mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-15 23:43:34 +08:00
mpu9250: start building "NuttX" driver for Linux and QuRT
This commit is contained in:
Daniel Agar
@@ -40,6 +40,11 @@ if (${PX4_PLATFORM} STREQUAL "nuttx")
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if ("${CONFIG_SPI}" STREQUAL "y")
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list(APPEND SRCS_PLATFORM nuttx/SPI.cpp)
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endif()
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elseif((${PX4_PLATFORM} MATCHES "qurt"))
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list(APPEND SRCS_PLATFORM
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qurt/I2C.cpp
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qurt/SPI.cpp
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)
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elseif(UNIX AND NOT APPLE AND NOT (${PX4_PLATFORM} MATCHES "qurt")) #TODO: add linux PX4 platform type
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# Linux I2Cdev and SPIdev
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list(APPEND SRCS_PLATFORM
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@@ -34,6 +34,8 @@
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#ifdef __PX4_NUTTX
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#include "nuttx/I2C.hpp"
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#elif __PX4_QURT
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#include "qurt/I2C.hpp"
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#else
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#include "posix/I2C.hpp"
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#endif
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@@ -56,4 +58,4 @@ static const int i2c_bus_options[] = {
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#endif
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};
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#define NUM_I2C_BUS_OPTIONS (sizeof(i2c_bus_options)/sizeof(i2c_bus_options[0]))
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#define NUM_I2C_BUS_OPTIONS (sizeof(i2c_bus_options)/sizeof(i2c_bus_options[0]))
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@@ -43,18 +43,9 @@
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#include "I2C.hpp"
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#ifdef __PX4_LINUX
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#include <linux/i2c.h>
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#include <linux/i2c-dev.h>
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#endif
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#ifdef __PX4_QURT
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#define PX4_SIMULATE_I2C 1
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#else
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#define PX4_SIMULATE_I2C 0
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#endif
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static constexpr const int simulate = PX4_SIMULATE_I2C;
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namespace device
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{
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@@ -74,9 +65,7 @@ I2C::I2C(const char *name, const char *devname, const int bus, const uint16_t ad
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I2C::~I2C()
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{
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if (_fd >= 0) {
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#ifndef __PX4_QURT
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::close(_fd);
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#endif /* !__PX4_QURT */
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_fd = -1;
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}
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}
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@@ -95,24 +84,15 @@ I2C::init()
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return ret;
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}
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if (simulate) {
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_fd = 10000;
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// Open the actual I2C device
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char dev_path[16];
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snprintf(dev_path, sizeof(dev_path), "/dev/i2c-%i", get_device_bus());
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_fd = ::open(dev_path, O_RDWR);
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} else {
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#ifndef __PX4_QURT
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// Open the actual I2C device
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char dev_path[16];
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snprintf(dev_path, sizeof(dev_path), "/dev/i2c-%i", get_device_bus());
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_fd = ::open(dev_path, O_RDWR);
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if (_fd < 0) {
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PX4_ERR("could not open %s", dev_path);
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px4_errno = errno;
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return PX4_ERROR;
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}
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#endif /* !__PX4_QURT */
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if (_fd < 0) {
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PX4_ERR("could not open %s", dev_path);
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px4_errno = errno;
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return PX4_ERROR;
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}
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return ret;
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@@ -121,9 +101,6 @@ I2C::init()
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int
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I2C::transfer(const uint8_t *send, const unsigned send_len, uint8_t *recv, const unsigned recv_len)
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{
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#ifndef __PX4_LINUX
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return PX4_ERROR;
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#else
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struct i2c_msg msgv[2];
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unsigned msgs;
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int ret = PX4_ERROR;
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@@ -164,20 +141,14 @@ I2C::transfer(const uint8_t *send, const unsigned send_len, uint8_t *recv, const
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packets.nmsgs = msgs;
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if (simulate) {
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DEVICE_DEBUG("I2C SIM: transfer_4 on %s", get_devname());
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ret = PX4_OK;
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ret = ::ioctl(_fd, I2C_RDWR, (unsigned long)&packets);
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if (ret == -1) {
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DEVICE_DEBUG("I2C transfer failed");
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ret = PX4_ERROR;
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} else {
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ret = ::ioctl(_fd, I2C_RDWR, (unsigned long)&packets);
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if (ret == -1) {
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DEVICE_DEBUG("I2C transfer failed");
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ret = PX4_ERROR;
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} else {
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ret = PX4_OK;
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}
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ret = PX4_OK;
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}
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/* success */
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@@ -188,7 +159,8 @@ I2C::transfer(const uint8_t *send, const unsigned send_len, uint8_t *recv, const
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} while (retry_count++ < _retries);
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return ret;
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#endif
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}
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} // namespace device
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#endif // __PX4_LINUX
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@@ -0,0 +1,118 @@
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/****************************************************************************
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*
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* Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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||||
* are met:
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||||
*
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||||
* 1. Redistributions of source code must retain the above copyright
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||||
* notice, this list of conditions and the following disclaimer.
