board support add px4_i2c_bus_external/px4_spi_bus_external

src/drivers/device/Device.hpp

@@ -137,30 +137,32 @@ public:
 	 *
 	 * @return The bus ID
 	 */
-	virtual uint8_t get_device_bus() { return _device_id.devid_s.bus; }
+	uint8_t get_device_bus() { return _device_id.devid_s.bus; }
 
 	/**
 	 * Return the bus type the device is connected to.
 	 *
 	 * @return The bus type
 	 */
-	virtual DeviceBusType get_device_bus_type() { return _device_id.devid_s.bus_type; }
+	DeviceBusType get_device_bus_type() { return _device_id.devid_s.bus_type; }
 
 	/**
 	 * Return the bus address of the device.
 	 *
 	 * @return The bus address
 	 */
-	virtual uint8_t get_device_address() { return _device_id.devid_s.address; }
+	uint8_t get_device_address() { return _device_id.devid_s.address; }
+
+	void set_device_address(int address) { _device_id.devid_s.address = address; }
 
 	/**
 	 * Set the device type
 	 *
 	 * @return The device type
 	 */
-	virtual void set_device_type(uint8_t devtype) { _device_id.devid_s.devtype = devtype; }
+	void set_device_type(uint8_t devtype) { _device_id.devid_s.devtype = devtype; }
 
-	//virtual bool external() = 0;
+	virtual bool external() { return false; }
 
 	/*
 	  broken out device elements. The bitfields are used to keep

src/drivers/device/nuttx/cdev_platform.hpp

@@ -3,9 +3,10 @@
 
 #include <cinttypes>
 
-#include <px4_micro_hal.h>
 #include <nuttx/arch.h>
 
+#include <px4_micro_hal.h>
+
 #define ATOMIC_ENTER irqstate_t flags = px4_enter_critical_section()
 #define ATOMIC_LEAVE px4_leave_critical_section(flags)
 

src/drivers/device/nuttx/i2c_nuttx.cpp

@@ -61,9 +61,6 @@ I2C::I2C(const char *name,
 	// public
 	// protected
 	_retries(0),
-	// private
-	_bus(bus),
-	_address(address),
 	_frequency(frequency),
 	_dev(nullptr)
 {
@@ -108,7 +105,7 @@ I2C::init()
 	unsigned bus_index;
 
 	// attach to the i2c bus
-	_dev = px4_i2cbus_initialize(_bus);
+	_dev = px4_i2cbus_initialize(get_device_bus());
 
 	if (_dev == nullptr) {
 		DEVICE_DEBUG("failed to init I2C");
@@ -118,7 +115,7 @@ I2C::init()
 
 	// the above call fails for a non-existing bus index,
 	// so the index math here is safe.
-	bus_index = _bus - 1;
+	bus_index = get_device_bus() - 1;
 
 	// abort if the max frequency we allow (the frequency we ask)
 	// is smaller than the bus frequency
@@ -126,7 +123,7 @@ I2C::init()
 		(void)px4_i2cbus_uninitialize(_dev);
 		_dev = nullptr;
 		DEVICE_LOG("FAIL: too slow for bus #%u: %u KHz, device max: %u KHz)",
-			   _bus, _bus_clocks[bus_index] / 1000, _frequency / 1000);
+			   get_device_bus(), _bus_clocks[bus_index] / 1000, _frequency / 1000);
 		ret = -EINVAL;
 		goto out;
 	}
@@ -165,7 +162,7 @@ I2C::init()
 
 	// tell the world where we are
 	DEVICE_LOG("on I2C bus %d at 0x%02x (bus: %u KHz, max: %u KHz)",
-		   _bus, _address, _bus_clocks[bus_index] / 1000, _frequency / 1000);
+		   get_device_bus(), get_device_address(), _bus_clocks[bus_index] / 1000, _frequency / 1000);
 
 out:
 
