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more px4fmu-v1 cleanup (#7981)

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This commit is contained in:
Daniel Agar 2017-09-20 00:04:23 -04:00 committed by GitHub
parent 0780e430fd
commit 4e6ca271e7
12 changed files with 134 additions and 643 deletions
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4
ROMFS/px4fmu_common/init.d/16001_helicopter
View File

@ -54,6 +54,4 @@ then
param set ATT_BIAS_MAX 0.0
param set CBRK_IO_SAFETY 22027
fi
set HIL no
fi

47
ROMFS/px4fmu_common/init.d/4008_ardrone
View File

@ -1,47 +0,0 @@
#!nsh
#
# @name AR.Drone Frame
#
# @type Quadrotor x
# @class Copter
#
# @board px4fmu-v2 exclude
# @board px4fmu-v3 exclude
# @board px4fmu-v4 exclude
# @board px4fmu-v4pro exclude
# @board px4fmu-v5 exclude
# @board aerofc-v1 exclude
#
# @maintainer Lorenz Meier <lorenz@px4.io>
#
sh /etc/init.d/rc.mc_defaults
#
# Load default params for this platform
#
if [ $AUTOCNF == yes ]
then
# Set all params here, then disable autoconfig
param set MC_ROLL_P 6.0
param set MC_ROLLRATE_P 0.14
param set MC_ROLLRATE_I 0.1
param set MC_ROLLRATE_D 0.002
param set MC_PITCH_P 6.0
param set MC_PITCHRATE_P 0.14
param set MC_PITCHRATE_I 0.1
param set MC_PITCHRATE_D 0.002
param set MC_YAW_P 2.0
param set MC_YAWRATE_P 0.2
param set MC_YAWRATE_I 0.2
param set MC_YAWRATE_D 0.0
param set MC_YAW_FF 0.8
param set BAT_V_DIV 34.32838
fi
set OUTPUT_MODE ardrone
set USE_IO no
set MIXER skip
# set MAV_TYPE because no specific mixer is set
set MAV_TYPE 2

10
ROMFS/px4fmu_common/init.d/rc.interface
View File

@ -120,9 +120,6 @@ then
fi
fi
# This is a FMUv2+ thing
#MindPX has not aux mixer
if ver hwcmp MINDPX_V2
then
set MIXER_AUX none
@ -138,6 +135,11 @@ then
set MIXER_AUX none
fi
if ver hwcmp PX4FMU_V4
then
set MIXER_AUX none
fi
if ver hwcmp PX4FMU_V5
then
set MIXER_AUX none
@ -168,7 +170,7 @@ then
if fmu mode_${AUX_MODE} $FMU_ARGS
then
# Append aux mixer to main device
if [ $OUTPUT_MODE == hil ]
if param compare SYS_HITL 1
then
if mixer append ${OUTPUT_DEV} ${MIXER_AUX_FILE}
then

