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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/px4io_serial.cpp
+54 -59
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@@ -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;
}