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mpu9250: start building "NuttX" driver for Linux and QuRT

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This commit is contained in:
Daniel Agar
2019-11-13 09:21:02 -05:00
parent 6bd4273b9c
commit c5520cbaca
36 changed files with 1159 additions and 869 deletions
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src/lib/drivers/device/posix/I2C.cpp
+17 -45
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@@ -43,18 +43,9 @@
#include "I2C.hpp"
#ifdef __PX4_LINUX
#include <linux/i2c.h>
#include <linux/i2c-dev.h>
#endif
#ifdef __PX4_QURT
#define PX4_SIMULATE_I2C 1
#else
#define PX4_SIMULATE_I2C 0
#endif
static constexpr const int simulate = PX4_SIMULATE_I2C;
namespace device
{
@@ -74,9 +65,7 @@ I2C::I2C(const char *name, const char *devname, const int bus, const uint16_t ad
I2C::~I2C()
{
if (_fd >= 0) {
#ifndef __PX4_QURT
::close(_fd);
#endif /* !__PX4_QURT */
_fd = -1;
}
}
@@ -95,24 +84,15 @@ I2C::init()
return ret;
}
if (simulate) {
_fd = 10000;
// Open the actual I2C device
char dev_path[16];
snprintf(dev_path, sizeof(dev_path), "/dev/i2c-%i", get_device_bus());
_fd = ::open(dev_path, O_RDWR);
} else {
#ifndef __PX4_QURT
// Open the actual I2C device
char dev_path[16];
snprintf(dev_path, sizeof(dev_path), "/dev/i2c-%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;
}
#endif /* !__PX4_QURT */
if (_fd < 0) {
PX4_ERR("could not open %s", dev_path);
px4_errno = errno;
return PX4_ERROR;
}
return ret;
@@ -121,9 +101,6 @@ I2C::init()
int
I2C::transfer(const uint8_t *send, const unsigned send_len, uint8_t *recv, const unsigned recv_len)
{
#ifndef __PX4_LINUX
return PX4_ERROR;
#else
struct i2c_msg msgv[2];
unsigned msgs;
int ret = PX4_ERROR;
@@ -164,20 +141,14 @@ I2C::transfer(const uint8_t *send, const unsigned send_len, uint8_t *recv, const
packets.nmsgs = msgs;
if (simulate) {
DEVICE_DEBUG("I2C SIM: transfer_4 on %s", get_devname());
ret = PX4_OK;
ret = ::ioctl(_fd, I2C_RDWR, (unsigned long)&packets);
if (ret == -1) {
DEVICE_DEBUG("I2C transfer failed");
ret = PX4_ERROR;
} else {
ret = ::ioctl(_fd, I2C_RDWR, (unsigned long)&packets);
if (ret == -1) {
DEVICE_DEBUG("I2C transfer failed");
ret = PX4_ERROR;
} else {
ret = PX4_OK;
}
ret = PX4_OK;
}
/* success */
@@ -188,7 +159,8 @@ I2C::transfer(const uint8_t *send, const unsigned send_len, uint8_t *recv, const
} while (retry_count++ < _retries);
return ret;
#endif
}
} // namespace device
#endif // __PX4_LINUX