207
ROMFS/px4fmu_common/init.d/rcS
View File

@ -41,9 +41,7 @@ mount -t procfs /proc
#
# Start CDC/ACM serial driver
#
if sercon
then
fi
sercon
#
# Default to auto-start mode.
@ -68,10 +66,10 @@ then
hardfault_log reset
tone_alarm stop
fi
else
# Start playing the startup tune
tone_alarm start
fi
else
# Start playing the startup tune
tone_alarm start
fi
else
tone_alarm MBAGP
if mkfatfs /dev/mmcsd0
@ -141,14 +139,8 @@ then
fi
# FMUv5 may have both PWM I2C RGB LED support
rgbled_pwm start
# Currently unused, but might be useful down the road
#if pca8574 start
#then
#fi
#
# Set AUTOCNF flag to use it in AUTOSTART scripts
#
@ -174,7 +166,6 @@ then
#
# Set default values
#
set HIL no
set VEHICLE_TYPE none
set MIXER none
set MIXER_AUX none
@ -197,66 +188,37 @@ then
set FMU_ARGS ""
set MAVLINK_F default
set MAVLINK_COMPANION_DEVICE /dev/ttyS2
set EXIT_ON_END no
set MAV_TYPE none
set FAILSAFE none
set USE_IO yes
set USE_IO no
set LOGGER_BUF 16
if param compare SYS_FMU_TASK 1
if ver hwcmp PX4FMU_V4
then
set FMU_ARGS "-t"
param set SYS_FMU_TASK 1
fi
if param compare SYS_HITL 1
if ver hwcmp PX4FMU_V4PRO
then
# Enable HITL mode
set HIL yes
param set SYS_FMU_TASK 1
fi
#
# Set USE_IO flag
#
if param compare SYS_USE_IO 1
if ver hwcmp PX4FMU_V5
then
if ver hwcmp PX4FMU_V4
then
set USE_IO no
fi
param set SYS_FMU_TASK 1
set MAVLINK_COMPANION_DEVICE /dev/ttyS3
if ver hwcmp PX4FMU_V5
then
set USE_IO no
set MAVLINK_COMPANION_DEVICE /dev/ttyS3
fi
set LOGGER_BUF 64
param set SDLOG_MODE 2
fi
if ver hwcmp MINDPX_V2
if ver hwcmp CRAZYFLIE
then
if param compare SYS_AUTOSTART 0
then
set USE_IO no
param set SYS_AUTOSTART 4900
set AUTOCNF yes
fi
if ver hwcmp CRAZYFLIE
then
set USE_IO no
if param compare SYS_AUTOSTART 0
then
param set SYS_AUTOSTART 4900
set AUTOCNF yes
fi
fi
if ver hwcmp AEROFC_V1
then
set USE_IO no
fi
if ver hwcmp AEROCORE2
then
set USE_IO no
fi
else
set USE_IO no
fi
if ver hwcmp AEROFC_V1
@ -271,12 +233,24 @@ then
param set SYS_AUTOSTART 4070
fi
#
# Set USE_IO flag
#
if param compare SYS_USE_IO 1
then
set USE_IO yes
fi
if param compare SYS_FMU_TASK 1
then
set FMU_ARGS "-t"
fi
#
# Set parameters and env variables for selected AUTOSTART
#
if param compare SYS_AUTOSTART 0
then
ekf2 start
else
sh /etc/init.d/rc.autostart
fi
@ -295,25 +269,6 @@ then
fi
fi
#
# Wipe incompatible settings for boards not having two outputs
if ver hwcmp PX4FMU_V4
then
set MIXER_AUX none
param set SYS_FMU_TASK 1
fi
if ver hwcmp PX4FMU_V5
then
set MIXER_AUX none
param set SYS_FMU_TASK 1
fi
if ver hwcmp AEROFC_V1
then
set MIXER_AUX none
fi
#
# Override parameters from user configuration file
#
@ -415,12 +370,6 @@ then
then
# Need IO for output but it not present, disable output
set OUTPUT_MODE none
fi
if [ $OUTPUT_MODE == ardrone ]
then
set FMU_MODE gpio_serial
fi
if [ $OUTPUT_MODE == tap_esc ]
@ -428,13 +377,6 @@ then
