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Linux: Added device simulator to simulate an I2C or SPI device

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The simulated device satisfies the factory pattern used by
MS5611 to create a specific I2C or SPI device instance.

For now the functions just return true, but should/could
return simulated data.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois
2015-04-20 11:35:47 -07:00
parent 4780353cd8
commit 76a6f19476
9 changed files with 457 additions and 22 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/device/module.mk
+2 -1
View File
@@ -47,5 +47,6 @@ ifeq ($(PX4_TARGET_OS),linux)
SRCS = vdev.cpp \
device.cpp \
vdev_posix.cpp \
i2c_linux.cpp
i2c_linux.cpp \
sim.cpp
endif
src/drivers/device/sim.cpp
+115
View File
@@ -0,0 +1,115 @@
/****************************************************************************
*
* Copyright (c) 2012-2015 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 sim.cpp
*
* Base class for simulated devices.
*
* @todo Bus frequency changes; currently we do nothing with the value
* that is supplied. Should we just depend on the bus knowing?
*/
#include <unistd.h>
#include <fcntl.h>
#include <sys/ioctl.h>
#include "sim.h"
namespace device
{
SIM::SIM(const char *name,
const char *devname,
int bus,
uint16_t address) :
// base class
Device(name),
// public
// protected
// private
_bus(bus),
_address(address),
_devname(devname)
{
printf("SIM::SIM name = %s devname = %s\n", name, devname);
// fill in _device_id fields for a SIM device
_device_id.devid_s.bus_type = DeviceBusType_SIM;
_device_id.devid_s.bus = bus;
_device_id.devid_s.address = address;
// devtype needs to be filled in by the driver
_device_id.devid_s.devtype = 0;
}
SIM::~SIM()
{
}
int
SIM::init()
{
int ret = PX4_OK;
// Assume the driver set the desired bus frequency. There is no standard
// way to set it from user space.
// do base class init, which registers the virtual driver
ret = Device::init();
if (ret != PX4_OK) {
debug("VDev::init failed");
return ret;
}
return ret;
}
int
SIM::transfer(const uint8_t *send, unsigned send_len, uint8_t *recv, unsigned recv_len)
{
if (send_len > 0) {
printf("SIM: sending %d bytes\n", send_len);
}
if (recv_len > 0) {
printf("SIM: receiving %d bytes\n", recv_len);
// TODO - write data to recv;
}
printf("I2C SIM: transfer_4 on %s\n", _devname);
return PX4_OK;
}
} // namespace device
src/drivers/device/sim.h
+112
View File
@@ -0,0 +1,112 @@
/****************************************************************************
*
* Copyright (C) 2012 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 sim.h
*
* Base class for devices on simulation bus.
*/
#pragma once
#include "vdev.h"
namespace device __EXPORT
{
/**
* Abstract class for character device on SIM
*/
class __EXPORT SIM : public Device
{
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
* error.
*/
unsigned _retries;
/**
* The SIM bus number the device is attached to.
*/
int _bus;
/**
* @ Constructor
*
* @param name Driver name
* @param devname Device node name
* @param bus SIM bus on which the device lives
* @param address SIM bus address, or zero if set_address will be used
*/
SIM(const char *name,
const char *devname,
int bus,
uint16_t address);
virtual ~SIM();
virtual int init();
/**
* Perform an SIM transaction to the device.
*
* At least one of send_len and recv_len must be non-zero.
*
* @param send Pointer to bytes to send.
* @param send_len Number of bytes to send.
* @param recv Pointer to buffer for bytes received.
* @param recv_len Number of bytes to receive.
* @return OK if the transfer was successful, -errno
* otherwise.
*/
int transfer(const uint8_t *send, unsigned send_len,
uint8_t *recv, unsigned recv_len);
private:
uint16_t _address;
const char * _devname;
SIM(const device::SIM&);
SIM operator=(const device::SIM&);
};
} // namespace device
src/drivers/device/vdev.h
+7 -7
View File
@@ -71,10 +71,9 @@ struct px4_dev_handle_t {
};
/**
* Fundamental base class for all device drivers.
* Fundamental base class for all physical drivers (I2C, SPI).
*
* This class handles the basic "being a driver" things, including
* interrupt registration and dispatch.
* This class provides the basic driver template for I2C and SPI devices
*/
class __EXPORT Device
{
@@ -107,7 +106,7 @@ public:
* @param count The number of items to read.
* @return The number of items read on success, negative errno otherwise.
*/
int dev_read(unsigned address, void *data, unsigned count);
virtual int dev_read(unsigned address, void *data, unsigned count);
/**
* Write directly to the device.
@@ -119,7 +118,7 @@ public:
* @param count The number of items to write.
* @return The number of items written on success, negative errno otherwise.
*/
int dev_write(unsigned address, void *data, unsigned count);
virtual int dev_write(unsigned address, void *data, unsigned count);
/**
* Perform a device-specific operation.
@@ -128,7 +127,7 @@ public:
* @param arg An argument to the operation.
* @return Negative errno on error, OK or positive value on success.
*/
int dev_ioctl(unsigned operation, unsigned &arg);
virtual int dev_ioctl(unsigned operation, unsigned &arg);
/*
device bus types for DEVID
@@ -138,6 +137,7 @@ public:
DeviceBusType_I2C = 1,
DeviceBusType_SPI = 2,
DeviceBusType_UAVCAN = 3,
DeviceBusType_SIM = 4,
};
/*
@@ -452,7 +452,7 @@ private:
/* do not allow copying this class */
VDev(const VDev&);
VDev operator=(const VDev&);
//VDev operator=(const VDev&);
};
#if 0