { GPS_I2C_STREAM_REG };
const struct pios_i2c_txn txn_list[] = {
{
.info = __func__,
.addr = GPS_I2C_ADDRESS,
.rw = PIOS_I2C_TXN_WRITE,
.len = 1,
.buf = (uint8_t *)addr_buffer,
}
,
{
.info = __func__,
.addr = GPS_I2C_ADDRESS,
.rw = PIOS_I2C_TXN_WRITE,
.len = size,
.buf = (uint8_t *)buffer,
}
};
if (PIOS_I2C_Transfer(i2c_id, txn_list, NELEMENTS(txn_list)) != 0) {
return -1;
}
return 0;
}

33
flight/pios/inc/pios_ubx_ddc.h Normal file
View File

@ -0,0 +1,33 @@
/**
******************************************************************************
*
* @file pios_ubx_dcc.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
* @brief PIOS UBlox I2C(DDC) driver
* --
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef PIOS_UBX_DDC_H_
#define PIOS_UBX_DDC_H_
int32_t PIOS_UBX_DDC_GetAvailableBytes(const uint32_t i2c_id);
int32_t PIOS_UBX_DDC_ReadData(const uint32_t i2c_id, uint8_t *buffer, uint8_t size);
int32_t PIOS_UBX_DDC_WriteData(const uint32_t i2c_id, const uint8_t *buffer, const uint8_t size);
#endif /* PIOS_UBX_DDC_H_ */