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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,105 @@ | ||
| using System; | ||
| using System.Collections.Generic; | ||
| using System.Linq; | ||
| using System.Runtime.InteropServices; | ||
| using System.Text; | ||
|
|
||
| namespace MissionPlanner.Utilities | ||
| { | ||
| public class Device | ||
| { | ||
| //ph2 | ||
| //COMPASS_DEV_ID 73225 | ||
| //COMPASS_DEV_ID2 262434 | ||
| //COMPASS_DEV_ID3 131874 | ||
|
|
||
| // from ap_hal\device.h | ||
| public enum BusType | ||
| { | ||
| BUS_TYPE_UNKNOWN = 0, | ||
| BUS_TYPE_I2C = 1, | ||
| BUS_TYPE_SPI = 2, | ||
| BUS_TYPE_UAVCAN = 3 | ||
| } | ||
|
|
||
| public enum Speed | ||
| { | ||
| SPEED_HIGH, | ||
| SPEED_LOW, | ||
| } | ||
|
|
||
| // float = 1 sign, 8 exponents, 23 significand | ||
|
|
||
| public struct DeviceStructure | ||
| { | ||
| // the data | ||
| public UInt32 devid; | ||
|
|
||
| // accessors | ||
| public BusType bus_type { get { return (BusType) (devid & 0x3); } } // : 3; | ||
| public byte bus { get { return (byte)((devid >> 2) & 0x1f); } } //: 5; // which instance of the bus type | ||
| public byte address { get { return (byte) ((devid >> 8) & 0xff); } } // address on the bus (eg. I2C address) | ||
| public DevTypes devtype { get { return (DevTypes)((devid >> 16) & 0xff); } } // device class specific device type | ||
|
|
||
| public DeviceStructure(UInt32 id) | ||
| { | ||
| devid = id; | ||
|
|
||
| Console.WriteLine("bus type {0} bus {1} address (i2c addr or spi CS) {2} devtype {3} ", bus_type, bus, address, devtype); | ||
| } | ||
|
|
||
| // from AP_Compass_Backend.h | ||
| public enum DevTypes | ||
| { | ||
| DEVTYPE_HMC5883_OLD = 0x01, | ||
| DEVTYPE_HMC5883 = 0x07, | ||
| DEVTYPE_LSM303D = 0x02, | ||
| DEVTYPE_AK8963 = 0x04, | ||
| DEVTYPE_BMM150 = 0x05, | ||
| DEVTYPE_LSM9DS1 = 0x06, | ||
| DEVTYPE_LIS3MDL = 0x08, | ||
| DEVTYPE_AK09916 = 0x09, | ||
| DEVTYPE_IST8310 = 0x0A, | ||
| }; | ||
|
|
||
| public enum px4_i2c_bus | ||
| { | ||
| PX4_I2C_BUS_ONBOARD=0, | ||
| PX4_I2C_BUS_EXPANSION=1 | ||
| } | ||
|
|
||
| // from PX4Firmware\src\drivers\boards\px4fmu-v2\board_config.h | ||
| public enum px4_spi_bus | ||
| { | ||
| PX4_SPI_BUS_SENSORS= 1, | ||
| PX4_SPI_BUS_RAMTRON= 2, | ||
| PX4_SPI_BUS_EXT = 4, | ||
| } | ||
| } | ||
|
|
||
| //DEV_ID | ||
| //DEV_ID2 | ||
| //DEV_ID3 | ||
|
|
||
| //ap_hal - device.h | ||
| //set_device_type | ||
| //get_bus_id | ||
|
|
||
| /** | ||
| * make a bus id given bus type, bus number, bus address and | ||
| * device type This is for use by devices that do not use one of | ||
| * the standard HAL Device types, such as UAVCAN devices | ||
| */ | ||
| /* | ||
| static uint32_t make_bus_id(enum BusType bus_type, uint8_t bus, uint8_t address, uint8_t devtype) { | ||
| union DeviceId d; | ||
| d.devid_s.bus_type = bus_type; | ||
| d.devid_s.bus = bus; | ||
| d.devid_s.address = address; | ||
| d.devid_s.devtype = devtype; | ||
| return d.devid; | ||
| */ | ||
|
|
||
| // devid is a union of bus type, bus, address and devtype | ||
| } | ||
| } |
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