set FMU_MODE rcin
fi
if [ $HIL == yes ]
then
set OUTPUT_MODE hil
else
gps start
fi
set DATAMAN_OPT ""
if ver hwcmp AEROFC_V1
then
@ -453,37 +395,21 @@ then
#
# Sensors System (start before Commander so Preflight checks are properly run)
#
if [ $HIL == yes ]
# commander Needs to be this early for in-air-restarts
if param compare SYS_HITL 1
then
set OUTPUT_MODE hil
sensors start -h
commander start --hil
else
gps start
sh /etc/init.d/rc.sensors
fi
unset HIL
# Needs to be this early for in-air-restarts
if [ $OUTPUT_MODE == hil ]
then
commander start --hil
else
commander start
commander start
fi
if send_event start
then
fi
#
# Start CPU load monitor
#
send_event start
load_mon start
#
# Start primary output
#
set TTYS1_BUSY no
#
# Check if UAVCAN is enabled, default to it for ESCs
#
@ -540,7 +466,7 @@ then
fi
fi
if [ $OUTPUT_MODE == fmu -o $OUTPUT_MODE == ardrone ]
if [ $OUTPUT_MODE == fmu ]
then
if fmu mode_$FMU_MODE $FMU_ARGS
then
@ -597,7 +523,7 @@ then
fi
fi
else
if [ $OUTPUT_MODE != fmu -a $OUTPUT_MODE != ardrone ]
if [ $OUTPUT_MODE != fmu ]
then
if fmu mode_${FMU_MODE} $FMU_ARGS
then
@ -612,27 +538,19 @@ then
if [ $MAVLINK_F == default ]
then
# Normal mode, use baudrate 57600 (default) and data rate 1000 bytes/s
if [ $TTYS1_BUSY == yes ]
set MAVLINK_F "-r 1200 -f"
# Avoid using ttyS1 for MAVLink on FMUv4
if ver hwcmp PX4FMU_V4
then
# Start MAVLink on ttyS0, because FMU ttyS1 pins configured as something else
set MAVLINK_F "-r 1200 -d /dev/ttyS0"
set MAVLINK_F "-r 1200 -d /dev/ttyS1"
# Start MAVLink on Wifi (ESP8266 port)
mavlink start -r 20000 -m config -b 921600 -d /dev/ttyS0
fi
# Exit from nsh to free port for mavlink
set EXIT_ON_END yes
else
set MAVLINK_F "-r 1200 -f"
# Avoid using ttyS1 for MAVLink on FMUv4
if ver hwcmp PX4FMU_V4
then
set MAVLINK_F "-r 1200 -d /dev/ttyS1"
# Start MAVLink on Wifi (ESP8266 port)
mavlink start -r 20000 -m config -b 921600 -d /dev/ttyS0
fi
if ver hwcmp AEROFC_V1
then
set MAVLINK_F "-r 1200 -d /dev/ttyS3"
fi
if ver hwcmp AEROFC_V1
then
set MAVLINK_F "-r 1200 -d /dev/ttyS3"
fi
if ver hwcmp CRAZYFLIE
@ -764,6 +682,7 @@ then
if ver hwcmp AEROFC_V1
then
# don't start mavlink ttyACM0 on aerofc_v1
else
# Start MAVLink
mavlink start -r 800000 -d /dev/ttyACM0 -m config -x
@ -777,14 +696,6 @@ then
sdlog2 start -r 100 -a -b 9 -t
else
set LOGGER_ARGS ""
#
# Adjust FMUv5 logging settings
#
if ver hwcmp PX4FMU_V5
then
set LOGGER_BUF 64
param set SDLOG_MODE 2
fi
if param compare SDLOG_MODE 1
then
@ -1024,6 +935,7 @@ then
if [ $VEHICLE_TYPE == none ]
then
echo "No autostart ID found"
ekf2 start
fi
# Start any custom addons
@ -1100,10 +1012,3 @@ unset TUNE_ERR
# Boot is complete, inform MAVLink app(s) that the system is now fully up and running
mavlink boot_complete
if [ $EXIT_ON_END == yes ]
then
echo "NSH exit"
exit
fi
unset EXIT_ON_END

