fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-26 15:23:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

I2C changes for upstream NuttX per trasaction freq control

Browse Source
This commit is contained in:
David Sidrane
2016-12-21 08:34:20 +01:00
committed by Lorenz Meier
parent 0177e250f4
commit dcc2d1c3d1
7 changed files with 59 additions and 54 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/device/i2c_nuttx.cpp
+16 -10
View File
@@ -44,6 +44,10 @@
namespace device 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[3] = { 100000, 100000, 100000 }; unsigned int I2C::_bus_clocks[3] = { 100000, 100000, 100000 };
@@ -128,12 +132,6 @@ I2C::init()
goto out; goto out;
} }
// 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;
}
// set frequency for this instance once to the bus speed // set frequency for this instance once to the bus speed
// the bus speed is the maximum supported by all devices on the bus, // the bus speed is the maximum supported by all devices on the bus,
// as we have to prioritize performance over compatibility. // as we have to prioritize performance over compatibility.
@@ -143,7 +141,12 @@ I2C::init()
// This is necessary as automatically lowering the bus speed // This is necessary as automatically lowering the bus speed
// for maximum compatibility could induce timing issues on // for maximum compatibility could induce timing issues on
// critical sensors the adopter might be unaware of. // critical sensors the adopter might be unaware of.
I2C_SETFREQUENCY(_dev, _bus_clocks[bus_index]);
// 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;
}
// call the probe function to check whether the device is present // call the probe function to check whether the device is present
ret = probe(); ret = probe();
@@ -196,6 +199,7 @@ I2C::transfer(const uint8_t *send, unsigned send_len, uint8_t *recv, unsigned re
msgs = 0; msgs = 0;
if (send_len > 0) { if (send_len > 0) {
msgv[msgs].frequency = _bus_clocks[_bus - 1];
msgv[msgs].addr = _address; msgv[msgs].addr = _address;
msgv[msgs].flags = 0; msgv[msgs].flags = 0;
msgv[msgs].buffer = const_cast<uint8_t *>(send); msgv[msgs].buffer = const_cast<uint8_t *>(send);
@@ -204,6 +208,7 @@ I2C::transfer(const uint8_t *send, unsigned send_len, uint8_t *recv, unsigned re
} }
if (recv_len > 0) { if (recv_len > 0) {
msgv[msgs].frequency = _bus_clocks[_bus - 1];;
msgv[msgs].addr = _address; msgv[msgs].addr = _address;
msgv[msgs].flags = I2C_M_READ; msgv[msgs].flags = I2C_M_READ;
msgv[msgs].buffer = recv; msgv[msgs].buffer = recv;
@@ -224,7 +229,7 @@ I2C::transfer(const uint8_t *send, unsigned send_len, uint8_t *recv, unsigned re
/* if we have already retried once, or we are going to give up, then reset the bus */ /* if we have already retried once, or we are going to give up, then reset the bus */
if ((retry_count >= 1) || (retry_count >= _retries)) { if ((retry_count >= 1) || (retry_count >= _retries)) {
up_i2creset(_dev); I2C_RESET(_dev);
} }
} while (retry_count++ < _retries); } while (retry_count++ < _retries);
@@ -239,8 +244,9 @@ I2C::transfer(i2c_msg_s *msgv, unsigned msgs)
int ret; int ret;
unsigned retry_count = 0; unsigned retry_count = 0;
/* force the device address into the message vector */ /* force the device address and Frequency into the message vector */
for (unsigned i = 0; i < msgs; i++) { for (unsigned i = 0; i < msgs; i++) {
msgv[i].frequency = _bus_clocks[_bus - 1];
msgv[i].addr = _address; msgv[i].addr = _address;
} }
@@ -255,7 +261,7 @@ I2C::transfer(i2c_msg_s *msgv, unsigned msgs)
