deprecate df_bmp280_wrapper and replace with in tree bmp280

- 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

src/lib/drivers/device/qurt/I2C.cpp

@@ -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