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move I2C bus clock defaults to board px4_i2c_buses

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This commit is contained in:
Daniel Agar
2022-10-08 13:25:15 -04:00
parent 30150f723a
commit bb96343e8d
18 changed files with 77 additions and 141 deletions
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boards/bitcraze/crazyflie/src/board_config.h
-9
View File
@@ -85,17 +85,8 @@
#define GPIO_NRF_TXEN (GPIO_INPUT|GPIO_PULLUP|GPIO_EXTI|GPIO_PORTA|GPIO_PIN4)
/*
* I2C busses
*/
#define PX4_I2C_BUS_ONBOARD_HZ 400000
#define PX4_I2C_BUS_EXPANSION_HZ 400000
#define PX4_I2C_BUS_MTD 1
#define BOARD_NUMBER_I2C_BUSES 3
#define BOARD_I2C_BUS_CLOCK_INIT {PX4_I2C_BUS_ONBOARD_HZ, 100000, PX4_I2C_BUS_EXPANSION_HZ}
/* Devices on the onboard bus.
*
boards/bitcraze/crazyflie21/src/board_config.h
-9
View File
@@ -86,17 +86,8 @@
#define GPIO_I2C4_DRDY1_BMP388 (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTG|GPIO_PIN5)
/*
* I2C busses
*/
#define PX4_I2C_BUS_ONBOARD_HZ 400000
#define PX4_I2C_BUS_EXPANSION_HZ 400000
#define PX4_I2C_BUS_MTD 1
#define BOARD_NUMBER_I2C_BUSES 3
#define BOARD_I2C_BUS_CLOCK_INIT {PX4_I2C_BUS_ONBOARD_HZ, 400000, PX4_I2C_BUS_EXPANSION_HZ}
/* Devices on the onboard bus.
*
boards/bitcraze/crazyflie21/src/i2c.cpp
+2 -2
View File
@@ -34,6 +34,6 @@
#include <px4_arch/i2c_hw_description.h>
constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
initI2CBusExternal(1),
initI2CBusInternal(3),
initI2CBusExternal(1, 400'000),
initI2CBusInternal(3, 400'000),
};
boards/px4/fmu-v2/src/i2c.cpp
+1 -1
View File
@@ -43,7 +43,7 @@
constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
initI2CBusExternal(1),
initI2CBusInternal(2),
initI2CBusInternal(2, 100'000),
};
boards/px4/fmu-v3/src/i2c.cpp
+1 -1
View File
@@ -43,7 +43,7 @@
constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
initI2CBusExternal(1),
initI2CBusInternal(2),
initI2CBusInternal(2, 100'000),
};
boards/px4/fmu-v4pro/src/i2c.cpp
+1 -1
View File
@@ -34,6 +34,6 @@
#include <px4_arch/i2c_hw_description.h>
constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
initI2CBusInternal(1),
initI2CBusInternal(1, 100'000),
initI2CBusExternal(2),
};
platforms/common/i2c.cpp
+12 -1
View File
@@ -41,7 +41,7 @@
bool px4_i2c_bus_external(int bus)
{
for (int i = 0; i < I2C_BUS_MAX_BUS_ITEMS; ++i) {
if (px4_i2c_buses[i].bus == bus) {
if ((px4_i2c_buses[i].bus != -1) && (px4_i2c_buses[i].bus == bus)) {
return px4_i2c_buses[i].is_external;
}
}
@@ -60,6 +60,17 @@ bool px4_i2c_device_external(const uint32_t device_id)
}
#endif // BOARD_OVERRIDE_I2C_DEVICE_EXTERNAL
int px4_i2c_bus_max_speed(int bus)
{
for (int i = 0; i < I2C_BUS_MAX_BUS_ITEMS; ++i) {
if ((px4_i2c_buses[i].bus != -1) && (px4_i2c_buses[i].bus == bus)) {
return px4_i2c_buses[i].max_speed_hz;
}
}
return 0;
}
bool I2CBusIterator::next()
{
while (++_index < I2C_BUS_MAX_BUS_ITEMS && px4_i2c_buses[_index].bus != -1) {
platforms/common/include/px4_platform_common/board_common.h
-21
View File
@@ -51,27 +51,6 @@
* Definitions
************************************************************************************/
/* I2C PX4 clock configuration
*
* A board may override BOARD_I2C_BUS_CLOCK_INIT simply by defining the #defines.
