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Direct-access device functions return errors directly.

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Move to using ::init rather than ::probe in keeping with device changes.
This commit is contained in:
px4dev
2013-07-14 11:44:46 -07:00
parent 12b84597d8
commit 6c7f1e883e
4 changed files with 79 additions and 156 deletions
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src/drivers/px4io/interface.h
-85
View File
@@ -1,85 +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 interface.h
*
* PX4IO interface classes.
*/
#include <nuttx/config.h>
#include <stdint.h>
class PX4IO_interface
{
public:
/**
* Check that the interface initialised OK.
*
* Does not check that communication has been established.
*/
virtual bool ok() = 0;
/**
* Set PX4IO registers.
*
* @param page The register page to write
* @param offset Offset of the first register to write
* @param values Pointer to values to write
* @param num_values The number of values to write
* @return Zero on success.
*/
virtual int set_reg(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num_values) = 0;
/**
* Get PX4IO registers.
*
* @param page The register page to read
* @param offset Offset of the first register to read
* @param values Pointer to store values read
* @param num_values The number of values to read
* @return Zero on success.
*/
virtual int get_reg(uint8_t page, uint8_t offset, uint16_t *values, unsigned num_values) = 0;
/**
* Perform an interface test.
*
* @param mode Optional test mode.
*/
virtual int test(unsigned mode) = 0;
};
extern PX4IO_interface *io_i2c_interface(int bus, uint8_t address);
extern PX4IO_interface *io_serial_interface();
src/drivers/px4io/px4io.cpp
+6 -6
View File
@@ -1132,8 +1132,8 @@ PX4IO::io_reg_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned
}
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);
if (ret != num_values)
debug("io_reg_set(%u,%u,%u): error %d", page, offset, num_values, ret);
return ret;
}
@@ -1153,8 +1153,8 @@ PX4IO::io_reg_get(uint8_t page, uint8_t offset, uint16_t *values, unsigned num_v
}
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);
if (ret != num_values)
debug("io_reg_get(%u,%u,%u): data error %d", page, offset, num_values, ret);
return ret;
}
@@ -1617,7 +1617,7 @@ start(int argc, char *argv[])
if (interface == nullptr)
errx(1, "cannot alloc interface");
if (interface->probe()) {
if (interface->init()) {
delete interface;
errx(1, "interface init failed");
}
@@ -1754,7 +1754,7 @@ if_test(unsigned mode)
if (interface == nullptr)
errx(1, "cannot alloc interface");
if (interface->probe()) {
if (interface->init()) {
delete interface;
errx(1, "interface init failed");
} else {
src/drivers/px4io/px4io_i2c.cpp
+19 -6
View File
@@ -32,7 +32,7 @@
****************************************************************************/
/**
* @file interface_i2c.cpp
* @file px4io_i2c.cpp
*
* I2C interface for PX4IO
*/
@@ -65,7 +65,7 @@ public:
PX4IO_I2C(int bus, uint8_t address);
virtual ~PX4IO_I2C();
virtual int probe();
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);
@@ -94,10 +94,17 @@ PX4IO_I2C::~PX4IO_I2C()
}
int
PX4IO_I2C::probe()
PX4IO_I2C::init()
{
/* XXX really should do something here */
int ret;
ret = I2C::init();
if (ret != OK)
goto out;
/* XXX really should do something more here */
out:
return 0;
}
@@ -130,7 +137,10 @@ PX4IO_I2C::write(unsigned address, void *data, unsigned count)
msgv[1].buffer = (uint8_t *)values;
msgv[1].length = 2 * count;
return transfer(msgv, 2);
int ret = transfer(msgv, 2);
if (ret == OK)
ret = count;
return ret;
}
int
@@ -155,5 +165,8 @@ PX4IO_I2C::read(unsigned address, void *data, unsigned count)
msgv[1].buffer = (uint8_t *)values;
msgv[1].length = 2 * count;
return transfer(msgv, 2);
int ret = transfer(msgv, 2);
if (ret == OK)
ret = count;
return ret;
}
src/drivers/px4io/px4io_serial.cpp
+54 -59
View File
@@ -32,7 +32,7 @@
****************************************************************************/
/**
* @file interface_serial.cpp
* @file px4io_serial.cpp
*
* Serial interface for PX4IO
*/
@@ -85,7 +85,7 @@ public:
PX4IO_serial();
virtual ~PX4IO_serial();
virtual int probe();
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);
@@ -181,43 +181,6 @@ PX4IO_serial::PX4IO_serial() :
_pc_idle(perf_alloc(PC_COUNT, "io_idle ")),
