mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-23 07:43:35 +08:00
Mark Charlebois
@@ -0,0 +1,560 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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 device_nuttx.h
|
||||
*
|
||||
* Definitions for the generic base classes in the device framework.
|
||||
*/
|
||||
|
||||
#ifndef _DEVICE_DEVICE_H
|
||||
#define _DEVICE_DEVICE_H
|
||||
|
||||
/*
|
||||
* Includes here should only cover the needs of the framework definitions.
|
||||
*/
|
||||
#include <px4_config.h>
|
||||
|
||||
#include <errno.h>
|
||||
#include <stdbool.h>
|
||||
#include <stddef.h>
|
||||
#include <stdint.h>
|
||||
#include <poll.h>
|
||||
|
||||
/**
|
||||
* Namespace encapsulating all device framework classes, functions and data.
|
||||
*/
|
||||
namespace device __EXPORT
|
||||
{
|
||||
|
||||
/**
|
||||
* Fundamental base class for all device drivers.
|
||||
*
|
||||
* This class handles the basic "being a driver" things, including
|
||||
* interrupt registration and dispatch.
|
||||
*/
|
||||
class __EXPORT Device
|
||||
{
|
||||
public:
|
||||
/**
|
||||
* Destructor.
|
||||
*
|
||||
* Public so that anonymous devices can be destroyed.
|
||||
*/
|
||||
virtual ~Device();
|
||||
|
||||
/**
|
||||
* Interrupt handler.
|
||||
*/
|
||||
virtual void interrupt(void *ctx); /**< interrupt handler */
|
||||
|
||||
/*
|
||||
* Direct access methods.
|
||||
*/
|
||||
|
||||
/**
|
||||
* Initialise the driver and make it ready for use.
|
||||
*
|
||||
* @return OK if the driver initialized OK, negative errno otherwise;
|
||||
*/
|
||||
virtual int init();
|
||||
|
||||
#if 0
|
||||
/**
|
||||
* Read directly from the device.
|
||||
*
|
||||
* The actual size of each unit quantity is device-specific.
|
||||
*
|
||||
* @param offset The device address at which to start reading
|
||||
* @param data The buffer into which the read values should be placed.
|
||||
* @param count The number of items to read.
|
||||
* @return The number of items read on success, negative errno otherwise.
|
||||
*/
|
||||
virtual int read(unsigned address, void *data, unsigned count);
|
||||
|
||||
/**
|
||||
* Write directly to the device.
|
||||
*
|
||||
* The actual size of each unit quantity is device-specific.
|
||||
*
|
||||
* @param address The device address at which to start writing.
|
||||
* @param data The buffer from which values should be read.
|
||||
* @param count The number of items to write.
|
||||
* @return The number of items written on success, negative errno otherwise.
|
||||
*/
|
||||
virtual int write(unsigned address, void *data, unsigned count);
|
||||
|
||||
/**
|
||||
* Perform a device-specific operation.
|
||||
*
|
||||
* @param operation The operation to perform.
|
||||
* @param arg An argument to the operation.
|
||||
* @return Negative errno on error, OK or positive value on success.
|
||||
*/
|
||||
virtual int ioctl(unsigned operation, unsigned &arg);
|
||||
#endif
|
||||
|
||||
/*
|
||||
device bus types for DEVID
|
||||
*/
|
||||
enum DeviceBusType {
|
||||
DeviceBusType_UNKNOWN = 0,
|
||||
DeviceBusType_I2C = 1,
|
||||
DeviceBusType_SPI = 2,
|
||||
DeviceBusType_UAVCAN = 3,
|
||||
};
|
||||
|
||||
/*
|
||||
broken out device elements. The bitfields are used to keep
|
||||
the overall value small enough to fit in a float accurately,
|
||||
which makes it possible to transport over the MAVLink
|
||||
parameter protocol without loss of information.
|
||||
*/
|
||||
struct DeviceStructure {
|
||||
enum DeviceBusType bus_type:3;
|
||||
uint8_t bus:5; // which instance of the bus type
|
||||
uint8_t address; // address on the bus (eg. I2C address)
|
||||
uint8_t devtype; // device class specific device type
|
||||
};
|
||||
|
||||
union DeviceId {
|
||||
struct DeviceStructure devid_s;
|
||||
uint32_t devid;
|
||||
};
|
||||
|
||||
protected:
|
||||
const char *_name; /**< driver name */
|
||||
bool _debug_enabled; /**< if true, debug messages are printed */
|
||||
union DeviceId _device_id; /**< device identifier information */
|
||||
|
||||
/**
|
||||
* Constructor
|
||||
*
|
||||
* @param name Driver name
|
||||
* @param irq Interrupt assigned to the device.
|
||||
*/
|
||||
Device(const char *name,
|
||||
int irq = 0);
|
||||
|
||||
/**
|
||||
* Enable the device interrupt
|
||||
*/
|
||||
void interrupt_enable();
|
||||
|
||||
/**
|
||||
* Disable the device interrupt
|
||||
*/
|
||||
void interrupt_disable();
|
||||
|
||||
/**
|
||||
* Take the driver lock.