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||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
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* the documentation and/or other materials provided with the
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||||
* distribution.
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* 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.
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||||
*
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||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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||||
* "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
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||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file i2c.cpp
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*
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* Base class for devices attached via the I2C bus.
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*
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* @todo Bus frequency changes; currently we do nothing with the value
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* that is supplied. Should we just depend on the bus knowing?
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*/
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#include "I2C.hpp"
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#include "dev_fs_lib_i2c.h"
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namespace device
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{
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I2C::I2C(const char *name, const char *devname, const int bus, const uint16_t address, const uint32_t frequency) :
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CDev(name, devname)
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{
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DEVICE_DEBUG("I2C::I2C name = %s devname = %s", name, devname);
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// fill in _device_id fields for a I2C device
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_device_id.devid_s.bus_type = DeviceBusType_I2C;
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_device_id.devid_s.bus = bus;
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_device_id.devid_s.address = address;
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// devtype needs to be filled in by the driver
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_device_id.devid_s.devtype = 0;
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}
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I2C::~I2C()
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{
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if (_fd >= 0) {
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::close(_fd);
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_fd = -1;
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}
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}
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int
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I2C::init()
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{
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// Assume the driver set the desired bus frequency. There is no standard
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// way to set it from user space.
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// do base class init, which will create device node, etc
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int ret = CDev::init();
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if (ret != PX4_OK) {
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DEVICE_DEBUG("CDev::init failed");
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return ret;
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}
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// Open the actual I2C device
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char dev_path[16];
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snprintf(dev_path, sizeof(dev_path), "/dev/iic-%i", get_device_bus());
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_fd = ::open(dev_path, O_RDWR);
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if (_fd < 0) {
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PX4_ERR("could not open %s", dev_path);
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px4_errno = errno;
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return PX4_ERROR;
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}
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return ret;
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}
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int
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I2C::transfer(const uint8_t *send, const unsigned send_len, uint8_t *recv, const unsigned recv_len)
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{
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dspal_i2c_ioctl_combined_write_read ioctl_write_read{};
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ioctl_write_read.write_buf = (uint8_t *)send;
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ioctl_write_read.write_buf_len = send_len;
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ioctl_write_read.read_buf = recv;
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ioctl_write_read.read_buf_len = recv_len;
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int bytes_read = ::ioctl(_fd, I2C_IOCTL_RDWR, &ioctl_write_read);
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if (bytes_read != (ssize_t)recv_len) {
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PX4_ERR("read register reports a read of %d bytes, but attempted to read %d bytes", bytes_read, recv_len);
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return -1;
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}
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return 0;
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}
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} // namespace device
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@@ -0,0 +1,118 @@
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/****************************************************************************
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*
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* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
|
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* 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.
|
||||
*
|
||||
****************************************************************************/
|
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/**
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* @file i2c.h
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*
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* Base class for devices connected via I2C.
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*/
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#ifndef _DEVICE_I2C_H
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#define _DEVICE_I2C_H
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#include "../CDev.hpp"
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#include <px4_platform_common/i2c.h>
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#ifdef __PX4_LINUX
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#include <linux/i2c.h>
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#include <linux/i2c-dev.h>
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#endif
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namespace device __EXPORT
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{
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/**
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* Abstract class for character device on I2C
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*/
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class __EXPORT I2C : public CDev
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{
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public:
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// no copy, assignment, move, move assignment
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I2C(const I2C &) = delete;
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I2C &operator=(const I2C &) = delete;
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I2C(I2C &&) = delete;
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I2C &operator=(I2C &&) = delete;
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virtual int init() override;
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protected:
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/**
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* The number of times a read or write operation will be retried on
|
||||
* error.
