Checkpoint: interface abstraction for px4io driver

2026-10-22 20:33:34 +08:00 · 2013-06-25 23:08:34 -07:00
parent 758ebf6c04
commit 90c458cb61
9 changed files with 847 additions and 193 deletions
@@ -0,0 +1,179 @@
+/****************************************************************************
+ *
+ *   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_i2c.cpp
+  *
+  * I2C interface for PX4IO
+  */
+
+/* XXX trim includes */
+#include <nuttx/config.h>
+
+#include <sys/types.h>
+#include <stdint.h>
+#include <stdbool.h>
+#include <assert.h>
+#include <debug.h>
+#include <errno.h>
+#include <unistd.h>
+
+#include <arch/board/board.h>
+
+#include <nuttx/i2c.h>
+
+#include <mavlink/mavlink_log.h>
+#include "uploader.h"
+#include <modules/px4iofirmware/protocol.h>
+
+#include "interface.h"
+
+class PX4IO_I2C : public PX4IO_interface
+{
+public:
+	PX4IO_I2C(int bus, uint8_t address);
+	virtual ~PX4IO_I2C();
+
+	virtual int	set_reg(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num_values);
+	virtual int	get_reg(uint8_t page, uint8_t offset, uint16_t *values, unsigned num_values);
+
+	virtual bool	ok();
+
+private:
+	static const unsigned	_retries = 2;
+
+	struct i2c_dev_s	*_dev;
+	uint8_t			_address;
+};
+
+PX4IO_interface	*io_i2c_interface(int bus, uint8_t address)
+{
+	return new PX4IO_I2C(bus, address);
+}
+
+PX4IO_I2C::PX4IO_I2C(int bus, uint8_t address) :
+	_dev(nullptr),
+	_address(address)
+{
+	_dev = up_i2cinitialize(bus);
+	if (_dev)
+		I2C_SETFREQUENCY(_dev, 400000);
+}
+
+PX4IO_I2C::~PX4IO_I2C()
+{
+	if (_dev)
+		up_i2cuninitialize(_dev);
+}
+
+bool
+PX4IO_I2C::ok()
+{
+	if (!_dev)
+		return false;
+
+	/* check any other status here */
+
+	return true;
+}
+
+int
+PX4IO_I2C::set_reg(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num_values)
+{
+	int ret;
+
+	/* set up the transfer */
+	uint8_t 	addr[2] = {
+		page,
+		offset
+	};
+	i2c_msg_s	msgv[2];
+
+	msgv[0].addr = _address;
+	msgv[0].flags = 0;
+	msgv[0].buffer = addr;
+	msgv[0].length = 2;
+
+	msgv[1].addr = _address;
+	msgv[1].flags = I2C_M_NORESTART;
+	msgv[1].buffer = (uint8_t *)values;
+	msgv[1].length = num_values * sizeof(*values);
+
+	unsigned tries = 0;
+	do {
+
+		/* perform the transfer */
+		ret = I2C_TRANSFER(_dev, msgv, 2);
+
+		if (ret == OK)
+			break;
+
+	} while (tries++ < _retries);
+
+	return ret;
+}
+
+int
+PX4IO_I2C::get_reg(uint8_t page, uint8_t offset, uint16_t *values, unsigned num_values)
+{
+	int ret;
+
+	/* set up the transfer */
+	uint8_t		addr[2] = {
+		page,
+		offset
+	};
+	i2c_msg_s	msgv[2];
+
+	msgv[0].addr = _address;
+	msgv[0].flags = 0;
+	msgv[0].buffer = addr;
+	msgv[0].length = 2;
+
+	msgv[1].addr = _address;
+	msgv[1].flags = I2C_M_READ;
+	msgv[1].buffer = (uint8_t *)values;
+	msgv[1].length = num_values * sizeof(*values);
+
+	unsigned tries = 0;
+	do {
+		/* perform the transfer */
+		ret = I2C_TRANSFER(_dev, msgv, 2);
+
+		if (ret == OK)
+			break;
+
+	} while (tries++ < _retries);
+
+	return ret;
+}