*/
#if defined(BOARD_I2C_BUS_CLOCK_INIT)
# define PX4_I2C_BUS_CLOCK_INIT BOARD_I2C_BUS_CLOCK_INIT
#else
# if (PX4_NUMBER_I2C_BUSES) == 1
# define PX4_I2C_BUS_CLOCK_INIT {100000}
# elif (PX4_NUMBER_I2C_BUSES) == 2
# define PX4_I2C_BUS_CLOCK_INIT {100000, 100000}
# elif (PX4_NUMBER_I2C_BUSES) == 3
# define PX4_I2C_BUS_CLOCK_INIT {100000, 100000, 100000}
# elif (PX4_NUMBER_I2C_BUSES) == 4
# define PX4_I2C_BUS_CLOCK_INIT {100000, 100000, 100000, 100000}
# else
# error PX4_NUMBER_I2C_BUSES not supported
# endif
#endif
#ifdef BOARD_SPI_BUS_MAX_BUS_ITEMS
#define SPI_BUS_MAX_BUS_ITEMS BOARD_SPI_BUS_MAX_BUS_ITEMS
#else
platforms/common/include/px4_platform_common/i2c.h
+8 -2
View File
@@ -40,8 +40,9 @@
#define I2C_BUS_MAX_BUS_ITEMS PX4_NUMBER_I2C_BUSES
struct px4_i2c_bus_t {
int bus{-1}; ///< physical bus number (1, ...) (-1 means this is unused)
bool is_external; ///< static external configuration. Use px4_i2c_bus_external() to check if a bus is really external
uint32_t max_speed_hz{100'000}; ///< max speed in Hz
int8_t bus{-1}; ///< physical bus number (1, ...) (-1 means this is unused)
bool is_external{true}; ///< static external configuration. Use px4_i2c_bus_external() to check if a bus is really external
};
__EXPORT extern const px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS]; ///< board-specific I2C bus configuration
@@ -58,6 +59,11 @@ __EXPORT bool px4_i2c_bus_external(int bus);
*/
__EXPORT bool px4_i2c_device_external(const uint32_t device_id);
/**
* Return board defined max speed per bus in Hz. 0 if unknown or invalid bus.
*/
__EXPORT int px4_i2c_bus_max_speed(int bus);
/**
* @class I2CBusIterator
* Iterate over configured I2C buses by the board
platforms/nuttx/src/px4/nxp/imxrt/include/px4_arch/i2c_hw_description.h
+4 -2
View File
@@ -38,17 +38,19 @@
#if defined(CONFIG_I2C)
static inline constexpr px4_i2c_bus_t initI2CBusInternal(int bus)
static inline constexpr px4_i2c_bus_t initI2CBusInternal(int bus, uint32_t max_speed_hz = 400'000)
{
px4_i2c_bus_t ret{};
ret.max_speed_hz = max_speed_hz;
ret.bus = bus;
ret.is_external = false;
return ret;
}
static inline constexpr px4_i2c_bus_t initI2CBusExternal(int bus)
static inline constexpr px4_i2c_bus_t initI2CBusExternal(int bus, uint32_t max_speed_hz = 100'000)
{
px4_i2c_bus_t ret{};
ret.max_speed_hz = max_speed_hz;
ret.bus = bus;
ret.is_external = true;
return ret;
platforms/nuttx/src/px4/nxp/kinetis/include/px4_arch/i2c_hw_description.h
+4 -2
View File
@@ -38,17 +38,19 @@
#if defined(CONFIG_I2C)
static inline constexpr px4_i2c_bus_t initI2CBusInternal(int bus)
static inline constexpr px4_i2c_bus_t initI2CBusInternal(int bus, uint32_t max_speed_hz = 400'000)
{
px4_i2c_bus_t ret{};
ret.max_speed_hz = max_speed_hz;
ret.bus = bus;
ret.is_external = false;
return ret;
}
