mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-16 07:33:35 +08:00
Linux: Added config and stubs to compile I2C device for Linux
Not yet functional. Full implementation will provide an IOCTL interface to do bi-directional transfer. will model the interface after Linux. Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois
+7
-121
@@ -1,6 +1,6 @@
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/****************************************************************************
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*
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* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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* Copyright (C) 2015 Mark Charlebois. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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@@ -30,124 +30,10 @@
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#pragma once
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/**
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* @file i2c.h
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*
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* Base class for devices connected via I2C.
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*/
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#ifndef _DEVICE_I2C_H
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#define _DEVICE_I2C_H
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#include "device.h"
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#include <px4_i2c.h>
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namespace device __EXPORT
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{
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/**
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* Abstract class for character device on I2C
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*/
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class __EXPORT I2C : public CDev
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{
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public:
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/**
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* Get the address
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*/
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int16_t get_address() const { return _address; }
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static int set_bus_clock(unsigned bus, unsigned clock_hz);
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static unsigned int _bus_clocks[3];
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protected:
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/**
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* The number of times a read or write operation will be retried on
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* error.
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*/
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unsigned _retries;
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/**
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* The I2C bus number the device is attached to.
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*/
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int _bus;
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/**
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* @ Constructor
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*
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* @param name Driver name
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* @param devname Device node name
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* @param bus I2C bus on which the device lives
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* @param address I2C bus address, or zero if set_address will be used
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* @param frequency I2C bus frequency for the device (currently not used)
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* @param irq Interrupt assigned to the device (or zero if none)
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*/
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I2C(const char *name,
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const char *devname,
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int bus,
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uint16_t address,
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uint32_t frequency,
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int irq = 0);
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virtual ~I2C();
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virtual int init();
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/**
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* Check for the presence of the device on the bus.
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*/
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virtual int probe();
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/**
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* Perform an I2C transaction to the device.
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*
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* At least one of send_len and recv_len must be non-zero.
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*
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* @param send Pointer to bytes to send.
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* @param send_len Number of bytes to send.
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* @param recv Pointer to buffer for bytes received.
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* @param recv_len Number of bytes to receive.
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* @return OK if the transfer was successful, -errno
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* otherwise.
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*/
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int transfer(const uint8_t *send, unsigned send_len,
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uint8_t *recv, unsigned recv_len);
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/**
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* Perform a multi-part I2C transaction to the device.
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*
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* @param msgv An I2C message vector.
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* @param msgs The number of entries in the message vector.
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* @return OK if the transfer was successful, -errno
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* otherwise.
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*/
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int transfer(px4_i2c_msg_t *msgv, unsigned msgs);
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/**
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* Change the bus address.
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*
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* Most often useful during probe() when the driver is testing
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* several possible bus addresses.
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*
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* @param address The new bus address to set.
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*/
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void set_address(uint16_t address) {
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_address = address;
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_device_id.devid_s.address = _address;
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}
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private:
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uint16_t _address;
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uint32_t _frequency;
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px4_i2c_dev_t *_dev;
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I2C(const device::I2C &);
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I2C operator=(const device::I2C &);
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};
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} // namespace device
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#endif /* _DEVICE_I2C_H */
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#ifdef __PX4_NUTTX
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#include "i2c_nuttx.h"
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#else
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#include "i2c_linux.h"
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#endif
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@@ -51,8 +51,7 @@ I2C::I2C(const char *name,
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const char *devname,
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int bus,
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uint16_t address,
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uint32_t frequency,
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int irq) :
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uint32_t frequency) :
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// base class
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CDev(name, devname),
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// public
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@@ -0,0 +1,152 @@
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/****************************************************************************
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*
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* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file i2c.h
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*
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* Base class for devices connected via I2C.
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*/
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#ifndef _DEVICE_I2C_H
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#define _DEVICE_I2C_H
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#include "device.h"
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#include <px4_i2c.h>
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namespace device __EXPORT
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{
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/**
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* Abstract class for character device on I2C
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*/
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class __EXPORT I2C : public CDev
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{
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public:
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/**
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* Get the address
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*/
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int16_t get_address() const { return _address; }
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static int set_bus_clock(unsigned bus, unsigned clock_hz);
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static unsigned int _bus_clocks[3];
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protected:
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/**
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* The number of times a read or write operation will be retried on
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* error.
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*/
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unsigned _retries;
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/**
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* The I2C bus number the device is attached to.
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*/
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int _bus;
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/**
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* @ Constructor
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*
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* @param name Driver name
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* @param devname Device node name
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* @param bus I2C bus on which the device lives
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* @param address I2C bus address, or zero if set_address will be used
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* @param frequency I2C bus frequency for the device (currently not used)
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* @param irq Interrupt assigned to the device (or zero if none)
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*/
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I2C(const char *name,
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const char *devname,
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int bus,
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uint16_t address,
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uint32_t frequency);
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virtual ~I2C();
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virtual int init();
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/**
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* Check for the presence of the device on the bus.
