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

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>
2026-07-01 06:10:35 +08:00 · 2015-04-06 19:31:03 -07:00
parent 4780353cd8
commit 76a6f19476
9 changed files with 457 additions and 22 deletions
@@ -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