static inline constexpr px4_i2c_bus_t initI2CBusExternal(int bus)
static inline constexpr px4_i2c_bus_t initI2CBusExternal(int bus, uint32_t max_speed_hz = 100'000)
{
px4_i2c_bus_t ret{};
ret.max_speed_hz = max_speed_hz;
ret.bus = bus;
ret.is_external = true;
return ret;
platforms/nuttx/src/px4/nxp/s32k14x/include/px4_arch/i2c_hw_description.h
+4 -2
View File
@@ -37,17 +37,19 @@
#if defined(CONFIG_I2C)
static inline constexpr px4_i2c_bus_t initI2CBusInternal(int bus)
static inline constexpr px4_i2c_bus_t initI2CBusInternal(int bus, uint32_t max_speed_hz = 400'000)
{
px4_i2c_bus_t ret{};
ret.max_speed_hz = max_speed_hz;
ret.bus = bus;
ret.is_external = false;
return ret;
}
static inline constexpr px4_i2c_bus_t initI2CBusExternal(int bus)
static inline constexpr px4_i2c_bus_t initI2CBusExternal(int bus, uint32_t max_speed_hz = 100'000)
{
px4_i2c_bus_t ret{};
ret.max_speed_hz = max_speed_hz;
ret.bus = bus;
ret.is_external = true;
return ret;
platforms/nuttx/src/px4/nxp/s32k1xx/include/px4_arch/i2c_hw_description.h
+4 -2
View File
@@ -37,17 +37,19 @@
#if defined(CONFIG_I2C)
static inline constexpr px4_i2c_bus_t initI2CBusInternal(int bus)
static inline constexpr px4_i2c_bus_t initI2CBusInternal(int bus, uint32_t max_speed_hz = 400'000)
{
px4_i2c_bus_t ret{};
ret.max_speed_hz = max_speed_hz;
ret.bus = bus;
ret.is_external = false;
return ret;
}
static inline constexpr px4_i2c_bus_t initI2CBusExternal(int bus)
static inline constexpr px4_i2c_bus_t initI2CBusExternal(int bus, uint32_t max_speed_hz = 100'000)
{
px4_i2c_bus_t ret{};
ret.max_speed_hz = max_speed_hz;
ret.bus = bus;
ret.is_external = true;
return ret;
platforms/nuttx/src/px4/rpi/rpi_common/include/px4_arch/i2c_hw_description.h
+6 -2
View File
@@ -36,19 +36,23 @@
#include <px4_arch/hw_description.h>
#include <px4_platform_common/i2c.h>
#if defined(CONFIG_I2C)
static inline constexpr px4_i2c_bus_t initI2CBusInternal(int bus)
static inline constexpr px4_i2c_bus_t initI2CBusInternal(int bus, uint32_t max_speed_hz = 400'000)
{
px4_i2c_bus_t ret{};
ret.max_speed_hz = max_speed_hz;
ret.bus = bus;
ret.is_external = false;
return ret;
}
static inline constexpr px4_i2c_bus_t initI2CBusExternal(int bus)
static inline constexpr px4_i2c_bus_t initI2CBusExternal(int bus, uint32_t max_speed_hz = 100'000)
{
px4_i2c_bus_t ret{};
ret.max_speed_hz = max_speed_hz;
ret.bus = bus;
ret.is_external = true;
return ret;
}
#endif // CONFIG_I2C
platforms/nuttx/src/px4/stm/stm32_common/include/px4_arch/i2c_hw_description.h
+4 -2
View File
@@ -38,17 +38,19 @@
#if defined(CONFIG_I2C)
static inline constexpr px4_i2c_bus_t initI2CBusInternal(int bus)
static inline constexpr px4_i2c_bus_t initI2CBusInternal(int bus, uint32_t max_speed_hz = 400'000)
{
px4_i2c_bus_t ret{};
ret.max_speed_hz = max_speed_hz;
ret.bus = bus;