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*/
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virtual int probe();
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/**
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* Perform an I2C transaction to the device.
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*
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* At least one of send_len and recv_len must be non-zero.
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*
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* @param send Pointer to bytes to send.
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* @param send_len Number of bytes to send.
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* @param recv Pointer to buffer for bytes received.
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* @param recv_len Number of bytes to receive.
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* @return OK if the transfer was successful, -errno
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* otherwise.
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*/
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int transfer(const uint8_t *send, unsigned send_len,
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uint8_t *recv, unsigned recv_len);
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/**
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* Perform a multi-part I2C transaction to the device.
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*
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* @param msgv An I2C message vector.
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* @param msgs The number of entries in the message vector.
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* @return OK if the transfer was successful, -errno
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* otherwise.
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*/
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int transfer(px4_i2c_msg_t *msgv, unsigned msgs);
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/**
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* Change the bus address.
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*
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* Most often useful during probe() when the driver is testing
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* several possible bus addresses.
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*
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* @param address The new bus address to set.
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*/
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void set_address(uint16_t address) {
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_address = address;
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_device_id.devid_s.address = _address;
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}
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private:
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uint16_t _address;
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uint32_t _frequency;
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px4_i2c_dev_t *_dev;
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I2C(const device::I2C&);
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I2C operator=(const device::I2C&);
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};
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} // namespace device
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#endif /* _DEVICE_I2C_H */
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@@ -0,0 +1,153 @@
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/****************************************************************************
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*
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* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
|
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* modification, are permitted provided that the following conditions
|
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* are met:
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*
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||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
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||||
* notice, this list of conditions and the following disclaimer in
|
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
|
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* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file i2c.h
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*
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* Base class for devices connected via I2C.
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*/
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#ifndef _DEVICE_I2C_H
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#define _DEVICE_I2C_H
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#include "device.h"
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#include <px4_i2c.h>
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namespace device __EXPORT
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{
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/**
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* Abstract class for character device on I2C
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*/
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class __EXPORT I2C : public CDev
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{
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public:
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/**
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* Get the address
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*/
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int16_t get_address() const { return _address; }
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static int set_bus_clock(unsigned bus, unsigned clock_hz);
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static unsigned int _bus_clocks[3];
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protected:
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/**
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* The number of times a read or write operation will be retried on
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* error.
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*/
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unsigned _retries;
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/**
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* The I2C bus number the device is attached to.
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*/
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int _bus;
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/**
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* @ Constructor
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*
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* @param name Driver name
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* @param devname Device node name
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* @param bus I2C bus on which the device lives
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* @param address I2C bus address, or zero if set_address will be used
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* @param frequency I2C bus frequency for the device (currently not used)
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* @param irq Interrupt assigned to the device (or zero if none)
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*/
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I2C(const char *name,
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const char *devname,
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int bus,
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uint16_t address,
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uint32_t frequency,
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int irq = 0);
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virtual ~I2C();
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virtual int init();
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/**
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* Check for the presence of the device on the bus.
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*/
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virtual int probe();
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/**
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* Perform an I2C transaction to the device.
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*
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* At least one of send_len and recv_len must be non-zero.
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*
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* @param send Pointer to bytes to send.
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* @param send_len Number of bytes to send.
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* @param recv Pointer to buffer for bytes received.
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* @param recv_len Number of bytes to receive.
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* @return OK if the transfer was successful, -errno
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* otherwise.
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*/
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int transfer(const uint8_t *send, unsigned send_len,
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uint8_t *recv, unsigned recv_len);
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/**
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* Perform a multi-part I2C transaction to the device.
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*
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* @param msgv An I2C message vector.
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* @param msgs The number of entries in the message vector.
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* @return OK if the transfer was successful, -errno
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* otherwise.
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*/
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int transfer(px4_i2c_msg_t *msgv, unsigned msgs);
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/**
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* Change the bus address.
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*
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* Most often useful during probe() when the driver is testing
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* several possible bus addresses.
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*
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* @param address The new bus address to set.
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*/
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void set_address(uint16_t address) {
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_address = address;
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_device_id.devid_s.address = _address;
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}
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private:
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uint16_t _address;
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uint32_t _frequency;
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px4_i2c_dev_t *_dev;
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I2C(const device::I2C &);
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I2C operator=(const device::I2C &);
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};
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} // namespace device
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#endif /* _DEVICE_I2C_H */
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@@ -890,6 +890,7 @@ start_bus(struct ms5611_bus_option &bus)
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if (bus.dev != nullptr && OK != bus.dev->init()) {
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delete bus.dev;
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bus.dev = NULL;
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warnx("bus init failed %p", bus.dev);
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return false;
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}
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