@@ -198,8 +195,8 @@ I2C::transfer(const uint8_t *send, unsigned send_len, uint8_t *recv, unsigned re
 		msgs = 0;
 
 		if (send_len > 0) {
-			msgv[msgs].frequency = _bus_clocks[_bus - 1];
-			msgv[msgs].addr = _address;
+			msgv[msgs].frequency = _bus_clocks[get_device_bus() - 1];
+			msgv[msgs].addr = get_device_address();
 			msgv[msgs].flags = 0;
 			msgv[msgs].buffer = const_cast<uint8_t *>(send);
 			msgv[msgs].length = send_len;
@@ -207,8 +204,8 @@ I2C::transfer(const uint8_t *send, unsigned send_len, uint8_t *recv, unsigned re
 		}
 
 		if (recv_len > 0) {
-			msgv[msgs].frequency = _bus_clocks[_bus - 1];
-			msgv[msgs].addr = _address;
+			msgv[msgs].frequency = _bus_clocks[get_device_bus() - 1];
+			msgv[msgs].addr = get_device_address();
 			msgv[msgs].flags = I2C_M_READ;
 			msgv[msgs].buffer = recv;
 			msgv[msgs].length = recv_len;
@@ -245,8 +242,8 @@ I2C::transfer(i2c_msg_s *msgv, unsigned msgs)
 
 	/* force the device address and Frequency into the message vector */
 	for (unsigned i = 0; i < msgs; i++) {
-		msgv[i].frequency = _bus_clocks[_bus - 1];
-		msgv[i].addr = _address;
+		msgv[i].frequency = _bus_clocks[get_device_address() - 1];
+		msgv[i].addr = get_device_address();
 	}
 
 

src/drivers/device/nuttx/i2c_nuttx.h

@@ -55,11 +55,6 @@ class __EXPORT I2C : public CDev
 
 public:
 
-	/**
-	 * Get the address
-	 */
-	int16_t		get_address() const { return _address; }
-
 	static int	set_bus_clock(unsigned bus, unsigned clock_hz);
 
 	static unsigned	int	_bus_clocks[BOARD_NUMBER_I2C_BUSES];
@@ -71,11 +66,6 @@ protected:
 	 */
 	unsigned		_retries;
 
-	/**
-	 * The I2C bus number the device is attached to.
-	 */
-	int			_bus;
-
 	/**
 	 * @ Constructor
 	 *
@@ -111,8 +101,7 @@ protected:
 	 * @return		OK if the transfer was successful, -errno
 	 *			otherwise.
 	 */
-	int		transfer(const uint8_t *send, unsigned send_len,
-				 uint8_t *recv, unsigned recv_len);
+	int		transfer(const uint8_t *send, unsigned send_len, uint8_t *recv, unsigned recv_len);
 
 	/**
 	 * Perform a multi-part I2C transaction to the device.
@@ -124,22 +113,9 @@ protected:
 	 */
 	int		transfer(px4_i2c_msg_t *msgv, unsigned msgs);
 
-	/**
-	 * Change the bus address.
-	 *
-	 * Most often useful during probe() when the driver is testing
-	 * several possible bus addresses.
-	 *
-	 * @param address	The new bus address to set.
-	 */
-	void		set_address(uint16_t address)
-	{
-		_address = address;
-		_device_id.devid_s.address = _address;
-	}
+	bool		external() { return px4_i2c_bus_external(_device_id.devid_s.bus); }
 
 private:
-	uint16_t		_address;
 	uint32_t		_frequency;
 	px4_i2c_dev_t		*_dev;
 

src/drivers/device/nuttx/spi.cpp

@@ -71,8 +71,7 @@ SPI::SPI(const char *name,
 	_device(device),
 	_mode(mode),
 	_frequency(frequency),
-	_dev(nullptr),
-	_bus(bus)
+	_dev(nullptr)
 {
 	// fill in _device_id fields for a SPI device
 	_device_id.devid_s.bus_type = DeviceBusType_SPI;
@@ -94,7 +93,7 @@ SPI::init()
 
 	/* attach to the spi bus */
 	if (_dev == nullptr) {
-		_dev = px4_spibus_initialize(_bus);
+		_dev = px4_spibus_initialize(get_device_bus());
 	}
 
 	if (_dev == nullptr) {
@@ -123,7 +122,7 @@ SPI::init()
 	}
 
 	/* tell the workd where we are */
-	DEVICE_LOG("on SPI bus %d at %d (%u KHz)", _bus, PX4_SPI_DEV_ID(_device), _frequency / 1000);
+	DEVICE_LOG("on SPI bus %d at %d (%u KHz)", get_device_bus(), PX4_SPI_DEV_ID(_device), _frequency / 1000);
 
 out:
 	return ret;

src/drivers/device/posix/cdev_platform.cpp

@@ -106,7 +106,7 @@ extern "C" {
 		return dev;
 	}
 
-	int register_driver(const char *name, const device::px4_file_operations_t *fops, mode_t mode, void *data)
+	int register_driver(const char *name, const device::px4_file_operations_t *fops, device::mode_t mode, void *data)
 	{
 		PX4_DEBUG("CDev::register_driver %s", name);
 		int ret = 0;

src/drivers/device/posix/i2c_posix.cpp

@@ -40,7 +40,8 @@
  *       that is supplied.  Should we just depend on the bus knowing?
  */
 