1
src/drivers/px4io/CMakeLists.txt
View File

@ -39,7 +39,6 @@ px4_add_module(
px4io.cpp
px4io_uploader.cpp
px4io_serial.cpp
px4io_i2c.cpp
DEPENDS
platforms__common
)

8
src/drivers/px4io/px4io.cpp
View File

@ -3066,14 +3066,6 @@ get_interface()
goto got;
}
#ifdef PX4_I2C_OBDEV_PX4IO
interface = PX4IO_i2c_interface();
#endif
if (interface != nullptr) {
goto got;
}
errx(1, "cannot alloc interface");
got:

4
src/drivers/px4io/px4io_driver.h
View File

@ -41,10 +41,6 @@
#include <board_config.h>
#ifdef PX4_I2C_OBDEV_PX4IO
device::Device *PX4IO_i2c_interface();
#endif
#ifdef PX4IO_SERIAL_BASE
device::Device *PX4IO_serial_interface();
#endif

177
src/drivers/px4io/px4io_i2c.cpp
View File

@ -1,177 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2013 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 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
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 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 THE
* 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
* 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.
*
****************************************************************************/
/**
* @file px4io_i2c.cpp
*
* I2C interface for PX4IO
*/
/* XXX trim includes */
#include <px4_config.h>
#include <sys/types.h>
#include <stdint.h>
#include <stdbool.h>
#include <assert.h>
#include <debug.h>
#include <errno.h>
#include <unistd.h>
#include <arch/board/board.h>
#include <board_config.h>
#include <drivers/device/i2c.h>
#include "px4io_driver.h"
#ifdef PX4_I2C_OBDEV_PX4IO
class PX4IO_I2C : public device::I2C
{
public:
PX4IO_I2C(int bus, uint8_t address);
virtual ~PX4IO_I2C();
virtual int init();
virtual int read(unsigned offset, void *data, unsigned count = 1);
virtual int write(unsigned address, void *data, unsigned count = 1);
virtual int ioctl(unsigned operation, unsigned &arg);
private:
};
device::Device
*PX4IO_i2c_interface()
{
return new PX4IO_I2C(PX4_I2C_BUS_ONBOARD, PX4_I2C_OBDEV_PX4IO);
}
PX4IO_I2C::PX4IO_I2C(int bus, uint8_t address) :
I2C("PX4IO_i2c", nullptr, bus, address, 400000)
{
_retries = 3;
}
PX4IO_I2C::~PX4IO_I2C()
{
}
int
PX4IO_I2C::init()
{
int ret;
ret = I2C::init();
if (ret != OK) {
goto out;
}
/* XXX really should do something more here */
out:
return 0;
}
int
PX4IO_I2C::ioctl(unsigned operation, unsigned &arg)
{
return 0;
}
int
PX4IO_I2C::write(unsigned address, void *data, unsigned count)
{
uint8_t page = address >> 8;
uint8_t offset = address & 0xff;
const uint16_t *values = reinterpret_cast<const uint16_t *>(data);
/* set up the transfer */
uint8_t addr[2] = {
page,
offset
};
i2c_msg_s msgv[2];
msgv[0].flags = 0;
msgv[0].buffer = addr;
msgv[0].length = 2;
msgv[1].flags = I2C_M_NORESTART;
msgv[1].buffer = (uint8_t *)values;
msgv[1].length = 2 * count;
int ret = transfer(msgv, 2);
if (ret == OK) {
ret = count;
}
return ret;
}
int
PX4IO_I2C::read(unsigned address, void *data, unsigned count)
{
uint8_t page = address >> 8;
uint8_t offset = address & 0xff;
const uint16_t *values = reinterpret_cast<const uint16_t *>(data);
/* set up the transfer */
uint8_t addr[2] = {
page,
offset
};
i2c_msg_s msgv[2];
msgv[0].flags = 0;
msgv[0].buffer = addr;
msgv[0].length = 2;
msgv[1].flags = I2C_M_READ;
msgv[1].buffer = (uint8_t *)values;
msgv[1].length = 2 * count;
int ret = transfer(msgv, 2);
if (ret == OK) {
ret = count;
}
return ret;
}
#endif /* PX4_I2C_OBDEV_PX4IO */

