mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-25 13:23:34 +08:00
cmake remove circular linking and reorganize
- px4_add_module now requires MAIN - px4_add_library doesn't automatically link
This commit is contained in:
Daniel Agar
@@ -0,0 +1,225 @@
|
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/****************************************************************************
|
||||
*
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||||
* Copyright (c) 2012-2015 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.
|
||||
*
|
||||
****************************************************************************/
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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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namespace device
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{
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/*
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* N.B. By defaulting the value of _bus_clocks to non Zero
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* All calls to init() will NOT set the buss frequency
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*/
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unsigned int I2C::_bus_clocks[BOARD_NUMBER_I2C_BUSES] = BOARD_I2C_BUS_CLOCK_INIT;
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I2C::I2C(const char *name, const char *devname, int bus, uint16_t address, uint32_t frequency) :
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CDev(name, devname),
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_frequency(frequency)
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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 (_dev) {
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px4_i2cbus_uninitialize(_dev);
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_dev = nullptr;
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}
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}
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int
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I2C::set_bus_clock(unsigned bus, unsigned clock_hz)
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{
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int index = bus - 1;
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if (index < 0 || index >= static_cast<int>(sizeof(_bus_clocks) / sizeof(_bus_clocks[0]))) {
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return -EINVAL;
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}
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if (_bus_clocks[index] > 0) {
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// DEVICE_DEBUG("overriding clock of %u with %u Hz\n", _bus_clocks[index], clock_hz);
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}
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_bus_clocks[index] = clock_hz;
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return OK;
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}
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int
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I2C::init()
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{
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int ret = PX4_ERROR;
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unsigned bus_index;
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// attach to the i2c bus
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_dev = px4_i2cbus_initialize(get_device_bus());
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if (_dev == nullptr) {
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DEVICE_DEBUG("failed to init I2C");
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ret = -ENOENT;
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goto out;
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}
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// the above call fails for a non-existing bus index,
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// so the index math here is safe.
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bus_index = get_device_bus() - 1;
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// abort if the max frequency we allow (the frequency we ask)
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// is smaller than the bus frequency
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if (_bus_clocks[bus_index] > _frequency) {
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(void)px4_i2cbus_uninitialize(_dev);
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_dev = nullptr;
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DEVICE_LOG("FAIL: too slow for bus #%u: %u KHz, device max: %u KHz)",
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get_device_bus(), _bus_clocks[bus_index] / 1000, _frequency / 1000);
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ret = -EINVAL;
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goto out;
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}
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// set frequency for this instance once to the bus speed
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// the bus speed is the maximum supported by all devices on the bus,
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// as we have to prioritize performance over compatibility.
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// If a new device requires a lower clock speed, this has to be
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// manually set via "fmu i2c <bus> <clock>" before starting any
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// drivers.
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// This is necessary as automatically lowering the bus speed
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// for maximum compatibility could induce timing issues on
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// critical sensors the adopter might be unaware of.
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// set the bus frequency on the first access if it has
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// not been set yet
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if (_bus_clocks[bus_index] == 0) {
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_bus_clocks[bus_index] = _frequency;
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}
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// call the probe function to check whether the device is present
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ret = probe();
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if (ret != OK) {
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DEVICE_DEBUG("probe failed");
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goto out;
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}
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// do base class init, which will create device node, etc
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ret = CDev::init();
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if (ret != OK) {