-#include "i2c.h"
+#include "i2c_posix.h"
+
 #ifdef __PX4_LINUX
 #include <linux/i2c.h>
 #include <linux/i2c-dev.h>
@@ -72,8 +73,6 @@ I2C::I2C(const char *name,
 	// protected
 	_retries(0),
 	// private
-	_bus(bus),
-	_address(address),
 	_fd(-1)
 {
 	DEVICE_DEBUG("I2C::I2C name = %s devname = %s", name, devname);
@@ -119,7 +118,7 @@ I2C::init()
 
 		// Open the actual I2C device
 		char dev_path[16];
-		snprintf(dev_path, sizeof(dev_path), "/dev/i2c-%i", _bus);
+		snprintf(dev_path, sizeof(dev_path), "/dev/i2c-%i", get_device_bus());
 		_fd = ::open(dev_path, O_RDWR);
 
 		if (_fd < 0) {
@@ -156,7 +155,7 @@ I2C::transfer(const uint8_t *send, unsigned send_len, uint8_t *recv, unsigned re
 		msgs = 0;
 
 		if (send_len > 0) {
-			msgv[msgs].addr = _address;
+			msgv[msgs].addr = get_device_address();
 			msgv[msgs].flags = 0;
 			msgv[msgs].buf = const_cast<uint8_t *>(send);
 			msgv[msgs].len = send_len;
@@ -164,7 +163,7 @@ I2C::transfer(const uint8_t *send, unsigned send_len, uint8_t *recv, unsigned re
 		}
 
 		if (recv_len > 0) {
-			msgv[msgs].addr = _address;
+			msgv[msgs].addr = get_device_address();
 			msgv[msgs].flags = I2C_M_READ;
 			msgv[msgs].buf = recv;
 			msgv[msgs].len = recv_len;
@@ -217,7 +216,7 @@ I2C::transfer(struct i2c_msg *msgv, unsigned msgs)
 
 	/* force the device address into the message vector */
 	for (unsigned i = 0; i < msgs; i++) {
-		msgv[i].addr = _address;
+		msgv[i].addr = get_device_address();
 	}
 
 	do {

src/drivers/device/posix/i2c_posix.h

@@ -60,11 +60,6 @@ class __EXPORT I2C : public CDev
 
 public:
 
-	/**
-	 * Get the address
-	 */
-	int16_t		get_address() const { return _address; }
-
 protected:
 	/**
 	 * The number of times a read or write operation will be retried on
@@ -72,11 +67,6 @@ protected:
 	 */
 	unsigned		_retries;
 
-	/**
-	 * The I2C bus number the device is attached to.
-	 */
-	int			_bus;
-
 	/**
 	 * @ Constructor
 	 *
@@ -110,8 +100,7 @@ protected:
 	 * @return		OK if the transfer was successful, -errno
 	 *			otherwise.
 	 */
-	int		transfer(const uint8_t *send, unsigned send_len,
-				 uint8_t *recv, unsigned recv_len);
+	int		transfer(const uint8_t *send, unsigned send_len, uint8_t *recv, unsigned recv_len);
 
 	/**
 	 * Perform a multi-part I2C transaction to the device.
@@ -123,22 +112,9 @@ protected:
 	 */
 	int		transfer(struct i2c_msg *msgv, unsigned msgs);
 
-	/**
-	 * Change the bus address.
-	 *
-	 * Most often useful during probe() when the driver is testing
-	 * several possible bus addresses.
-	 *
-	 * @param address	The new bus address to set.
-	 */
-	void		set_address(uint16_t address)
-	{
-		_address = address;
-		_device_id.devid_s.address = _address;
-	}
+	bool		external() { return px4_i2c_bus_external(_device_id.devid_s.bus); }
 
 private:
-	uint16_t		_address;
 	int 			_fd;
 	std::string		_dname;
 

src/drivers/device/spi.h

@@ -142,10 +142,10 @@ private:
 	SPI operator=(const SPI &);
 
 protected:
-	int			_bus;
-
 	int	_transfer(uint8_t *send, uint8_t *recv, unsigned len);
 
+	bool	external() { return px4_spi_bus_external(get_device_bus()); }
+
 };
 
 } // namespace device