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deprecate df_bmp280_wrapper and replace with in tree bmp280

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- deprecate DriverFramework bmp280 driver (df_bmp280_wrapper)
 - update beaglebone blue and snapdragon flight eagle boards to use in tree bmp280
 - update posix (really just linux) and qurt I2C wrappers
 - tested on beaglebone blue
This commit is contained in:
Daniel Agar
2020-01-05 13:33:12 -05:00
committed by GitHub
parent 1da7209fe1
commit aaf5670e7d
37 changed files with 227 additions and 777 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/lib/drivers/device/nuttx/I2C.cpp
+16 -9
View File
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
* Copyright (c) 2012-2020 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
@@ -32,7 +32,7 @@
****************************************************************************/
/**
* @file i2c.cpp
* @file I2C.cpp
*
* Base class for devices attached via the I2C bus.
*
@@ -42,6 +42,8 @@
#include "I2C.hpp"
#include <nuttx/i2c/i2c_master.h>
namespace device
{
/*
@@ -169,19 +171,19 @@ out:
int
I2C::transfer(const uint8_t *send, const unsigned send_len, uint8_t *recv, const unsigned recv_len)
{
px4_i2c_msg_t msgv[2];
unsigned msgs;
int ret = PX4_ERROR;
unsigned retry_count = 0;
if (_dev == nullptr) {
PX4_ERR("I2C device not opened");
return 1;
return PX4_ERROR;
}
do {
DEVICE_DEBUG("transfer out %p/%u in %p/%u", send, send_len, recv, recv_len);
msgs = 0;
px4_i2c_msg_t msgv[2] {};
unsigned msgs = 0;
if (send_len > 0) {
msgv[msgs].frequency = _bus_clocks[get_device_bus() - 1];
@@ -205,10 +207,15 @@ I2C::transfer(const uint8_t *send, const unsigned send_len, uint8_t *recv, const
return -EINVAL;
}
ret = I2C_TRANSFER(_dev, &msgv[0], msgs);
int ret_transfer = I2C_TRANSFER(_dev, &msgv[0], msgs);
/* success */
if (ret == PX4_OK) {
if (ret_transfer != 0) {
DEVICE_DEBUG("I2C transfer failed, result %d", ret_transfer);
ret = PX4_ERROR;
} else {
// success
ret = PX4_OK;
break;
}
src/lib/drivers/device/posix/I2C.cpp
+11 -15
View File
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2012-2019 PX4 Development Team. All rights reserved.
* 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
@@ -32,7 +32,7 @@
****************************************************************************/
/**
* @file i2c.cpp
* @file I2C.cpp
*
* Base class for devices attached via the I2C bus.
*
@@ -109,6 +109,7 @@ out:
if ((ret != OK) && !(_fd < 0)) {
::close(_fd);
_fd = -1;
}
return ret;
@@ -117,19 +118,19 @@ out:
int
I2C::transfer(const uint8_t *send, const unsigned send_len, uint8_t *recv, const unsigned recv_len)
{
struct i2c_msg msgv[2];
unsigned msgs;
int ret = PX4_ERROR;
unsigned retry_count = 0;
if (_fd < 0) {
PX4_ERR("I2C device not opened");
return 1;
return PX4_ERROR;
}
do {
DEVICE_DEBUG("transfer out %p/%u in %p/%u", send, send_len, recv, recv_len);
msgs = 0;
unsigned msgs = 0;
struct i2c_msg msgv[2] {};
if (send_len > 0) {
msgv[msgs].addr = get_device_address();
@@ -151,24 +152,19 @@ I2C::transfer(const uint8_t *send, const unsigned send_len, uint8_t *recv, const
return -EINVAL;
}
struct i2c_rdwr_ioctl_data packets;
i2c_rdwr_ioctl_data packets{};
packets.msgs = msgv;
packets.nmsgs = msgs;
ret = ::ioctl(_fd, I2C_RDWR, (unsigned long)&packets);
int ret_ioctl = ::ioctl(_fd, I2C_RDWR, (unsigned long)&packets);
if (ret == -1) {
if (ret_ioctl == -1) {
DEVICE_DEBUG("I2C transfer failed");
ret = PX4_ERROR;
} else {
// success
ret = PX4_OK;
}
/* success */
if (ret == PX4_OK) {
break;
}
src/lib/drivers/device/posix/I2C.hpp
+2 -7
View File
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* 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
@@ -32,7 +32,7 @@
****************************************************************************/
/**
* @file i2c.h
* @file I2C.hpp
*
* Base class for devices connected via I2C.
*/
@@ -44,11 +44,6 @@
#include <px4_platform_common/i2c.h>
#ifdef __PX4_LINUX
#include <linux/i2c.h>
#include <linux/i2c-dev.h>
#endif
namespace device __EXPORT
{
src/lib/drivers/device/qurt/I2C.cpp
+77 -30
View File
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
* 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
@@ -32,7 +32,7 @@
****************************************************************************/
/**
* @file i2c.cpp
* @file I2C.cpp
*
* Base class for devices attached via the I2C bus.
