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Build the px4io interfaces on top of the Device direct-access API.

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This commit is contained in:
px4dev
2013-07-13 21:00:27 -07:00
parent 26eb0b9d72
commit 4f0ae1cdea
3 changed files with 140 additions and 150 deletions
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src/drivers/px4io/px4io.cpp
+18 -19
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@@ -85,7 +85,9 @@
#include <modules/px4iofirmware/protocol.h>
#include "uploader.h"
#include "interface.h"
extern device::Device *PX4IO_i2c_interface() weak_function;
extern device::Device *PX4IO_serial_interface() weak_function;
#define PX4IO_SET_DEBUG _IOC(0xff00, 0)
#define PX4IO_INAIR_RESTART_ENABLE _IOC(0xff00, 1)
@@ -93,7 +95,7 @@
class PX4IO : public device::CDev
{
public:
PX4IO(PX4IO_interface *interface);
PX4IO(device::Device *interface);
virtual ~PX4IO();
virtual int init();
@@ -131,7 +133,7 @@ public:
void print_status();
private:
PX4IO_interface *_interface;
device::Device *_interface;
// XXX
unsigned _hardware;
@@ -316,7 +318,7 @@ PX4IO *g_dev;
}
PX4IO::PX4IO(PX4IO_interface *interface) :
PX4IO::PX4IO(device::Device *interface) :
CDev("px4io", "/dev/px4io"),
_interface(interface),
_hardware(0),
@@ -1129,7 +1131,7 @@ PX4IO::io_reg_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned
return -EINVAL;
}
int ret = _interface->set_reg(page, offset, values, num_values);
int ret = _interface->write((page << 8) | offset, (void *)values, num_values);
if (ret != OK)
debug("io_reg_set(%u,%u,%u): error %d", page, offset, num_values, errno);
return ret;
@@ -1150,7 +1152,7 @@ PX4IO::io_reg_get(uint8_t page, uint8_t offset, uint16_t *values, unsigned num_v
return -EINVAL;
}
int ret = _interface->get_reg(page, offset, values, num_values);
int ret = _interface->read((page << 8) | offset, reinterpret_cast<void *>(values), num_values);
if (ret != OK)
debug("io_reg_get(%u,%u,%u): data error %d", page, offset, num_values, errno);
return ret;
@@ -1602,12 +1604,12 @@ start(int argc, char *argv[])
if (g_dev != nullptr)
errx(1, "already loaded");
PX4IO_interface *interface;
device::Device *interface;
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
interface = io_serial_interface();
interface = PX4IO_serial_interface();
#elif defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
interface = io_i2c_interface(PX4_I2C_BUS_ONBOARD, PX4_I2C_OBDEV_PX4IO);
interface = PX4IO_i2c_interface();
#else
# error Unknown board - cannot select interface.
#endif
@@ -1615,7 +1617,7 @@ start(int argc, char *argv[])
if (interface == nullptr)
errx(1, "cannot alloc interface");
if (!interface->ok()) {
if (interface->probe()) {
delete interface;
errx(1, "interface init failed");
}
@@ -1739,12 +1741,12 @@ monitor(void)
void
if_test(unsigned mode)
{
PX4IO_interface *interface;
device::Device *interface;
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
interface = io_serial_interface();
interface = PX4IO_serial_interface();
#elif defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
interface = io_i2c_interface(PX4_I2C_BUS_ONBOARD, PX4_I2C_OBDEV_PX4IO);
interface = PX4IO_i2c_interface();
#else
# error Unknown board - cannot select interface.
#endif
@@ -1752,20 +1754,17 @@ if_test(unsigned mode)
if (interface == nullptr)
errx(1, "cannot alloc interface");
if (!interface->ok()) {
if (interface->probe()) {
delete interface;
errx(1, "interface init failed");
} else {
int result = interface->test(mode);
int result = interface->ioctl(1, mode); /* XXX magic numbers */
delete interface;
errx(0, "test returned %d", result);
}
exit(0);
}
}
} /* namespace */
int
px4io_main(int argc, char *argv[])