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DEVICE_DEBUG("cdev init failed");
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goto out;
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}
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// tell the world where we are
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DEVICE_LOG("on I2C bus %d at 0x%02x (bus: %u KHz, max: %u KHz)",
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get_device_bus(), get_device_address(), _bus_clocks[bus_index] / 1000, _frequency / 1000);
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out:
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if ((ret != OK) && (_dev != nullptr)) {
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px4_i2cbus_uninitialize(_dev);
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_dev = nullptr;
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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, unsigned send_len, uint8_t *recv, unsigned recv_len)
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{
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px4_i2c_msg_t msgv[2];
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unsigned msgs;
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int ret = PX4_ERROR;
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unsigned retry_count = 0;
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if (_dev == nullptr) {
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PX4_ERR("I2C device not opened");
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return 1;
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}
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do {
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DEVICE_DEBUG("transfer out %p/%u in %p/%u", send, send_len, recv, recv_len);
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msgs = 0;
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if (send_len > 0) {
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msgv[msgs].frequency = _bus_clocks[get_device_bus() - 1];
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msgv[msgs].addr = get_device_address();
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msgv[msgs].flags = 0;
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msgv[msgs].buffer = const_cast<uint8_t *>(send);
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msgv[msgs].length = send_len;
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msgs++;
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}
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if (recv_len > 0) {
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msgv[msgs].frequency = _bus_clocks[get_device_bus() - 1];
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msgv[msgs].addr = get_device_address();
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msgv[msgs].flags = I2C_M_READ;
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msgv[msgs].buffer = recv;
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msgv[msgs].length = recv_len;
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msgs++;
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}
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if (msgs == 0) {
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return -EINVAL;
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}
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ret = I2C_TRANSFER(_dev, &msgv[0], msgs);
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/* success */
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if (ret == PX4_OK) {
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break;
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}
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/* if we have already retried once, or we are going to give up, then reset the bus */
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if ((retry_count >= 1) || (retry_count >= _retries)) {
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I2C_RESET(_dev);
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}
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|
||||
} while (retry_count++ < _retries);
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return ret;
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}
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} // namespace device
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@@ -0,0 +1,114 @@
|
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/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2012 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 i2c.h
|
||||
*
|
||||
* Base class for devices connected via I2C.
|
||||
*/
|
||||
|
||||
#ifndef _DEVICE_I2C_H
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#define _DEVICE_I2C_H
|
||||
|
||||
#include "../CDev.hpp"
|
||||
|
||||
#include <px4_i2c.h>
|
||||
|
||||
namespace device __EXPORT
|
||||
{
|
||||
|
||||
/**
|
||||
* Abstract class for character device on I2C
|
||||
*/
|
||||
class __EXPORT I2C : public CDev
|
||||
{
|
||||
|
||||
public:
|
||||
|
||||
static int set_bus_clock(unsigned bus, unsigned clock_hz);
|
||||
|
||||
static unsigned int _bus_clocks[BOARD_NUMBER_I2C_BUSES];
|
||||
|
||||
protected:
|
||||
/**
|
||||
* The number of times a read or write operation will be retried on
|
||||
* error.
|
||||
*/
|
||||
uint8_t _retries{0};
|
||||
|
||||
/**
|
||||
* @ Constructor
|
||||
*
|
||||
* @param name Driver name
|
||||
* @param devname Device node name
|
||||
* @param bus I2C bus on which the device lives
|
||||
* @param address I2C bus address, or zero if set_address will be used
|
||||
* @param frequency I2C bus frequency for the device (currently not used)
|
||||
*/
|
||||
I2C(const char *name, const char *devname, int bus, uint16_t address, uint32_t frequency);
|
||||
virtual ~I2C();
|
||||
|
||||
virtual int init();
|
||||
|
||||
/**
|
||||
* Check for the presence of the device on the bus.
|
||||
*/
|
||||
virtual int probe() { return PX4_OK; }
|
||||
|
||||
/**
|
||||
* Perform an I2C transaction to the device.
|
||||
*
|
||||
* At least one of send_len and recv_len must be non-zero.
|
||||
*
|
||||
* @param send Pointer to bytes to send.
|
||||
* @param send_len Number of bytes to send.
|
||||
* @param recv Pointer to buffer for bytes received.
|
||||
* @param recv_len Number of bytes to receive.
|
||||
* @return OK if the transfer was successful, -errno
|
||||
* otherwise.
|
||||
*/
|
||||
int transfer(const uint8_t *send, unsigned send_len, uint8_t *recv, unsigned recv_len);
|
||||
|
||||
bool external() { return px4_i2c_bus_external(_device_id.devid_s.bus); }
|
||||
|
||||
private:
|
||||
uint32_t _frequency{0};
|
||||
px4_i2c_dev_t *_dev{nullptr};
|
||||
|
||||
I2C(const device::I2C &);
|
||||
I2C operator=(const device::I2C &);
|
||||
};
|
||||
|
||||
} // namespace device
|
||||
|
||||
#endif /* _DEVICE_I2C_H */
|
||||
@@ -0,0 +1,236 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2012 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.
|
||||
*
|
||||
* @todo Work out if caching the mode/frequency would save any time.