|
||||
*
|
||||
* Each driver instance has its own lock/semaphore.
|
||||
*
|
||||
* Note that we must loop as the wait may be interrupted by a signal.
|
||||
*/
|
||||
void lock() {
|
||||
do {} while (sem_wait(&_lock) != 0);
|
||||
}
|
||||
|
||||
/**
|
||||
* Release the driver lock.
|
||||
*/
|
||||
void unlock() {
|
||||
sem_post(&_lock);
|
||||
}
|
||||
|
||||
/**
|
||||
* Log a message.
|
||||
*
|
||||
* The message is prefixed with the driver name, and followed
|
||||
* by a newline.
|
||||
*/
|
||||
void log(const char *fmt, ...);
|
||||
|
||||
/**
|
||||
* Print a debug message.
|
||||
*
|
||||
* The message is prefixed with the driver name, and followed
|
||||
* by a newline.
|
||||
*/
|
||||
void debug(const char *fmt, ...);
|
||||
|
||||
private:
|
||||
int _irq;
|
||||
bool _irq_attached;
|
||||
sem_t _lock;
|
||||
|
||||
/** disable copy construction for this and all subclasses */
|
||||
Device(const Device &);
|
||||
|
||||
/** disable assignment for this and all subclasses */
|
||||
Device &operator = (const Device &);
|
||||
|
||||
/**
|
||||
* Register ourselves as a handler for an interrupt
|
||||
*
|
||||
* @param irq The interrupt to claim
|
||||
* @return OK if the interrupt was registered
|
||||
*/
|
||||
int dev_register_interrupt(int irq);
|
||||
|
||||
/**
|
||||
* Unregister ourselves as a handler for any interrupt
|
||||
*/
|
||||
void dev_unregister_interrupt();
|
||||
|
||||
/**
|
||||
* Interrupt dispatcher
|
||||
*
|
||||
* @param irq The interrupt that has been triggered.
|
||||
* @param context Pointer to the interrupted context.
|
||||
*/
|
||||
static void dev_interrupt(int irq, void *context);
|
||||
|
||||
};
|
||||
|
||||
/**
|
||||
* Abstract class for any character device
|
||||
*/
|
||||
class __EXPORT CDev : public Device
|
||||
{
|
||||
public:
|
||||
/**
|
||||
* Constructor
|
||||
*
|
||||
* @param name Driver name
|
||||
* @param devname Device node name
|
||||
* @param irq Interrupt assigned to the device
|
||||
*/
|
||||
CDev(const char *name, const char *devname, int irq = 0);
|
||||
|
||||
/**
|
||||
* Destructor
|
||||
*/
|
||||
virtual ~CDev();
|
||||
|
||||
virtual int init();
|
||||
|
||||
/**
|
||||
* Handle an open of the device.
|
||||
*
|
||||
* This function is called for every open of the device. The default
|
||||
* implementation maintains _open_count and always returns OK.
|
||||
*
|
||||
* @param filp Pointer to the NuttX file structure.
|
||||
* @return OK if the open is allowed, -errno otherwise.
|
||||
*/
|
||||
virtual int open(struct file *filp);
|
||||
|
||||
/**
|
||||
* Handle a close of the device.
|
||||
*
|
||||
* This function is called for every close of the device. The default
|
||||
* implementation maintains _open_count and returns OK as long as it is not zero.
|
||||
*
|
||||
* @param filp Pointer to the NuttX file structure.
|
||||
* @return OK if the close was successful, -errno otherwise.
|
||||
*/
|
||||
virtual int close(struct file *filp);
|
||||
|
||||
/**
|
||||
* Perform a read from the device.
|
||||
*
|
||||
* The default implementation returns -ENOSYS.
|
||||
*
|
||||
* @param filp Pointer to the NuttX file structure.
|
||||
* @param buffer Pointer to the buffer into which data should be placed.
|
||||
* @param buflen The number of bytes to be read.
|
||||
* @return The number of bytes read or -errno otherwise.
|
||||
*/
|
||||
virtual ssize_t read(struct file *filp, char *buffer, size_t buflen);
|
||||
|
||||
/**
|
||||
* Perform a write to the device.
|
||||
*
|
||||
* The default implementation returns -ENOSYS.
|
||||
*
|
||||
* @param filp Pointer to the NuttX file structure.
|
||||
* @param buffer Pointer to the buffer from which data should be read.
|
||||
* @param buflen The number of bytes to be written.
|
||||
* @return The number of bytes written or -errno otherwise.
|
||||
*/
|
||||
virtual ssize_t write(struct file *filp, const char *buffer, size_t buflen);
|
||||
|
||||
/**
|
||||
* Perform a logical seek operation on the device.
|
||||
*
|
||||
* The default implementation returns -ENOSYS.
|
||||
*
|
||||
* @param filp Pointer to the NuttX file structure.
|
||||
* @param offset The new file position relative to whence.
