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