|
||||
*
|
||||
* @todo A separate bus/device abstraction would allow for mixed interrupt-mode
|
||||
* and non-interrupt-mode clients to arbitrate for the bus. As things stand,
|
||||
* a bus shared between clients of both kinds is vulnerable to races between
|
||||
* the two, where an interrupt-mode client will ignore the lock held by the
|
||||
* non-interrupt-mode client.
|
||||
*/
|
||||
|
||||
#include "SPI.hpp"
|
||||
|
||||
#include <px4_config.h>
|
||||
#include <nuttx/arch.h>
|
||||
|
||||
#ifndef CONFIG_SPI_EXCHANGE
|
||||
# error This driver requires CONFIG_SPI_EXCHANGE
|
||||
#endif
|
||||
|
||||
namespace device
|
||||
{
|
||||
|
||||
SPI::SPI(const char *name,
|
||||
const char *devname,
|
||||
int bus,
|
||||
uint32_t device,
|
||||
enum spi_mode_e mode,
|
||||
uint32_t frequency) :
|
||||
// base class
|
||||
CDev(name, devname),
|
||||
// public
|
||||
// protected
|
||||
locking_mode(LOCK_PREEMPTION),
|
||||
// private
|
||||
_device(device),
|
||||
_mode(mode),
|
||||
_frequency(frequency),
|
||||
_dev(nullptr)
|
||||
{
|
||||
// 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()
|
||||
{
|
||||
// XXX no way to let go of the bus...
|
||||
}
|
||||
|
||||
int
|
||||
SPI::init()
|
||||
{
|
||||
int ret = OK;
|
||||
|
||||
/* attach to the spi bus */
|
||||
if (_dev == nullptr) {
|
||||
_dev = px4_spibus_initialize(get_device_bus());
|
||||
}
|
||||
|
||||
if (_dev == nullptr) {
|
||||
DEVICE_DEBUG("failed to init SPI");
|
||||
ret = -ENOENT;
|
||||
goto out;
|
||||
}
|
||||
|
||||
/* deselect device to ensure high to low transition of pin select */
|
||||
SPI_SELECT(_dev, _device, false);
|
||||
|
||||
/* call the probe function to check whether the device is present */
|
||||
ret = probe();
|
||||
|
||||
if (ret != OK) {
|
||||
DEVICE_DEBUG("probe failed");
|
||||
goto out;
|
||||
}
|
||||
|
||||
/* do base class init, which will create the device node, etc. */
|
||||
ret = CDev::init();
|
||||
|
||||
if (ret != OK) {
|
||||
DEVICE_DEBUG("cdev init failed");
|
||||
goto out;
|
||||
}
|
||||
|
||||
/* 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);
|
||||
|
||||
out:
|
||||
return ret;
|
||||
}
|
||||
|
||||
int
|
||||
SPI::transfer(uint8_t *send, uint8_t *recv, unsigned len)
|
||||
{
|
||||
int result;
|
||||
|
||||
if ((send == nullptr) && (recv == nullptr)) {
|
||||
return -EINVAL;
|
||||
}
|
||||
|
||||
LockMode mode = up_interrupt_context() ? LOCK_NONE : locking_mode;
|
||||
|
||||
/* lock the bus as required */
|
||||
switch (mode) {
|
||||
default:
|
||||
case LOCK_PREEMPTION: {
|
||||
irqstate_t state = px4_enter_critical_section();
|
||||
result = _transfer(send, recv, len);
|
||||
px4_leave_critical_section(state);
|
||||
}
|
||||
break;
|
||||
|
||||
case LOCK_THREADS:
|
||||
SPI_LOCK(_dev, true);
|
||||
result = _transfer(send, recv, len);
|
||||
SPI_LOCK(_dev, false);
|
||||
break;
|
||||
|
||||
case LOCK_NONE:
|
||||
result = _transfer(send, recv, len);
|
||||
break;
|
||||
}
|
||||
|
||||
return result;
|
||||
}
|
||||
|
||||
int
|
||||
SPI::_transfer(uint8_t *send, uint8_t *recv, unsigned len)
|
||||
{
|
||||
SPI_SETFREQUENCY(_dev, _frequency);
|
||||
SPI_SETMODE(_dev, _mode);
|
||||
SPI_SETBITS(_dev, 8);
|
||||
SPI_SELECT(_dev, _device, true);
|
||||
|
||||
/* do the transfer */
|
||||
SPI_EXCHANGE(_dev, send, recv, len);
|
||||
|
||||
/* and clean up */