_pc_badidle(perf_alloc(PC_COUNT, "io_badidle "))
{
/* allocate DMA */
_tx_dma = stm32_dmachannel(PX4IO_SERIAL_TX_DMAMAP);
_rx_dma = stm32_dmachannel(PX4IO_SERIAL_RX_DMAMAP);
if ((_tx_dma == nullptr) || (_rx_dma == nullptr))
return;
/* configure pins for serial use */
stm32_configgpio(PX4IO_SERIAL_TX_GPIO);
stm32_configgpio(PX4IO_SERIAL_RX_GPIO);
/* reset & configure the UART */
rCR1 = 0;
rCR2 = 0;
rCR3 = 0;
/* eat any existing interrupt status */
(void)rSR;
(void)rDR;
/* configure line speed */
uint32_t usartdiv32 = PX4IO_SERIAL_CLOCK / (PX4IO_SERIAL_BITRATE / 2);
uint32_t mantissa = usartdiv32 >> 5;
uint32_t fraction = (usartdiv32 - (mantissa << 5) + 1) >> 1;
rBRR = (mantissa << USART_BRR_MANT_SHIFT) | (fraction << USART_BRR_FRAC_SHIFT);
/* attach serial interrupt handler */
irq_attach(PX4IO_SERIAL_VECTOR, _interrupt);
up_enable_irq(PX4IO_SERIAL_VECTOR);
/* enable UART in DMA mode, enable error and line idle interrupts */
/* rCR3 = USART_CR3_EIE;*/
rCR1 = USART_CR1_RE | USART_CR1_TE | USART_CR1_UE | USART_CR1_IDLEIE;
/* create semaphores */
sem_init(&_completion_semaphore, 0, 0);
sem_init(&_bus_semaphore, 0, 1);
g_interface = this;
}
@@ -265,14 +228,47 @@ PX4IO_serial::~PX4IO_serial()
}
int
PX4IO_serial::probe()
PX4IO_serial::init()
{
/* XXX this could try talking to IO */
/* allocate DMA */
_tx_dma = stm32_dmachannel(PX4IO_SERIAL_TX_DMAMAP);
_rx_dma = stm32_dmachannel(PX4IO_SERIAL_RX_DMAMAP);
if ((_tx_dma == nullptr) || (_rx_dma == nullptr))
return -1;
if (_tx_dma == nullptr)
return -1;
if (_rx_dma == nullptr)
return -1;
/* configure pins for serial use */
stm32_configgpio(PX4IO_SERIAL_TX_GPIO);
stm32_configgpio(PX4IO_SERIAL_RX_GPIO);
/* reset & configure the UART */
rCR1 = 0;
rCR2 = 0;
rCR3 = 0;
/* eat any existing interrupt status */
(void)rSR;
(void)rDR;
/* configure line speed */
uint32_t usartdiv32 = PX4IO_SERIAL_CLOCK / (PX4IO_SERIAL_BITRATE / 2);
uint32_t mantissa = usartdiv32 >> 5;
uint32_t fraction = (usartdiv32 - (mantissa << 5) + 1) >> 1;
rBRR = (mantissa << USART_BRR_MANT_SHIFT) | (fraction << USART_BRR_FRAC_SHIFT);
/* attach serial interrupt handler */
irq_attach(PX4IO_SERIAL_VECTOR, _interrupt);
up_enable_irq(PX4IO_SERIAL_VECTOR);
/* enable UART in DMA mode, enable error and line idle interrupts */
/* rCR3 = USART_CR3_EIE;*/
rCR1 = USART_CR1_RE | USART_CR1_TE | USART_CR1_UE | USART_CR1_IDLEIE;
/* create semaphores */
sem_init(&_completion_semaphore, 0, 0);
sem_init(&_bus_semaphore, 0, 1);
/* XXX this could try talking to IO */
return 0;
}
@@ -344,10 +340,8 @@ PX4IO_serial::write(unsigned address, void *data, unsigned count)
uint8_t offset = address & 0xff;
const uint16_t *values = reinterpret_cast<const uint16_t *>(data);
if (count > PKT_MAX_REGS) {
errno = EINVAL;
return -1;
}
if (count > PKT_MAX_REGS)
return -EINVAL;
sem_wait(&_bus_semaphore);
@@ -373,8 +367,7 @@ PX4IO_serial::write(unsigned address, void *data, unsigned count)
if (PKT_CODE(_dma_buffer) == PKT_CODE_ERROR) {
/* IO didn't like it - no point retrying */
errno = EINVAL;
result = -1;
result = -EINVAL;
perf_count(_pc_protoerrs);
}
@@ -384,6 +377,9 @@ PX4IO_serial::write(unsigned address, void *data, unsigned count)
}
sem_post(&_bus_semaphore);
if (result == OK)
result = count;
return result;
}
@@ -416,16 +412,14 @@ PX4IO_serial::read(unsigned address, void *data, unsigned count)
if (PKT_CODE(_dma_buffer) == PKT_CODE_ERROR) {
/* IO didn't like it - no point retrying */
errno = EINVAL;
result = -1;
result = -EINVAL;
perf_count(_pc_protoerrs);
/* compare the received count with the expected count */
} else if (PKT_COUNT(_dma_buffer) != count) {
/* IO returned the wrong number of registers - no point retrying */
errno = EIO;
result = -1;
result = -EIO;
perf_count(_pc_protoerrs);
/* successful read */
@@ -441,6 +435,9 @@ PX4IO_serial::read(unsigned address, void *data, unsigned count)
}
sem_post(&_bus_semaphore);
if (result == OK)
result = count;
return result;
}
@@ -524,8 +521,7 @@ PX4IO_serial::_wait_complete()
/* check for DMA errors */
if (_rx_dma_status & DMA_STATUS_TEIF) {
perf_count(_pc_dmaerrs);
ret = -1;
errno = EIO;
ret = -EIO;
break;
}
@@ -534,8 +530,7 @@ PX4IO_serial::_wait_complete()
_dma_buffer.crc = 0;
if ((crc != crc_packet(&_dma_buffer)) | (PKT_CODE(_dma_buffer) == PKT_CODE_CORRUPT)) {
perf_count(_pc_crcerrs);
ret = -1;
errno = EIO;
ret = -EIO;
break;
}