ret.is_external = false;
return ret;
}
static inline constexpr px4_i2c_bus_t initI2CBusExternal(int bus)
static inline constexpr px4_i2c_bus_t initI2CBusExternal(int bus, uint32_t max_speed_hz = 100'000)
{
px4_i2c_bus_t ret{};
ret.max_speed_hz = max_speed_hz;
ret.bus = bus;
ret.is_external = true;
return ret;
platforms/posix/src/px4/generic/generic/include/px4_arch/i2c_hw_description.h
+4 -2
View File
@@ -37,17 +37,19 @@
#if defined(CONFIG_I2C)
static inline constexpr px4_i2c_bus_t initI2CBusInternal(int bus)
static inline constexpr px4_i2c_bus_t initI2CBusInternal(int bus, uint32_t max_speed_hz = 400'000)
{
px4_i2c_bus_t ret{};
ret.max_speed_hz = max_speed_hz;
ret.bus = bus;
ret.is_external = false;
return ret;
}
static inline constexpr px4_i2c_bus_t initI2CBusExternal(int bus)
static inline constexpr px4_i2c_bus_t initI2CBusExternal(int bus, uint32_t max_speed_hz = 100'000)
{
px4_i2c_bus_t ret{};
ret.max_speed_hz = max_speed_hz;
ret.bus = bus;
ret.is_external = true;
return ret;
src/lib/drivers/device/nuttx/I2C.cpp
+21 -75
View File
@@ -49,12 +49,6 @@
namespace device
{
/*
* N.B. By defaulting the value of _bus_clocks to non Zero
* All calls to init() will NOT set the buss frequency
*/
unsigned int I2C::_bus_clocks[PX4_NUMBER_I2C_BUSES] = PX4_I2C_BUS_CLOCK_INIT;
I2C::I2C(uint8_t device_type, const char *name, const int bus, const uint16_t address, const uint32_t frequency) :
CDev(name, nullptr),
@@ -80,98 +74,50 @@ I2C::~I2C()
}
}
int
I2C::set_bus_clock(unsigned bus, unsigned clock_hz)
{
int index = bus - 1;
if (index < 0 || index >= static_cast<int>(sizeof(_bus_clocks) / sizeof(_bus_clocks[0]))) {
return -EINVAL;
}
if (_bus_clocks[index] > 0) {
// DEVICE_DEBUG("overriding clock of %u with %u Hz\n", _bus_clocks[index], clock_hz);
}
_bus_clocks[index] = clock_hz;
return OK;
}
int
I2C::init()
{
int ret = PX4_ERROR;
unsigned bus_index;
// attach to the i2c bus
_dev = px4_i2cbus_initialize(get_device_bus());
if (_dev == nullptr) {
DEVICE_DEBUG("failed to init I2C");
ret = -ENOENT;
goto out;
return -ENOENT;
}
// the above call fails for a non-existing bus index,
// so the index math here is safe.
bus_index = get_device_bus() - 1;
const uint32_t max_speed_hz = px4_i2c_bus_max_speed(get_device_bus());
// abort if the max frequency we allow (the frequency we ask)
// is smaller than the bus frequency
if (_bus_clocks[bus_index] > _frequency) {
(void)px4_i2cbus_uninitialize(_dev);
_dev = nullptr;
DEVICE_LOG("FAIL: too slow for bus #%u: %u KHz, device max: %" PRIu32 " KHz)",
get_device_bus(), _bus_clocks[bus_index] / 1000, _frequency / 1000);
ret = -EINVAL;
goto out;
}
// set frequency for this instance once to the bus speed
// the bus speed is the maximum supported by all devices on the bus,
// as we have to prioritize performance over compatibility.