|
||||
SPI_SELECT(_dev, _device, false);
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
int
|
||||
SPI::transferhword(uint16_t *send, uint16_t *recv, unsigned len)
|
||||
{
|
||||
int result;
|
||||
|
||||
if ((send == nullptr) && (recv == nullptr)) {
|
||||
return -EINVAL;
|
||||
}
|
||||
|
||||
LockMode mode = up_interrupt_context() ? LOCK_NONE : locking_mode;
|
||||
|
||||
/* lock the bus as required */
|
||||
switch (mode) {
|
||||
default:
|
||||
case LOCK_PREEMPTION: {
|
||||
irqstate_t state = px4_enter_critical_section();
|
||||
result = _transferhword(send, recv, len);
|
||||
px4_leave_critical_section(state);
|
||||
}
|
||||
break;
|
||||
|
||||
case LOCK_THREADS:
|
||||
SPI_LOCK(_dev, true);
|
||||
result = _transferhword(send, recv, len);
|
||||
SPI_LOCK(_dev, false);
|
||||
break;
|
||||
|
||||
case LOCK_NONE:
|
||||
result = _transferhword(send, recv, len);
|
||||
break;
|
||||
}
|
||||
|
||||
return result;
|
||||
}
|
||||
|
||||
int
|
||||
SPI::_transferhword(uint16_t *send, uint16_t *recv, unsigned len)
|
||||
{
|
||||
SPI_SETFREQUENCY(_dev, _frequency);
|
||||
SPI_SETMODE(_dev, _mode);
|
||||
SPI_SETBITS(_dev, 16); /* 16 bit transfer */
|
||||
SPI_SELECT(_dev, _device, true);
|
||||
|
||||
/* do the transfer */
|
||||
SPI_EXCHANGE(_dev, send, recv, len);
|
||||
|
||||
/* and clean up */
|
||||
SPI_SELECT(_dev, _device, false);
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
} // namespace device
|
||||
@@ -0,0 +1,176 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2012 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.h
|
||||
*
|
||||
* Base class for devices connected via SPI.
|
||||
*/
|
||||
|
||||
#ifndef _DEVICE_SPI_H
|
||||
#define _DEVICE_SPI_H
|
||||
|
||||
#include "../CDev.hpp"
|
||||
|
||||
#include <px4_spi.h>
|
||||
|
||||
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; }
|
||||
|
||||
/**
|
||||
* 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) { locking_mode = mode; }
|
||||
|
||||
LockMode locking_mode; /**< selected locking mode */
|
||||
|
||||
private:
|
||||
uint32_t _device;
|
||||
enum spi_mode_e _mode;
|
||||
uint32_t _frequency;
|
||||
struct spi_dev_s *_dev;
|
||||
|
||||
/* this class does not allow copying */
|
||||
SPI(const SPI &);
|
||||
SPI operator=(const SPI &);
|
||||
|
||||
protected:
|
||||
int _transfer(uint8_t *send, uint8_t *recv, unsigned len);
|
||||
|
||||
int _transferhword(uint16_t *send, uint16_t *recv, unsigned len);
|
||||
|
||||
bool external() { return px4_spi_bus_external(get_device_bus()); }
|
||||
|
||||
};
|
||||
|
||||
} // namespace device
|
||||
|
||||
#endif /* _DEVICE_SPI_H */
|
||||
@@ -0,0 +1,140 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2012-2014 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 cdev_platform.cpp
|
||||
*
|
||||
* NuttX Character device functions
|
||||
*/
|
||||
#include "cdev_platform.hpp"
|
||||
#include "../CDev.hpp"
|
||||
|
||||
#include "px4_posix.h"
|
||||
#include "drivers/drv_device.h"
|
||||
#include <sys/ioctl.h>
|
||||
|
||||
#ifdef CONFIG_DISABLE_POLL
|
||||
# error This driver is not compatible with CONFIG_DISABLE_POLL
|
||||
#endif
|
||||
|
||||
namespace device
|
||||
{
|
||||
|
||||
/*
|
||||
* The standard NuttX operation dispatch table can't call C++ member functions
|
||||
* directly, so we have to bounce them through this dispatch table.
