fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-11-01 10:31:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

CDEV::I2C: Enforce one speed per bus

Browse Source
This commit is contained in:
Lorenz Meier
2015-02-13 09:12:38 +01:00
parent eeb192730f
commit c0d246e8e4
3 changed files with 92 additions and 16 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/px4fmu/fmu.cpp
+30 -1
View File
@@ -55,6 +55,7 @@
#include <nuttx/arch.h>
#include <drivers/device/device.h>
#include <drivers/device/i2c.h>
#include <drivers/drv_pwm_output.h>
#include <drivers/drv_gpio.h>
#include <drivers/drv_hrt.h>
@@ -111,6 +112,8 @@ public:
int set_pwm_alt_rate(unsigned rate);
int set_pwm_alt_channels(uint32_t channels);
int set_i2c_bus_clock(unsigned bus, unsigned clock_hz);
private:
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
static const unsigned _max_actuators = 4;
@@ -505,6 +508,12 @@ PX4FMU::set_pwm_alt_channels(uint32_t channels)
return set_pwm_rate(channels, _pwm_default_rate, _pwm_alt_rate);
}
int
PX4FMU::set_i2c_bus_clock(unsigned bus, unsigned clock_hz)
{
return device::I2C::set_bus_clock(bus, clock_hz);
}
void
PX4FMU::subscribe()
{
@@ -1593,6 +1602,11 @@ fmu_new_mode(PortMode new_mode)
return OK;
}
int fmu_new_i2c_speed(unsigned bus, unsigned clock_hz)
{
return g_fmu->set_i2c_bus_clock(bus, clock_hz);
}
int
fmu_start(void)
{
@@ -1867,12 +1881,27 @@ fmu_main(int argc, char *argv[])
exit(0);
}
if (!strcmp(verb, "i2c")) {
if (argc > 3) {
int bus = strtol(argv[2], 0, 0);
int clock_hz = strtol(argv[3], 0, 0);
int ret = fmu_new_i2c_speed(bus, clock_hz);
if (ret) {
errx(ret, "setting I2C clock failed");
}
exit(0);
} else {
warnx("i2c cmd args: <bus id> <clock Hz>");
}
}
fprintf(stderr, "FMU: unrecognised command %s, try:\n", verb);
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
fprintf(stderr, " mode_gpio, mode_serial, mode_pwm, mode_gpio_serial, mode_pwm_serial, mode_pwm_gpio, test\n");
#elif defined(CONFIG_ARCH_BOARD_PX4FMU_V2) || defined(CONFIG_ARCH_BOARD_AEROCORE)
fprintf(stderr, " mode_gpio, mode_pwm, test, sensor_reset [milliseconds]\n");
fprintf(stderr, " mode_gpio, mode_pwm, test, sensor_reset [milliseconds], i2c <bus> <hz>\n");
#endif
exit(1);
}