|
||||
*/
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uint8_t _retries{0};
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||||
/**
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||||
* @ Constructor
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||||
*
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||||
* @param name Driver name
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||||
* @param devname Device node name
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||||
* @param bus I2C bus on which the device lives
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* @param address I2C bus address, or zero if set_address will be used
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||||
* @param frequency I2C bus frequency for the device (currently not used)
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||||
*/
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I2C(const char *name, const char *devname, const int bus, const uint16_t address, const uint32_t frequency);
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virtual ~I2C();
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/**
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* Check for the presence of the device on the bus.
|
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*/
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virtual int probe() { return PX4_OK; }
|
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/**
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* Perform an I2C transaction to the device.
|
||||
*
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* At least one of send_len and recv_len must be non-zero.
|
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*
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* @param send Pointer to bytes to send.
|
||||
* @param send_len Number of bytes to send.
|
||||
* @param recv Pointer to buffer for bytes received.
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* @param recv_len Number of bytes to receive.
|
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* @return OK if the transfer was successful, -errno
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||||
* otherwise.
|
||||
*/
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int transfer(const uint8_t *send, const unsigned send_len, uint8_t *recv, const unsigned recv_len);
|
||||
|
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virtual bool external() const override { return px4_i2c_bus_external(_device_id.devid_s.bus); }
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||||
|
||||
private:
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||||
int _fd{-1};
|
||||
|
||||
};
|
||||
|
||||
} // namespace device
|
||||
|
||||
#endif /* _DEVICE_I2C_H */
|
||||
@@ -0,0 +1,167 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2019 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 SPI.cpp
|
||||
*
|
||||
* Base class for devices connected via SPI.
|
||||
*
|
||||
*/
|
||||
|
||||
#include "SPI.hpp"
|
||||
|
||||
#include <fcntl.h>
|
||||
#include <unistd.h>
|
||||
#include <sys/ioctl.h>
|
||||
#include "dev_fs_lib_spi.h"
|
||||
|
||||
#include <px4_platform_common/px4_config.h>
|
||||
|
||||
namespace device
|
||||
{
|
||||
|
||||
SPI::SPI(const char *name, const char *devname, int bus, uint32_t device, enum spi_mode_e mode, uint32_t frequency) :
|
||||
CDev(name, devname),
|
||||
_device(device),
|
||||
_mode(mode),
|
||||
_frequency(frequency)
|
||||
{
|
||||
DEVICE_DEBUG("SPI::SPI name = %s devname = %s", name, devname);
|
||||
|
||||
// fill in _device_id fields for a SPI device
|
||||
_device_id.devid_s.bus_type = DeviceBusType_SPI;
|
||||
_device_id.devid_s.bus = bus;
|
||||
_device_id.devid_s.address = (uint8_t)device;
|
||||
// devtype needs to be filled in by the driver
|
||||
_device_id.devid_s.devtype = 0;
|
||||
}
|
||||
|
||||
SPI::~SPI()
|
||||