/* if we have already retried once, or we are going to give up, then reset the bus */ /* if we have already retried once, or we are going to give up, then reset the bus */
if ((retry_count >= 1) || (retry_count >= _retries)) { if ((retry_count >= 1) || (retry_count >= _retries)) {
up_i2creset(_dev); I2C_RESET(_dev);
} }
} while (retry_count++ < _retries); } while (retry_count++ < _retries);
src/drivers/mkblctrl/mkblctrl.cpp
+1 -1
View File
@@ -59,7 +59,7 @@
#include <unistd.h> #include <unistd.h>
#include <nuttx/arch.h> #include <nuttx/arch.h>
#include <nuttx/i2c.h> #include <nuttx/i2c/i2c_master.h>
#include <board_config.h> #include <board_config.h>
src/platforms/px4_i2c.h
+12 -10
View File
@@ -46,14 +46,17 @@
#error "Devices not supported in ROS" #error "Devices not supported in ROS"
#elif defined (__PX4_NUTTX) #elif defined (__PX4_NUTTX)
__BEGIN_DECLS
/* /*
* Building for NuttX * Building for NuttX
*/ */
#include <px4_config.h>
#include <sys/ioctl.h> #include <sys/ioctl.h>
#include <nuttx/arch.h> #include <nuttx/arch.h>
#include <nuttx/wqueue.h> #include <nuttx/wqueue.h>
#include <nuttx/clock.h> #include <nuttx/clock.h>
#include <nuttx/i2c.h> #include <nuttx/i2c/i2c_master.h>
#include <nuttx/irq.h> #include <nuttx/irq.h>
#include <nuttx/wqueue.h> #include <nuttx/wqueue.h>
#include <chip.h> #include <chip.h>
@@ -64,7 +67,8 @@
#define px4_i2c_msg_t i2c_msg_s #define px4_i2c_msg_t i2c_msg_s
typedef struct i2c_dev_s px4_i2c_dev_t; typedef struct i2c_master_s px4_i2c_dev_t;
__END_DECLS
#elif defined(__PX4_POSIX) #elif defined(__PX4_POSIX)
#include <stdint.h> #include <stdint.h>
@@ -74,11 +78,13 @@ typedef struct i2c_dev_s px4_i2c_dev_t;
#define I2C_M_NORESTART 0x0080 /* message should not begin with (re-)start of transfer */ #define I2C_M_NORESTART 0x0080 /* message should not begin with (re-)start of transfer */
// NOTE - This is a copy of the NuttX i2c_msg_s structure // NOTE - This is a copy of the NuttX i2c_msg_s structure
typedef struct { typedef struct {
uint16_t addr; /* Slave address */ uint32_t frequency; /* I2C frequency */
uint16_t flags; /* See I2C_M_* definitions */ uint16_t addr; /* Slave address (7- or 10-bit) */
uint8_t *buffer; uint16_t flags; /* See I2C_M_* definitions */
int length; uint8_t *buffer; /* Buffer to be transferred */
ssize_t length; /* Length of the buffer in bytes */
} px4_i2c_msg_t; } px4_i2c_msg_t;
// NOTE - This is a copy of the NuttX i2c_ops_s structure // NOTE - This is a copy of the NuttX i2c_ops_s structure
@@ -86,10 +92,6 @@ typedef struct {
const struct px4_i2c_ops_t *ops; /* I2C vtable */ const struct px4_i2c_ops_t *ops; /* I2C vtable */
} px4_i2c_dev_t; } px4_i2c_dev_t;
// FIXME - Empty defines for I2C ops
// Original version commented out
//#define I2C_SETFREQUENCY(d,f) ((d)->ops->setfrequency(d,f))
#define I2C_SETFREQUENCY(d,f)
//#define SPI_SELECT(d,id,s) ((d)->ops->select(d,id,s)) //#define SPI_SELECT(d,id,s) ((d)->ops->select(d,id,s))
#define SPI_SELECT(d,id,s) #define SPI_SELECT(d,id,s)
src/systemcmds/i2c/i2c.c
+4 -8
View File
@@ -50,7 +50,7 @@
#include <sys/ioctl.h> #include <sys/ioctl.h>
#include <sys/stat.h> #include <sys/stat.h>
#include <nuttx/i2c.h> #include <nuttx/i2c/i2c_master.h>
#include <board_config.h> #include <board_config.h>
@@ -68,7 +68,7 @@ __EXPORT int i2c_main(int argc, char *argv[]);
static int transfer(uint8_t address, uint8_t *send, unsigned send_len, uint8_t *recv, unsigned recv_len); static int transfer(uint8_t address, uint8_t *send, unsigned send_len, uint8_t *recv, unsigned recv_len);
static struct i2c_dev_s *i2c; static struct i2c_master_s *i2c;