71
src/drivers/px4io/px4io_params.c
View File

@ -42,6 +42,19 @@
#include <px4_config.h>
#include <systemlib/param/param.h>
/**
* Set usage of IO board
*
* Can be used to use a standard startup script but with a FMU only set-up. Set to 0 to force the FMU only set-up.
*
* @boolean
* @min 0
* @max 1
* @reboot_required true
* @group System
*/
PARAM_DEFINE_INT32(SYS_USE_IO, 1);
/**
* Invert direction of main output channel 1
*
@ -235,3 +248,61 @@ PARAM_DEFINE_FLOAT(PWM_MAIN_TRIM8, 0);
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_SBUS_MODE, 0);
/**
* PWM input channel that provides RSSI.
*
* 0: do not read RSSI from input channel
* 1-18: read RSSI from specified input channel
*
* Specify the range for RSSI input with RC_RSSI_PWM_MIN and RC_RSSI_PWM_MAX parameters.
*
* @min 0
* @max 18
* @value 0 Unassigned
* @value 1 Channel 1
* @value 2 Channel 2
* @value 3 Channel 3
* @value 4 Channel 4
* @value 5 Channel 5
* @value 6 Channel 6
* @value 7 Channel 7
* @value 8 Channel 8
* @value 9 Channel 9
* @value 10 Channel 10
* @value 11 Channel 11
* @value 12 Channel 12
* @value 13 Channel 13
* @value 14 Channel 14
* @value 15 Channel 15
* @value 16 Channel 16
* @value 17 Channel 17
* @value 18 Channel 18
* @group Radio Calibration
*
*/
PARAM_DEFINE_INT32(RC_RSSI_PWM_CHAN, 0);
/**
* Max input value for RSSI reading.
*
* Only used if RC_RSSI_PWM_CHAN > 0
*
* @min 0
* @max 2000
* @group Radio Calibration
*
*/
PARAM_DEFINE_INT32(RC_RSSI_PWM_MAX, 1000);
/**
* Min input value for RSSI reading.
*
* Only used if RC_RSSI_PWM_CHAN > 0
*
* @min 0
* @max 2000
* @group Radio Calibration
*
*/
PARAM_DEFINE_INT32(RC_RSSI_PWM_MIN, 2000);

60
src/modules/sensors/rc_params.c
View File

@ -2089,7 +2089,6 @@ PARAM_DEFINE_FLOAT(RC_LOITER_TH, 0.5f);
*/
PARAM_DEFINE_FLOAT(RC_ACRO_TH, 0.5f);
/**
* Threshold for selecting offboard mode
*
@ -2108,7 +2107,6 @@ PARAM_DEFINE_FLOAT(RC_ACRO_TH, 0.5f);
*/
PARAM_DEFINE_FLOAT(RC_OFFB_TH, 0.5f);
/**
* Threshold for the kill switch
*
@ -2217,64 +2215,6 @@ PARAM_DEFINE_FLOAT(RC_STAB_TH, 0.5f);
*/
PARAM_DEFINE_FLOAT(RC_MAN_TH, 0.5f);
/**
* PWM input channel that provides RSSI.
*
* 0: do not read RSSI from input channel
* 1-18: read RSSI from specified input channel
*
* Specify the range for RSSI input with RC_RSSI_PWM_MIN and RC_RSSI_PWM_MAX parameters.
*
* @min 0
* @max 18
* @value 0 Unassigned
* @value 1 Channel 1
* @value 2 Channel 2
* @value 3 Channel 3
* @value 4 Channel 4
* @value 5 Channel 5
* @value 6 Channel 6
* @value 7 Channel 7
* @value 8 Channel 8
* @value 9 Channel 9
* @value 10 Channel 10
* @value 11 Channel 11
* @value 12 Channel 12
* @value 13 Channel 13
* @value 14 Channel 14
* @value 15 Channel 15
* @value 16 Channel 16
* @value 17 Channel 17
* @value 18 Channel 18
* @group Radio Calibration
*
*/
PARAM_DEFINE_INT32(RC_RSSI_PWM_CHAN, 0);
/**
* Max input value for RSSI reading.
*
* Only used if RC_RSSI_PWM_CHAN > 0
*
* @min 0
* @max 2000
* @group Radio Calibration
*
*/
PARAM_DEFINE_INT32(RC_RSSI_PWM_MAX, 1000);
/**
* Min input value for RSSI reading.
*
* Only used if RC_RSSI_PWM_CHAN > 0
*
* @min 0
* @max 2000
* @group Radio Calibration
*
*/
PARAM_DEFINE_INT32(RC_RSSI_PWM_MIN, 2000);
/**
* Sample rate of the remote control values for the low pass filter on roll,pitch, yaw and throttle
*

