C++ (Cpp) OwnPtr::set_read_flag Beispiele

Beispiel #1

Datei: ICM20789.cpp Projekt: ArduPilot/ardupilot

static void spi_init()
{
    // SPI reads have flag 0x80 set
    spi_dev->set_read_flag(0x80);

    // run the SPI bus at low speed
    spi_dev->set_speed(AP_HAL::Device::SPEED_LOW);

    uint8_t whoami = 0;
    uint8_t v;

    spi_dev->write_register(0x6B, 0x01);
    spi_dev->write_register(0x6B, 0x01);

    hal.scheduler->delay(1);
    spi_dev->write_register(0x6A, 0x10);
    spi_dev->write_register(0x6B, 0x41);

    hal.scheduler->delay(1);
    spi_dev->write_register(0x6C, 0x3f);
    spi_dev->write_register(0xF5, 0x00);
    spi_dev->write_register(0x19, 0x09);
    spi_dev->write_register(0xEA, 0x00);
    spi_dev->write_register(0x6B, 0x01);

    hal.scheduler->delay(1);
    spi_dev->write_register(0x6A, 0x10);
    spi_dev->write_register(0x6B, 0x41);

    hal.scheduler->delay(1);
    spi_dev->write_register(0x6B, 0x01);

    hal.scheduler->delay(1);
    spi_dev->write_register(0x23, 0x00);
    spi_dev->write_register(0x6B, 0x41);

    hal.scheduler->delay(1);
    spi_dev->write_register(0x1D, 0xC0);
    spi_dev->write_register(0x6B, 0x01);

    hal.scheduler->delay(1);
    spi_dev->write_register(0x1A, 0xC0);
    spi_dev->write_register(0x6B, 0x41);

    hal.scheduler->delay(1);
    spi_dev->write_register(0x38, 0x01);

    spi_dev->read_registers(0x6A, &v, 1);
    printf("reg 0x6A=0x%02x\n", v);
    spi_dev->read_registers(0x6B, &v, 1);
    printf("reg 0x6B=0x%02x\n", v);

    hal.scheduler->delay(1);
    spi_dev->write_register(0x6A, 0x10);
    spi_dev->write_register(0x6B, 0x41);

    hal.scheduler->delay(1);
    spi_dev->write_register(0x6B, 0x01);

    hal.scheduler->delay(1);
    spi_dev->write_register(0x23, 0x00);
    spi_dev->write_register(0x6B, 0x41);

    hal.scheduler->delay(1);
    spi_dev->write_register(0x6B, 0x41);
    spi_dev->write_register(0x6C, 0x3f);
    spi_dev->write_register(0x6B, 0x41);

    spi_dev->read_registers(0x6A, &v, 1);
    printf("reg 0x6A=0x%02x\n", v);
    spi_dev->write_register(0x6B, 0x01);

    hal.scheduler->delay(1);
    spi_dev->write_register(0x6A, 0x10);
    spi_dev->write_register(0x6B, 0x41);

    hal.scheduler->delay(1);
    spi_dev->write_register(0x6B, 0x01);

    hal.scheduler->delay(1);
    spi_dev->write_register(0x23, 0x00);
    spi_dev->write_register(0x6B, 0x41);

    hal.scheduler->delay(1);
    spi_dev->read_registers(0x6A, &v, 1);
    printf("reg 0x6A=0x%02x\n", v);
    spi_dev->write_register(0x6B, 0x01);

    hal.scheduler->delay(1);
    spi_dev->write_register(0x6A, 0x10);
    spi_dev->write_register(0x6B, 0x41);

    hal.scheduler->delay(1);
    spi_dev->write_register(0x6B, 0x01);

    hal.scheduler->delay(1);
    spi_dev->write_register(0x23, 0x00);
    spi_dev->write_register(0x6B, 0x41);

    hal.scheduler->delay(1);
    spi_dev->write_register(0x6B, 0x41);
    spi_dev->write_register(0x6C, 0x3f);
    spi_dev->write_register(0x6B, 0x41);

    spi_dev->read_registers(0x6A, &v, 1);
    printf("reg 0x6A=0x%02x\n", v);
    spi_dev->write_register(0x6B, 0x01);

    hal.scheduler->delay(1);
    spi_dev->write_register(0x6A, 0x10);
    spi_dev->write_register(0x6B, 0x41);

    hal.scheduler->delay(1);
    spi_dev->write_register(0x6B, 0x01);

    hal.scheduler->delay(1);
    spi_dev->write_register(0x23, 0x00);
    spi_dev->write_register(0x6B, 0x41);

    // print the WHOAMI
    spi_dev->read_registers(MPUREG_WHOAMI, &whoami, 1);
    printf("20789 SPI whoami: 0x%02x\n", whoami);

    // wait for sensor to settle
    hal.scheduler->delay(100);

    // dump registers
    printf("ICM20789 registers\n");
#if 0
    for (uint8_t reg = 0; reg<0x80; reg++) {
        v=0;
        spi_dev->read_registers(reg, &v, 1);
        printf("%02x:%02x ", (unsigned)reg, (unsigned)v);
        if ((reg+1) % 16 == 0) {
            printf("\n");
        }
    }
    printf("\n");
#endif

    spi_dev->get_semaphore()->give();
}