*
@@ -42,13 +42,14 @@
#include "I2C.hpp"
#include "dev_fs_lib_i2c.h"
#include <dev_fs_lib_i2c.h>
namespace device
{
I2C::I2C(const char *name, const char *devname, const int bus, const uint16_t address, const uint32_t frequency) :
CDev(name, devname)
CDev(name, devname),
_frequency(frequency)
{
DEVICE_DEBUG("I2C::I2C name = %s devname = %s", name, devname);
// fill in _device_id fields for a I2C device
@@ -70,26 +71,43 @@ I2C::~I2C()
int
I2C::init()
{
// Assume the driver set the desired bus frequency. There is no standard
// way to set it from user space.
// do base class init, which will create device node, etc
int ret = CDev::init();
if (ret != PX4_OK) {
DEVICE_DEBUG("CDev::init failed");
return ret;
}
int ret = PX4_ERROR;
// Open the actual I2C device
char dev_path[16];
char dev_path[16] {};
snprintf(dev_path, sizeof(dev_path), "/dev/iic-%i", get_device_bus());
_fd = ::open(dev_path, O_RDWR);
if (_fd < 0) {
PX4_ERR("could not open %s", dev_path);
px4_errno = errno;
return PX4_ERROR;
DEVICE_DEBUG("failed to init I2C");
ret = -ENOENT;
goto out;
}
// call the probe function to check whether the device is present
ret = probe();
if (ret != OK) {
DEVICE_DEBUG("probe failed");
goto out;
}
// do base class init, which will create device node, etc
ret = CDev::init();
if (ret != OK) {
DEVICE_DEBUG("cdev init failed");
goto out;
}
// tell the world where we are
DEVICE_LOG("on I2C bus %d at 0x%02x", get_device_bus(), get_device_address());
out:
if ((ret != OK) && !(_fd < 0)) {
::close(_fd);
_fd = -1;
}
return ret;
@@ -98,21 +116,50 @@ I2C::init()
int
I2C::transfer(const uint8_t *send, const unsigned send_len, uint8_t *recv, const unsigned recv_len)
{
dspal_i2c_ioctl_combined_write_read ioctl_write_read{};
int ret = PX4_ERROR;
unsigned retry_count = 0;
ioctl_write_read.write_buf = (uint8_t *)send;
ioctl_write_read.write_buf_len = send_len;
ioctl_write_read.read_buf = recv;
ioctl_write_read.read_buf_len = recv_len;
int bytes_read = ::ioctl(_fd, I2C_IOCTL_RDWR, &ioctl_write_read);
if (bytes_read != (ssize_t)recv_len) {
PX4_ERR("read register reports a read of %d bytes, but attempted to read %d bytes", bytes_read, recv_len);
return -1;
if (_fd < 0) {
PX4_ERR("I2C device not opened");
return PX4_ERROR;
}
return 0;
do {
DEVICE_DEBUG("transfer out %p/%u in %p/%u", send, send_len, recv, recv_len);
dspal_i2c_ioctl_slave_config slave_config{};
slave_config.slave_address = get_device_address();
slave_config.bus_frequency_in_khz = _frequency / 1000;
slave_config.byte_transer_timeout_in_usecs = 10000; // 10 ms
int ret_config = ::ioctl(_fd, I2C_IOCTL_SLAVE, &slave_config);
if (ret_config < 0) {
DEVICE_DEBUG("Could not set slave config, result: %d", ret_config);
}
dspal_i2c_ioctl_combined_write_read ioctl_write_read{};
ioctl_write_read.write_buf = (uint8_t *)send;
ioctl_write_read.write_buf_len = send_len;
ioctl_write_read.read_buf = recv;
ioctl_write_read.read_buf_len = recv_len;
int bytes_read = ::ioctl(_fd, I2C_IOCTL_RDWR, &ioctl_write_read);
if (bytes_read != (int)recv_len) {
DEVICE_DEBUG("I2C transfer failed, bytes read %d", bytes_read);
ret = PX4_ERROR;
} else {
// success
ret = PX4_OK;
break;
}
} while (retry_count++ < _retries);
return ret;
}
} // namespace device
src/lib/drivers/device/qurt/I2C.hpp
+3 -7
View File
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* 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
@@ -32,7 +32,7 @@
****************************************************************************/
/**
* @file i2c.h
* @file I2C.hpp
*
* Base class for devices connected via I2C.
*/
@@ -44,11 +44,6 @@
#include <px4_platform_common/i2c.h>
#ifdef __PX4_LINUX
#include <linux/i2c.h>
#include <linux/i2c-dev.h>
#endif
namespace device __EXPORT
{
@@ -109,6 +104,7 @@ protected:
virtual bool external() const override { return px4_i2c_bus_external(_device_id.devid_s.bus); }
private:
uint32_t _frequency{0};
int _fd{-1};
};