42
src/systemcmds/i2c/CMakeLists.txt
View File

@ -1,42 +0,0 @@
############################################################################
#
# Copyright (c) 2015 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 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
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 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 THE
# 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
# 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.
#
############################################################################
px4_add_module(
MODULE systemcmds__i2c
MAIN i2c
COMPILE_FLAGS
SRCS
i2c.c
DEPENDS
platforms__common
)
# vim: set noet ft=cmake fenc=utf-8 ff=unix :

146
src/systemcmds/i2c/i2c.c
View File

@ -1,146 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
* Author: Lorenz Meier <lm@inf.ethz.ch>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 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
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 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 THE
* 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
* 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.
*
****************************************************************************/
/**
* @file i2c.c
*
* i2c hacking tool
*/
#include <px4_config.h>
#include <px4_log.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <stdbool.h>
#include <unistd.h>
#include <fcntl.h>
#include <sys/mount.h>
#include <sys/ioctl.h>
#include <sys/stat.h>
#include <nuttx/i2c/i2c_master.h>
#include <board_config.h>
#include "systemlib/systemlib.h"
#ifndef PX4_I2C_BUS_ONBOARD
# error PX4_I2C_BUS_ONBOARD not defined, no device interface
#endif
#ifndef PX4_I2C_OBDEV_PX4IO
# error PX4_I2C_OBDEV_PX4IO not defined
#endif
__EXPORT int i2c_main(int argc, char *argv[]);
static int transfer(uint8_t address, uint8_t *send, unsigned send_len, uint8_t *recv, unsigned recv_len);
static struct i2c_master_s *i2c;
int i2c_main(int argc, char *argv[])
{
/* find the right I2C */
i2c = px4_i2cbus_initialize(PX4_I2C_BUS_ONBOARD);
if (i2c == NULL) {
PX4_ERR("failed to locate I2C bus");
return 1;
}
usleep(100000);
uint8_t buf[] = { 0, 4};
int ret = transfer(PX4_I2C_OBDEV_PX4IO, buf, sizeof(buf), NULL, 0);
if (ret) {
PX4_ERR("send failed - %d", ret);
return 1;
}
uint32_t val;
ret = transfer(PX4_I2C_OBDEV_PX4IO, NULL, 0, (uint8_t *)&val, sizeof(val));
if (ret) {
PX4_ERR("recive failed - %d", ret);
return 1;
}
PX4_INFO("got 0x%08x", val);
return 0;
}
static int
transfer(uint8_t address, uint8_t *send, unsigned send_len, uint8_t *recv, unsigned recv_len)
{
struct i2c_msg_s msgv[2];
unsigned msgs;
int ret;
// debug("transfer out %p/%u in %p/%u", send, send_len, recv, recv_len);
msgs = 0;
if (send_len > 0) {
msgv[msgs].frequency = 400000;
msgv[msgs].addr = address;
msgv[msgs].flags = 0;
msgv[msgs].buffer = send;
msgv[msgs].length = send_len;
msgs++;
}
if (recv_len > 0) {
msgv[msgs].frequency = 400000;
msgv[msgs].addr = address;
msgv[msgs].flags = I2C_M_READ;
msgv[msgs].buffer = recv;
msgv[msgs].length = recv_len;
msgs++;
}
if (msgs == 0) {
return -1;
}
ret = I2C_TRANSFER(i2c, &msgv[0], msgs);
// reset the I2C bus to unwedge on error
if (ret != OK) {
up_i2creset(i2c);
}
return ret;
}