{
|
||||
if (_fd >= 0) {
|
||||
::close(_fd);
|
||||
_fd = -1;
|
||||
}
|
||||
}
|
||||
|
||||
int
|
||||
SPI::init()
|
||||
{
|
||||
// Open the actual SPI device
|
||||
char dev_path[16];
|
||||
snprintf(dev_path, sizeof(dev_path), "dev/spi-%lu", PX4_SPI_DEV_ID(_device));
|
||||
DEVICE_DEBUG("%s", dev_path);
|
||||
_fd = ::open(dev_path, O_RDWR);
|
||||
|
||||
if (_fd < 0) {
|
||||
PX4_ERR("could not open %s", dev_path);
|
||||
return PX4_ERROR;
|
||||
}
|
||||
|
||||
/* call the probe function to check whether the device is present */
|
||||
int ret = probe();
|
||||
|
||||
if (ret != OK) {
|
||||
DEVICE_DEBUG("probe failed");
|
||||
return ret;
|
||||
}
|
||||
|
||||
/* do base class init, which will create the device node, etc. */
|
||||
ret = CDev::init();
|
||||
|
||||
if (ret != OK) {
|
||||
DEVICE_DEBUG("cdev init failed");
|
||||
return ret;
|
||||
}
|
||||
|
||||
/* tell the workd where we are */
|
||||
DEVICE_LOG("on SPI bus %d at %d (%u KHz)", get_device_bus(), PX4_SPI_DEV_ID(_device), _frequency / 1000);
|
||||
|
||||
return PX4_OK;
|
||||
}
|
||||
|
||||
int
|
||||
SPI::transfer(uint8_t *send, uint8_t *recv, unsigned len)
|
||||
{
|
||||
if ((send == nullptr) && (recv == nullptr)) {
|
||||
return -EINVAL;
|
||||
}
|
||||
|
||||
dspal_spi_ioctl_read_write ioctl_write_read{};
|
||||
ioctl_write_read.read_buffer = send;
|
||||
ioctl_write_read.read_buffer_length = len;
|
||||
ioctl_write_read.write_buffer = recv;
|
||||
ioctl_write_read.write_buffer_length = len;
|
||||
|
||||
int result = ::ioctl(_fd, SPI_IOCTL_RDWR, &ioctl_write_read);
|
||||
|
||||
if (result < 0) {
|
||||
PX4_ERR("transfer error %d", result);
|
||||
return result;
|
||||
}
|
||||
|
||||
return result;
|
||||
}
|
||||
|
||||
int
|
||||
SPI::transferhword(uint16_t *send, uint16_t *recv, unsigned len)
|
||||
{
|
||||
if ((send == nullptr) && (recv == nullptr)) {
|
||||
return -EINVAL;
|
||||
}
|
||||
|
||||
// int bits = 16;
|
||||
// result = ::ioctl(_fd, SPI_IOC_WR_BITS_PER_WORD, &bits);
|
||||
|
||||
// if (result == -1) {
|
||||
// PX4_ERR("can’t set 16 bit spi mode");
|
||||
// return PX4_ERROR;
|
||||
// }
|
||||
|
||||
dspal_spi_ioctl_read_write ioctl_write_read{};
|
||||
ioctl_write_read.read_buffer = send;
|
||||
ioctl_write_read.read_buffer_length = len * 2;
|
||||
ioctl_write_read.write_buffer = recv;
|
||||
ioctl_write_read.write_buffer_length = len * 2;
|
||||
|
||||
int result = ::ioctl(_fd, SPI_IOCTL_RDWR, &ioctl_write_read);
|
||||
|
||||
if (result < 0) {
|
||||
PX4_ERR("transfer error %d", result);
|
||||
return result;
|
||||
}
|
||||
|
||||
return result;
|
||||
}
|
||||
|
||||
} // namespace device
|
||||
@@ -0,0 +1,172 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2019 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 SPI.hpp
|
||||
*
|
||||
* Base class for devices connected via SPI.
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include "../CDev.hpp"
|
||||
|
||||
#include "dev_fs_lib_spi.h"
|
||||
|
||||
enum spi_mode_e {
|
||||
SPIDEV_MODE0 = 0, /* CPOL=0 CHPHA=0 */
|
||||
SPIDEV_MODE1 = 1, /* CPOL=0 CHPHA=1 */
|
||||
SPIDEV_MODE2 = 2, /* CPOL=1 CHPHA=0 */
|
||||
SPIDEV_MODE3 = 3 /* CPOL=1 CHPHA=1 */
|
||||
};
|
||||
|
||||
namespace device __EXPORT
|
||||
{
|
||||
|
||||
/**
|
||||
* Abstract class for character device on SPI
|
||||
*/
|
||||
class __EXPORT SPI : public CDev
|
||||
{
|
||||
protected:
|
||||
/**
|
||||
* Constructor
|
||||
*
|
||||
* @param name Driver name
|
||||
* @param devname Device node name
|
||||
* @param bus SPI bus on which the device lives
|
||||
* @param device Device handle (used by SPI_SELECT)
|
||||
* @param mode SPI clock/data mode
|
||||
* @param frequency SPI clock frequency
|
||||
*/
|
||||
SPI(const char *name, const char *devname, int bus, uint32_t device, enum spi_mode_e mode, uint32_t frequency);
|
||||
virtual ~SPI();
|
||||
|
||||
/**
|
||||
* Locking modes supported by the driver.
