fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-17 14:13:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/px4io/px4io_i2c.cpp
+37 -65
View File
@@ -52,109 +52,93 @@
#include <nuttx/i2c.h>
#include <drivers/device/i2c.h>
#include <mavlink/mavlink_log.h>
#include "uploader.h"
#include <modules/px4iofirmware/protocol.h>
#include "interface.h"
device::Device *PX4IO_i2c_interface();
class PX4IO_I2C : public PX4IO_interface
class PX4IO_I2C : public device::I2C
{
public:
PX4IO_I2C(int bus, uint8_t address);
virtual ~PX4IO_I2C();
virtual int set_reg(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num_values);
virtual int get_reg(uint8_t page, uint8_t offset, uint16_t *values, unsigned num_values);
virtual bool ok();
virtual int test(unsigned mode);
virtual int probe();
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:
static const unsigned _retries = 2;
struct i2c_dev_s *_dev;
uint8_t _address;
};
PX4IO_interface *io_i2c_interface(int bus, uint8_t address)
device::Device
*PX4IO_i2c_interface()
{
return new PX4IO_I2C(bus, address);
#ifdef PX4_I2C_OBDEV_PX4IO
return new PX4IO_I2C(PX4_I2C_BUS_ONBOARD, PX4_I2C_OBDEV_PX4IO);
#endif
return nullptr;
}
PX4IO_I2C::PX4IO_I2C(int bus, uint8_t address) :
_dev(nullptr),
_address(address)
I2C("PX4IO_i2c", nullptr, bus, address, 400000)
{
_dev = up_i2cinitialize(bus);
if (_dev)
I2C_SETFREQUENCY(_dev, 400000);
_retries = 3;
}
PX4IO_I2C::~PX4IO_I2C()
{
if (_dev)
up_i2cuninitialize(_dev);
}
bool
PX4IO_I2C::ok()
{
if (!_dev)
return false;
/* check any other status here */
return true;
}
int
PX4IO_I2C::test(unsigned mode)
PX4IO_I2C::probe()
{
/* XXX really should do something here */
return 0;
}
int
PX4IO_I2C::ioctl(unsigned operation, unsigned &arg)
{
return 0;
}
int
PX4IO_I2C::set_reg(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num_values)
PX4IO_I2C::write(unsigned address, void *data, unsigned count)
{
int ret;
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].addr = _address;
msgv[0].flags = 0;
msgv[0].buffer = addr;
msgv[0].length = 2;
msgv[1].addr = _address;
msgv[1].flags = I2C_M_NORESTART;
msgv[1].buffer = (uint8_t *)values;
msgv[1].length = num_values * sizeof(*values);
msgv[1].length = 2 * count;
unsigned tries = 0;
do {
/* perform the transfer */
ret = I2C_TRANSFER(_dev, msgv, 2);
if (ret == OK)
break;
} while (tries++ < _retries);
return ret;
return transfer(msgv, 2);
}
int
PX4IO_I2C::get_reg(uint8_t page, uint8_t offset, uint16_t *values, unsigned num_values)
PX4IO_I2C::read(unsigned address, void *data, unsigned count)
{
int ret;
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] = {
@@ -163,25 +147,13 @@ PX4IO_I2C::get_reg(uint8_t page, uint8_t offset, uint16_t *values, unsigned num_
};
i2c_msg_s msgv[2];
msgv[0].addr = _address;
msgv[0].flags = 0;
msgv[0].buffer = addr;
msgv[0].length = 2;
msgv[1].addr = _address;
msgv[1].flags = I2C_M_READ;
msgv[1].buffer = (uint8_t *)values;
msgv[1].length = num_values * sizeof(*values);
msgv[1].length = 2 * count;
unsigned tries = 0;
do {
/* perform the transfer */
ret = I2C_TRANSFER(_dev, msgv, 2);
if (ret == OK)
break;
} while (tries++ < _retries);
return ret;
return transfer(msgv, 2);
}