Initial escape library

Not working yet
2016-10-10 22:42:09 +01:00
parent d3429c677a
commit 9f4dffe704
24 changed files with 2872 additions and 0 deletions
--- a/darkwater/SPIdev.h
+++ b/darkwater/SPIdev.h
@@ -0,0 +1,99 @@
+/*
+SPIDev driver code is placed under the BSD license.
+Written by Mikhail Avkhimenia (mikhail.avkhimenia@emlid.com)
+Copyright (c) 2014, Emlid Limited
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Emlid Limited nor the names of its contributors
+      may be used to endorse or promote products derived from this software
+      without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL EMLID LIMITED BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef _SPIDEV_H_
+#define _SPIDEV_H_
+
+//#define _XOPEN_SOURCE 600
+#include <unistd.h>
+#include <fcntl.h>
+#include <sys/ioctl.h>
+#include <linux/types.h>
+#include <linux/spi/spidev.h>
+#include <sys/socket.h>
+#include <netdb.h>
+#include <cstdlib>
+#include <cstring>
+#include <cstdio>
+
+class SPIdev {
+public:
+    SPIdev()
+    {
+    }
+
+	static int transfer(const char *spidev,
+                        unsigned char *tx,
+                        unsigned char *rx,
+                        unsigned int length,
+                        unsigned int speed_hz = 1000000,
+                        unsigned char bits_per_word = 8,
+                        unsigned short delay_usecs = 0)
+    {
+		spi_ioc_transfer spi_transfer;
+		
+		memset(&spi_transfer, 0, sizeof(spi_ioc_transfer));
+
+		spi_transfer.tx_buf = (unsigned long)tx;
+		spi_transfer.rx_buf = (unsigned long)rx;
+		spi_transfer.len = length;
+		spi_transfer.speed_hz = speed_hz;
+		spi_transfer.bits_per_word = bits_per_word;
+		spi_transfer.delay_usecs = delay_usecs;
+
+		int spi_fd = ::open(spidev, O_RDWR);
+
+		if (spi_fd < 0 ) {
+			printf("Error: Can not open SPI device\n");
+            
+            return -1;
+		}
+
+		int status = ioctl(spi_fd, SPI_IOC_MESSAGE(1), &spi_transfer);
+
+		::close(spi_fd);
+
+        // Debug information
+		/*
+		printf("Tx: ");
+		for (int i = 0; i < length; i++)
+			printf("%x ", tx[i]);
+		printf("\n");
+
+		printf("Rx: ");
+		for (int i = 0; i < length; i++)
+			printf("%x ", rx[i]);
+		printf("\n");
+		*/
+
+        return status;
+	}
+};
+
+#endif //_SPIDEV_H_