// If a new device requires a lower clock speed, this has to be
// manually set via "fmu i2c <bus> <clock>" before starting any
// drivers.
// This is necessary as automatically lowering the bus speed
// for maximum compatibility could induce timing issues on
// critical sensors the adopter might be unaware of.
// set the bus frequency on the first access if it has
// not been set yet
if (_bus_clocks[bus_index] == 0) {
_bus_clocks[bus_index] = _frequency;
if (_frequency > max_speed_hz) {
DEVICE_DEBUG("frequency %" PRIu32 " Hz exceeds bus %d maximum, limited to max %" PRIu32 " Hz", _frequency,
get_device_bus(), max_speed_hz);
_frequency = max_speed_hz;
}
// call the probe function to check whether the device is present
ret = probe();
int probe_ret = probe();
if (ret != OK) {
if (probe_ret != OK) {
DEVICE_DEBUG("probe failed");
goto out;
px4_i2cbus_uninitialize(_dev);
_dev = nullptr;
return probe_ret;
}
// do base class init, which will create device node, etc
ret = CDev::init();
int cdev_init_ret = CDev::init();
if (ret != OK) {
if (cdev_init_ret != OK) {
DEVICE_DEBUG("cdev init failed");
goto out;
px4_i2cbus_uninitialize(_dev);
_dev = nullptr;
return cdev_init_ret;
}
// tell the world where we are
DEVICE_DEBUG("on I2C bus %d at 0x%02x (bus: %u KHz, max: %" PRIu32 " KHz)",
get_device_bus(), get_device_address(), _bus_clocks[bus_index] / 1000, _frequency / 1000);
DEVICE_DEBUG("on I2C bus %d at 0x%02x (bus: %" PRIu32 " KHz)",
get_device_bus(), get_device_address(), _frequency / 1000);
out:
if ((ret != OK) && (_dev != nullptr)) {
px4_i2cbus_uninitialize(_dev);
_dev = nullptr;
}
return ret;
return PX4_OK;
}
int
@@ -192,7 +138,7 @@ I2C::transfer(const uint8_t *send, const unsigned send_len, uint8_t *recv, const
unsigned msgs = 0;
if (send_len > 0) {
msgv[msgs].frequency = _bus_clocks[get_device_bus() - 1];
msgv[msgs].frequency = _frequency;
msgv[msgs].addr = get_device_address();
msgv[msgs].flags = 0;
msgv[msgs].buffer = const_cast<uint8_t *>(send);
@@ -201,7 +147,7 @@ I2C::transfer(const uint8_t *send, const unsigned send_len, uint8_t *recv, const
}
if (recv_len > 0) {
msgv[msgs].frequency = _bus_clocks[get_device_bus() - 1];
msgv[msgs].frequency = _frequency;
msgv[msgs].addr = get_device_address();
msgv[msgs].flags = I2C_M_READ;
msgv[msgs].buffer = recv;
src/lib/drivers/device/nuttx/I2C.hpp
+1 -5
View File
@@ -67,8 +67,6 @@ public:
virtual int init() override;
static int set_bus_clock(unsigned bus, unsigned clock_hz);
protected:
/**
* The number of times a read or write operation will be retried on
@@ -111,9 +109,7 @@ protected:
bool external() const override { return px4_i2c_device_external(_device_id.devid); }
private:
static unsigned int _bus_clocks[PX4_NUMBER_I2C_BUSES];
const uint32_t _frequency;
uint32_t _frequency{100'000};
i2c_master_s *_dev{nullptr};
};