int i2c_main(int argc, char *argv[]) int i2c_main(int argc, char *argv[])
{ {
@@ -110,6 +110,7 @@ transfer(uint8_t address, uint8_t *send, unsigned send_len, uint8_t *recv, unsig
msgs = 0; msgs = 0;
if (send_len > 0) { if (send_len > 0) {
msgv[msgs].frequency = 400000;
msgv[msgs].addr = address; msgv[msgs].addr = address;
msgv[msgs].flags = 0; msgv[msgs].flags = 0;
msgv[msgs].buffer = send; msgv[msgs].buffer = send;
@@ -118,6 +119,7 @@ transfer(uint8_t address, uint8_t *send, unsigned send_len, uint8_t *recv, unsig
} }
if (recv_len > 0) { if (recv_len > 0) {
msgv[msgs].frequency = 400000;
msgv[msgs].addr = address; msgv[msgs].addr = address;
msgv[msgs].flags = I2C_M_READ; msgv[msgs].flags = I2C_M_READ;
msgv[msgs].buffer = recv; msgv[msgs].buffer = recv;
@@ -129,12 +131,6 @@ transfer(uint8_t address, uint8_t *send, unsigned send_len, uint8_t *recv, unsig
return -1; return -1;
} }
/*
* I2C architecture means there is an unavoidable race here
* if there are any devices on the bus with a different frequency
* preference. Really, this is pointless.
*/
I2C_SETFREQUENCY(i2c, 400000);
ret = I2C_TRANSFER(i2c, &msgv[0], msgs); ret = I2C_TRANSFER(i2c, &msgv[0], msgs);
// reset the I2C bus to unwedge on error // reset the I2C bus to unwedge on error
src/systemcmds/mtd/24xxxx_mtd.c
+22 -16
View File
@@ -63,8 +63,8 @@
#include <nuttx/kmalloc.h> #include <nuttx/kmalloc.h>
#include <nuttx/fs/ioctl.h> #include <nuttx/fs/ioctl.h>
#include <nuttx/i2c.h> #include <nuttx/i2c/i2c_master.h>
#include <nuttx/mtd.h> #include <nuttx/mtd/mtd.h>
#include "systemlib/perf_counter.h" #include "systemlib/perf_counter.h"
@@ -146,7 +146,7 @@
struct at24c_dev_s { struct at24c_dev_s {
struct mtd_dev_s mtd; /* MTD interface */ struct mtd_dev_s mtd; /* MTD interface */
FAR struct i2c_dev_s *dev; /* Saved I2C interface instance */ FAR struct i2c_master_s *dev; /* Saved I2C interface instance */
uint8_t addr; /* I2C address */ uint8_t addr; /* I2C address */
uint16_t pagesize; /* 32, 63 */ uint16_t pagesize; /* 32, 63 */
uint16_t npages; /* 128, 256, 512, 1024 */ uint16_t npages; /* 128, 256, 512, 1024 */
@@ -193,6 +193,7 @@ static int at24c_eraseall(FAR struct at24c_dev_s *priv)
struct i2c_msg_s msgv[1] = { struct i2c_msg_s msgv[1] = {
{ {
.frequency = 400000,
.addr = priv->addr, .addr = priv->addr,
.flags = 0, .flags = 0,
.buffer = &buf[0], .buffer = &buf[0],
@@ -208,7 +209,7 @@ static int at24c_eraseall(FAR struct at24c_dev_s *priv)
buf[0] = (offset >> 8) & 0xff; buf[0] = (offset >> 8) & 0xff;
while (I2C_TRANSFER(priv->dev, &msgv[0], 1) < 0) { while (I2C_TRANSFER(priv->dev, &msgv[0], 1) < 0) {
fvdbg("erase stall\n"); fwarn("erase stall\n");
usleep(10000); usleep(10000);
} }
} }
@@ -242,16 +243,16 @@ void at24c_test(void)
if (result == ERROR) { if (result == ERROR) {
if (errors++ > 2) { if (errors++ > 2) {
vdbg("too many errors\n"); syslog(LOG_INFO, "too many errors\n");
return; return;
} }
} else if (result != 1) { } else if (result != 1) {
vdbg("unexpected %u\n", result); syslog(LOG_INFO, "unexpected %u\n", result);
} }
if ((count % 100) == 0) { if ((count % 100) == 0) {
vdbg("test %u errors %u\n", count, errors); syslog(LOG_INFO, "test %u errors %u\n", count, errors);
} }
} }
} }
@@ -270,12 +271,14 @@ static ssize_t at24c_bread(FAR struct mtd_dev_s *dev, off_t startblock,
struct i2c_msg_s msgv[2] = { struct i2c_msg_s msgv[2] = {
{ {
.frequency = 400000,
.addr = priv->addr, .addr = priv->addr,
.flags = 0, .flags = 0,
.buffer = &addr[0], .buffer = &addr[0],
.length = sizeof(addr), .length = sizeof(addr),
