lib/drivers: device drivers library for Qurt platform (#20741)

2026-10-26 01:13:35 +08:00 · 2022-12-10 19:31:06 -05:00
parent d8bfee517a
commit a5e4295029
9 changed files with 816 additions and 0 deletions
@@ -0,0 +1,159 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2016-2020 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 I2C.cpp
+ *
+ * Base class for devices attached via the I2C bus.
+ *
+ * @todo Bus frequency changes; currently we do nothing with the value
+ *       that is supplied.  Should we just depend on the bus knowing?
+ */
+
+#include "I2C.hpp"
+
+#include <dev_fs_lib_i2c.h>
+#include <px4_platform_common/time.h>
+
+namespace device
+{
+
+I2C::_config_i2c_bus_func_t  I2C::_config_i2c_bus  = NULL;
+I2C::_set_i2c_address_func_t I2C::_set_i2c_address = NULL;
+I2C::_i2c_transfer_func_t    I2C::_i2c_transfer    = NULL;
+
+pthread_mutex_t I2C::_mutex = PTHREAD_MUTEX_INITIALIZER;
+
+I2C::I2C(uint8_t device_type, const char *name, const int bus, const uint16_t address, const uint32_t frequency) :
+	CDev(name, nullptr),
+	_frequency(frequency / 1000)
+{
+	_device_id.devid = 0;
+
+	// fill in _device_id fields for a I2C device
+	_device_id.devid_s.devtype = device_type;
+	_device_id.devid_s.bus_type = DeviceBusType_I2C;
+	_device_id.devid_s.bus = bus;
+	_device_id.devid_s.address = address;
+
+	PX4_INFO("*** I2C Device ID 0x%x %d", _device_id.devid, _device_id.devid);
+}
+
+I2C::~I2C()
+{
+}
+
+int
+I2C::init()
+{
+	int ret = PX4_ERROR;
+
+	if (_config_i2c_bus == NULL) {
+		PX4_ERR("NULL i2c init function");
+		goto out;
+	}
+
+	pthread_mutex_lock(&_mutex);
+	// Open the actual I2C device
+	_i2c_fd = _config_i2c_bus(get_device_bus(), get_device_address(), _frequency);
+	pthread_mutex_unlock(&_mutex);
+
+	if (_i2c_fd == PX4_ERROR) {
+		PX4_ERR("i2c init failed");
+		goto out;
+	}
+
+	// call the probe function to check whether the device is present
+	ret = probe();
+
+	if (ret != OK) {
+		PX4_ERR("i2c probe failed");
+		goto out;
+	}
+
+	// do base class init, which will create device node, etc
+	ret = CDev::init();
+
+	if (ret != OK) {
+		PX4_ERR("i2c cdev init failed");
+		goto out;
+	}
+
+	// tell the world where we are
+	// PX4_INFO("on I2C bus %d at 0x%02x", get_device_bus(), get_device_address());
+
+out:
+
+	return ret;
+}
+
+void
+I2C::set_device_address(int address)
+{
+	if ((_i2c_fd != PX4_ERROR) && (_set_i2c_address != NULL)) {
+		PX4_INFO("Set i2c address 0x%x, fd %d", address, _i2c_fd);
+
+		pthread_mutex_lock(&_mutex);
+		_set_i2c_address(_i2c_fd, address);
+		pthread_mutex_unlock(&_mutex);
+
+		Device::set_device_address(address);
+	}
+}
+
+
+int
+I2C::transfer(const uint8_t *send, const unsigned send_len, uint8_t *recv, const unsigned recv_len)
+{
+	int ret = PX4_ERROR;
+	unsigned retry_count = 1;
+
+	if ((_i2c_fd != PX4_ERROR) && (_i2c_transfer != NULL)) {
+		do {
+			// PX4_INFO("transfer out %p/%u  in %p/%u", send, send_len, recv, recv_len);
+
+			pthread_mutex_lock(&_mutex);
+			ret = _i2c_transfer(_i2c_fd, send, send_len, recv, recv_len);
+			pthread_mutex_unlock(&_mutex);
+
+			if (ret != PX4_ERROR) { break; }
+
+			px4_usleep(1000);
+
+		} while (retry_count++ < _retries);
+	}
+
+	return ret;
+}
+
+} // namespace device