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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-26 06:33:33 +08:00
purge broken qurt support and atlflight boards
This commit is contained in:
Daniel Agar
@@ -1,170 +0,0 @@
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/****************************************************************************
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*
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* Copyright (c) 2016-2020 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.cpp
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*
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* Base class for devices attached via the I2C bus.
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*
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* @todo Bus frequency changes; currently we do nothing with the value
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* that is supplied. Should we just depend on the bus knowing?
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*/
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#include "I2C.hpp"
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#include <dev_fs_lib_i2c.h>
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#include <px4_platform_common/i2c_spi_buses.h>
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namespace device
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{
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I2C::I2C(uint8_t device_type, const char *name, const int bus, const uint16_t address, const uint32_t frequency) :
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CDev(name, nullptr),
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_frequency(frequency)
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{
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// fill in _device_id fields for a I2C device
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_device_id.devid_s.devtype = device_type;
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_device_id.devid_s.bus_type = DeviceBusType_I2C;
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_device_id.devid_s.bus = bus;
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_device_id.devid_s.address = address;
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}
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I2C::I2C(const I2CSPIDriverConfig &config)
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: I2C(config.devid_driver_index, config.module_name, config.bus, config.i2c_address, config.bus_frequency)
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{
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}
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I2C::~I2C()
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{
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if (_fd >= 0) {
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::close(_fd);
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_fd = -1;
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}
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}
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int
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I2C::init()
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{
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int ret = PX4_ERROR;
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// Open the actual I2C device
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char dev_path[16] {};
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snprintf(dev_path, sizeof(dev_path), DEV_FS_I2C_DEVICE_TYPE_STRING"%i", get_device_bus());
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_fd = ::open(dev_path, O_RDWR);
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if (_fd < 0) {
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DEVICE_DEBUG("failed to init I2C");
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ret = -ENOENT;
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goto out;
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}
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// call the probe function to check whether the device is present
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ret = probe();
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if (ret != OK) {
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DEVICE_DEBUG("probe failed");
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goto out;
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}
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// do base class init, which will create device node, etc
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ret = CDev::init();
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if (ret != OK) {
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DEVICE_DEBUG("cdev init failed");
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goto out;
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}
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// tell the world where we are
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DEVICE_DEBUG("on I2C bus %d at 0x%02x", get_device_bus(), get_device_address());
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out:
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if ((ret != OK) && !(_fd < 0)) {
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::close(_fd);
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_fd = -1;
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}
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return ret;
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}
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int
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I2C::transfer(const uint8_t *send, const unsigned send_len, uint8_t *recv, const unsigned recv_len)
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{
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int ret = PX4_ERROR;
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unsigned retry_count = 0;
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if (_fd < 0) {
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PX4_ERR("I2C device not opened");
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return PX4_ERROR;
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}
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do {
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DEVICE_DEBUG("transfer out %p/%u in %p/%u", send, send_len, recv, recv_len);
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dspal_i2c_ioctl_slave_config slave_config{};
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slave_config.slave_address = get_device_address();
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slave_config.bus_frequency_in_khz = _frequency / 1000;
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slave_config.byte_transer_timeout_in_usecs = 10000; // 10 ms
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int ret_config = ::ioctl(_fd, I2C_IOCTL_SLAVE, &slave_config);
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if (ret_config < 0) {
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DEVICE_DEBUG("Could not set slave config, result: %d", ret_config);
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}
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dspal_i2c_ioctl_combined_write_read ioctl_write_read{};
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ioctl_write_read.write_buf = (uint8_t *)send;
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ioctl_write_read.write_buf_len = send_len;
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ioctl_write_read.read_buf = recv;
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ioctl_write_read.read_buf_len = recv_len;
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int bytes_read = ::ioctl(_fd, I2C_IOCTL_RDWR, &ioctl_write_read);
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if (bytes_read != (int)recv_len) {
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DEVICE_DEBUG("I2C transfer failed, bytes read %d", bytes_read);
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ret = PX4_ERROR;
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} else {
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// success
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ret = PX4_OK;
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break;
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}
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} while (retry_count++ < _retries);
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return ret;
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}
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} // namespace device
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