}, },
{ {
.frequency = 400000,
.addr = priv->addr, .addr = priv->addr,
.flags = I2C_M_READ, .flags = I2C_M_READ,
.buffer = 0, .buffer = 0,
@@ -289,7 +292,7 @@ static ssize_t at24c_bread(FAR struct mtd_dev_s *dev, off_t startblock,
#endif #endif
blocksleft = nblocks; blocksleft = nblocks;
fvdbg("startblock: %08lx nblocks: %d\n", (long)startblock, (int)nblocks); finfo("startblock: %08lx nblocks: %d\n", (long)startblock, (int)nblocks);
if (startblock >= priv->npages) { if (startblock >= priv->npages) {
return 0; return 0;
@@ -317,7 +320,7 @@ static ssize_t at24c_bread(FAR struct mtd_dev_s *dev, off_t startblock,
break; break;
} }
fvdbg("read stall"); finfo("read stall");
usleep(1000); usleep(1000);
/* We should normally only be here on the first read after /* We should normally only be here on the first read after
@@ -362,6 +365,7 @@ static ssize_t at24c_bwrite(FAR struct mtd_dev_s *dev, off_t startblock, size_t
struct i2c_msg_s msgv[1] = { struct i2c_msg_s msgv[1] = {
{ {
.frequency = 400000,
.addr = priv->addr, .addr = priv->addr,
.flags = 0, .flags = 0,
.buffer = &buf[0], .buffer = &buf[0],
@@ -383,7 +387,7 @@ static ssize_t at24c_bwrite(FAR struct mtd_dev_s *dev, off_t startblock, size_t
nblocks = priv->npages - startblock; nblocks = priv->npages - startblock;
} }
fvdbg("startblock: %08lx nblocks: %d\n", (long)startblock, (int)nblocks); finfo("startblock: %08lx nblocks: %d\n", (long)startblock, (int)nblocks);
while (blocksleft-- > 0) { while (blocksleft-- > 0) {
uint16_t offset = startblock * priv->pagesize; uint16_t offset = startblock * priv->pagesize;
@@ -403,7 +407,7 @@ static ssize_t at24c_bwrite(FAR struct mtd_dev_s *dev, off_t startblock, size_t
break; break;
} }
fvdbg("write stall"); finfo("write stall");
usleep(1000); usleep(1000);
/* We expect to see a number of retries per write cycle as we /* We expect to see a number of retries per write cycle as we
@@ -435,7 +439,7 @@ static int at24c_ioctl(FAR struct mtd_dev_s *dev, int cmd, unsigned long arg)
FAR struct at24c_dev_s *priv = (FAR struct at24c_dev_s *)dev; FAR struct at24c_dev_s *priv = (FAR struct at24c_dev_s *)dev;
int ret = -EINVAL; /* Assume good command with bad parameters */ int ret = -EINVAL; /* Assume good command with bad parameters */
fvdbg("cmd: %d \n", cmd); finfo("cmd: %d \n", cmd);
switch (cmd) { switch (cmd) {
case MTDIOC_GEOMETRY: { case MTDIOC_GEOMETRY: {
@@ -474,7 +478,7 @@ static int at24c_ioctl(FAR struct mtd_dev_s *dev, int cmd, unsigned long arg)
#endif #endif
ret = OK; ret = OK;
fvdbg("blocksize: %d erasesize: %d neraseblocks: %d\n", finfo("blocksize: %d erasesize: %d neraseblocks: %d\n",
geo->blocksize, geo->erasesize, geo->neraseblocks); geo->blocksize, geo->erasesize, geo->neraseblocks);
} }
} }
@@ -507,11 +511,11 @@ static int at24c_ioctl(FAR struct mtd_dev_s *dev, int cmd, unsigned long arg)
* *
************************************************************************************/ ************************************************************************************/
FAR struct mtd_dev_s *at24c_initialize(FAR struct i2c_dev_s *dev) FAR struct mtd_dev_s *at24c_initialize(FAR struct i2c_master_s *dev)
{ {
FAR struct at24c_dev_s *priv; FAR struct at24c_dev_s *priv;
fvdbg("dev: %p\n", dev); finfo("dev: %p\n", dev);
/* Allocate a state structure (we allocate the structure instead of using /* Allocate a state structure (we allocate the structure instead of using
* a fixed, static allocation so that we can handle multiple FLASH devices. * a fixed, static allocation so that we can handle multiple FLASH devices.