|
||||
*/
|
||||
static int cdev_open(file_t *filp);
|
||||
static int cdev_close(file_t *filp);
|
||||
static ssize_t cdev_read(file_t *filp, char *buffer, size_t buflen);
|
||||
static ssize_t cdev_write(file_t *filp, const char *buffer, size_t buflen);
|
||||
static off_t cdev_seek(file_t *filp, off_t offset, int whence);
|
||||
static int cdev_ioctl(file_t *filp, int cmd, unsigned long arg);
|
||||
static int cdev_poll(file_t *filp, px4_pollfd_struct_t *fds, bool setup);
|
||||
|
||||
/**
|
||||
* Character device indirection table.
|
||||
*
|
||||
* Every cdev we register gets the same function table; we use the private data
|
||||
* field in the inode to store the instance pointer.
|
||||
*
|
||||
* Note that we use the GNU extension syntax here because we don't get designated
|
||||
* initialisers in gcc 4.6.
|
||||
*/
|
||||
const struct file_operations device::CDev::fops = {
|
||||
open : cdev_open,
|
||||
close : cdev_close,
|
||||
read : cdev_read,
|
||||
write : cdev_write,
|
||||
seek : cdev_seek,
|
||||
ioctl : cdev_ioctl,
|
||||
poll : cdev_poll
|
||||
};
|
||||
|
||||
static int
|
||||
cdev_open(file_t *filp)
|
||||
{
|
||||
device::CDev *cdev = (device::CDev *)(filp->f_inode->i_private);
|
||||
|
||||
return cdev->open(filp);
|
||||
}
|
||||
|
||||
static int
|
||||
cdev_close(file_t *filp)
|
||||
{
|
||||
device::CDev *cdev = (device::CDev *)(filp->f_inode->i_private);
|
||||
|
||||
return cdev->close(filp);
|
||||
}
|
||||
|
||||
static ssize_t
|
||||
cdev_read(file_t *filp, char *buffer, size_t buflen)
|
||||
{
|
||||
device::CDev *cdev = (device::CDev *)(filp->f_inode->i_private);
|
||||
|
||||
return cdev->read(filp, buffer, buflen);
|
||||
}
|
||||
|
||||
static ssize_t
|
||||
cdev_write(file_t *filp, const char *buffer, size_t buflen)
|
||||
{
|
||||
device::CDev *cdev = (device::CDev *)(filp->f_inode->i_private);
|
||||
|
||||
return cdev->write(filp, buffer, buflen);
|
||||
}
|
||||
|
||||
static off_t
|
||||
cdev_seek(file_t *filp, off_t offset, int whence)
|
||||
{
|
||||
device::CDev *cdev = (device::CDev *)(filp->f_inode->i_private);
|
||||
|
||||
return cdev->seek(filp, offset, whence);
|
||||
}
|
||||
|
||||
static int
|
||||
cdev_ioctl(file_t *filp, int cmd, unsigned long arg)
|
||||
{
|
||||
device::CDev *cdev = (device::CDev *)(filp->f_inode->i_private);
|
||||
|
||||
return cdev->ioctl(filp, cmd, arg);
|
||||
}
|
||||
|
||||
static int
|
||||
cdev_poll(file_t *filp, px4_pollfd_struct_t *fds, bool setup)
|
||||
{
|
||||
device::CDev *cdev = (device::CDev *)(filp->f_inode->i_private);
|
||||
|
||||
return cdev->poll(filp, fds, setup);
|
||||
}
|
||||
|
||||
} // namespace device
|
||||
@@ -0,0 +1,19 @@
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <cinttypes>
|
||||
|
||||
#include <nuttx/arch.h>
|
||||
|
||||
#include <px4_micro_hal.h>
|
||||
|
||||
#define ATOMIC_ENTER irqstate_t flags = px4_enter_critical_section()
|
||||
#define ATOMIC_LEAVE px4_leave_critical_section(flags)
|
||||
|
||||
namespace device
|
||||
{
|
||||
|
||||
using px4_file_operations_t = struct file_operations;
|
||||
using file_t = struct file;
|
||||
|
||||
} // namespace device
|
||||
Reference in New Issue
Block a user