|
||||
*/
|
||||
enum LockMode {
|
||||
LOCK_PREEMPTION, /**< the default; lock against all forms of preemption. */
|
||||
LOCK_THREADS, /**< lock only against other threads, using SPI_LOCK */
|
||||
LOCK_NONE /**< perform no locking, only safe if the bus is entirely private */
|
||||
};
|
||||
|
||||
virtual int init();
|
||||
|
||||
/**
|
||||
* Check for the presence of the device on the bus.
|
||||
*/
|
||||
virtual int probe() { return PX4_OK; }
|
||||
|
||||
/**
|
||||
* Perform a SPI transfer.
|
||||
*
|
||||
* If called from interrupt context, this interface does not lock
|
||||
* the bus and may interfere with non-interrupt-context callers.
|
||||
*
|
||||
* Clients in a mixed interrupt/non-interrupt configuration must
|
||||
* ensure appropriate interlocking.
|
||||
*
|
||||
* At least one of send or recv must be non-null.
|
||||
*
|
||||
* @param send Bytes to send to the device, or nullptr if
|
||||
* no data is to be sent.
|
||||
* @param recv Buffer for receiving bytes from the device,
|
||||
* or nullptr if no bytes are to be received.
|
||||
* @param len Number of bytes to transfer.
|
||||
* @return OK if the exchange was successful, -errno
|
||||
* otherwise.
|
||||
*/
|
||||
int transfer(uint8_t *send, uint8_t *recv, unsigned len);
|
||||
|
||||
/**
|
||||
* Perform a SPI 16 bit transfer.
|
||||
*
|
||||
* If called from interrupt context, this interface does not lock
|
||||
* the bus and may interfere with non-interrupt-context callers.
|
||||
*
|
||||
* Clients in a mixed interrupt/non-interrupt configuration must
|
||||
* ensure appropriate interlocking.
|
||||
*
|
||||
* At least one of send or recv must be non-null.
|
||||
*
|
||||
* @param send Words to send to the device, or nullptr if
|
||||
* no data is to be sent.
|
||||
* @param recv Words for receiving bytes from the device,
|
||||
* or nullptr if no bytes are to be received.
|
||||
* @param len Number of words to transfer.
|
||||
* @return OK if the exchange was successful, -errno
|
||||
* otherwise.
|
||||
*/
|
||||
int transferhword(uint16_t *send, uint16_t *recv, unsigned len);
|
||||
|
||||
/**
|
||||
* Set the SPI bus frequency
|
||||
* This is used to change frequency on the fly. Some sensors
|
||||
* (such as the MPU6000) need a lower frequency for setup
|
||||
* registers and can handle higher frequency for sensor
|
||||
* value registers
|
||||
*
|
||||
* @param frequency Frequency to set (Hz)
|
||||
*/
|
||||
void set_frequency(uint32_t frequency) { _frequency = frequency; }
|
||||
uint32_t get_frequency() { return _frequency; }
|
||||
|
||||
/**
|
||||
* Set the SPI bus locking mode
|
||||
*
|
||||
* This set the SPI locking mode. For devices competing with NuttX SPI
|
||||
* drivers on a bus the right lock mode is LOCK_THREADS.
|
||||
*
|
||||
* @param mode Locking mode
|
||||
*/
|
||||
void set_lockmode(enum LockMode mode) {}
|
||||
|
||||
private:
|
||||
int _fd{-1};
|
||||
|
||||
uint32_t _device;
|
||||
enum spi_mode_e _mode;
|
||||
uint32_t _frequency;
|
||||
|
||||
/* this class does not allow copying */
|
||||
SPI(const SPI &);
|
||||
SPI operator=(const SPI &);
|
||||
|
||||
protected:
|
||||
|
||||
bool external() { return px4_spi_bus_external(get_device_bus()); }
|
||||
|
||||
};
|
||||
|
||||
} // namespace device
|
||||
@@ -34,6 +34,8 @@
|
||||
|
||||
#ifdef __PX4_NUTTX
|
||||
#include "nuttx/SPI.hpp"
|
||||
#elif __PX4_QURT
|
||||
#include "qurt/SPI.hpp"
|
||||
#else
|
||||
#include "posix/SPI.hpp"
|
||||
#endif
|
||||
|
||||
Reference in New Issue
Block a user