@@ -546,12 +550,14 @@ FAR struct mtd_dev_s *at24c_initialize(FAR struct i2c_dev_s *dev)
struct i2c_msg_s msgv[2] = { struct i2c_msg_s msgv[2] = {
{ {
.frequency = 400000,
.addr = priv->addr, .addr = priv->addr,
.flags = 0, .flags = 0,
.buffer = &addrbuf[0], .buffer = &addrbuf[0],
.length = sizeof(addrbuf), .length = sizeof(addrbuf),
}, },
{ {
.frequency = 400000,
.addr = priv->addr, .addr = priv->addr,
.flags = I2C_M_READ, .flags = I2C_M_READ,
.buffer = &buf[0], .buffer = &buf[0],
@@ -569,7 +575,7 @@ FAR struct mtd_dev_s *at24c_initialize(FAR struct i2c_dev_s *dev)
/* Return the implementation-specific state structure as the MTD device */ /* Return the implementation-specific state structure as the MTD device */
fvdbg("Return %p\n", priv); finfo("Return %p\n", priv);
return (FAR struct mtd_dev_s *)priv; return (FAR struct mtd_dev_s *)priv;
} }
src/systemcmds/mtd/mtd.c
+4 -5
View File
@@ -51,10 +51,11 @@
#include <sys/ioctl.h> #include <sys/ioctl.h>
#include <sys/stat.h> #include <sys/stat.h>
#include <nuttx/spi.h> #include <nuttx/spi/spi.h>
#include <nuttx/mtd.h> #include <nuttx/mtd/mtd.h>
#include <nuttx/fs/nxffs.h> #include <nuttx/fs/nxffs.h>
#include <nuttx/fs/ioctl.h> #include <nuttx/fs/ioctl.h>
#include <nuttx/drivers/drivers.h>
#include <arch/board/board.h> #include <arch/board/board.h>
@@ -230,9 +231,7 @@ static void
at24xxx_attach(void) at24xxx_attach(void)
{ {
/* find the right I2C */ /* find the right I2C */
struct i2c_dev_s *i2c = px4_i2cbus_initialize(PX4_I2C_BUS_MTD); struct i2c_master_s *i2c = px4_i2cbus_initialize(PX4_I2C_BUS_MTD);
/* this resets the I2C bus, set correct bus speed again */
I2C_SETFREQUENCY(i2c, 400000);
if (i2c == NULL) { if (i2c == NULL) {
errx(1, "failed to locate I2C bus"); errx(1, "failed to locate I2C bus");
src/systemcmds/pwm/pwm.c
-4
View File
@@ -46,13 +46,9 @@
#include <unistd.h> #include <unistd.h>
#include <fcntl.h> #include <fcntl.h>
#include <poll.h> #include <poll.h>
#include <sys/mount.h>
#include <sys/ioctl.h> #include <sys/ioctl.h>
#include <sys/stat.h> #include <sys/stat.h>
#include <nuttx/i2c.h>
#include <nuttx/mtd.h>
#include <nuttx/fs/nxffs.h>
#include <nuttx/fs/ioctl.h> #include <nuttx/fs/ioctl.h>
#include <arch/board/board.h> #include <arch/board/board.h>