|
||||
* @param whence SEEK_OFS, SEEK_CUR or SEEK_END.
|
||||
* @return The previous offset, or -errno otherwise.
|
||||
*/
|
||||
virtual off_t seek(struct file *filp, off_t offset, int whence);
|
||||
|
||||
/**
|
||||
* Perform an ioctl operation on the device.
|
||||
*
|
||||
* The default implementation handles DIOC_GETPRIV, and otherwise
|
||||
* returns -ENOTTY. Subclasses should call the default implementation
|
||||
* for any command they do not handle themselves.
|
||||
*
|
||||
* @param filp Pointer to the NuttX file structure.
|
||||
* @param cmd The ioctl command value.
|
||||
* @param arg The ioctl argument value.
|
||||
* @return OK on success, or -errno otherwise.
|
||||
*/
|
||||
virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
|
||||
|
||||
/**
|
||||
* Perform a poll setup/teardown operation.
|
||||
*
|
||||
* This is handled internally and should not normally be overridden.
|
||||
*
|
||||
* @param filp Pointer to the NuttX file structure.
|
||||
* @param fds Poll descriptor being waited on.
|
||||
* @param arg True if this is establishing a request, false if
|
||||
* it is being torn down.
|
||||
* @return OK on success, or -errno otherwise.
|
||||
*/
|
||||
virtual int poll(struct file *filp, struct pollfd *fds, bool setup);
|
||||
|
||||
/**
|
||||
* Test whether the device is currently open.
|
||||
*
|
||||
* This can be used to avoid tearing down a device that is still active.
|
||||
* Note - not virtual, cannot be overridden by a subclass.
|
||||
*
|
||||
* @return True if the device is currently open.
|
||||
*/
|
||||
bool is_open() { return _open_count > 0; }
|
||||
|
||||
protected:
|
||||
/**
|
||||
* Pointer to the default cdev file operations table; useful for
|
||||
* registering clone devices etc.
|
||||
*/
|
||||
static const struct file_operations fops;
|
||||
|
||||
/**
|
||||
* Check the current state of the device for poll events from the
|
||||
* perspective of the file.
|
||||
*
|
||||
* This function is called by the default poll() implementation when
|
||||
* a poll is set up to determine whether the poll should return immediately.
|
||||
*
|
||||
* The default implementation returns no events.
|
||||
*
|
||||
* @param filp The file that's interested.
|
||||
* @return The current set of poll events.
|
||||
*/
|
||||
virtual pollevent_t poll_state(struct file *filp);
|
||||
|
||||
/**
|
||||
* Report new poll events.
|
||||
*
|
||||
* This function should be called anytime the state of the device changes
|
||||
* in a fashion that might be interesting to a poll waiter.
|
||||
*
|
||||
* @param events The new event(s) being announced.
|
||||
*/
|
||||
virtual void poll_notify(pollevent_t events);
|
||||
|
||||
/**
|
||||
* Internal implementation of poll_notify.
|
||||
*
|
||||
* @param fds A poll waiter to notify.
|
||||
* @param events The event(s) to send to the waiter.
|
||||
*/
|
||||
virtual void poll_notify_one(struct pollfd *fds, pollevent_t events);
|
||||
|
||||
/**
|
||||
* Notification of the first open.
|
||||
*
|
||||
* This function is called when the device open count transitions from zero
|
||||
* to one. The driver lock is held for the duration of the call.
|
||||
*
|
||||
* The default implementation returns OK.
|
||||
*
|
||||
* @param filp Pointer to the NuttX file structure.
|
||||
* @return OK if the open should proceed, -errno otherwise.
|
||||
*/
|
||||
virtual int open_first(struct file *filp);
|
||||
|
||||
/**
|
||||
* Notification of the last close.
|
||||
*
|
||||
* This function is called when the device open count transitions from
|
||||
* one to zero. The driver lock is held for the duration of the call.
|
||||
*
|
||||
* The default implementation returns OK.
|
||||
*
|
||||
* @param filp Pointer to the NuttX file structure.
|
||||
* @return OK if the open should return OK, -errno otherwise.
|
||||
*/
|
||||
virtual int close_last(struct file *filp);
|
||||
|
||||
/**
|
||||
* Register a class device name, automatically adding device
|
||||
* class instance suffix if need be.
|
||||
*
|
||||
* @param class_devname Device class name
|
||||
* @return class_instamce Class instance created, or -errno on failure
|
||||
*/
|
||||
virtual int register_class_devname(const char *class_devname);
|
||||
|
||||
/**
|
||||
* Register a class device name, automatically adding device
|
||||
* class instance suffix if need be.
|
||||
*
|
||||
* @param class_devname Device class name
|
||||
* @param class_instance Device class instance from register_class_devname()
|
||||
* @return OK on success, -errno otherwise
|
||||
*/
|
||||
virtual int unregister_class_devname(const char *class_devname, unsigned class_instance);
|
||||
|
||||
/**
|
||||
* Get the device name.
|
||||
*
|
||||
* @return the file system string of the device handle
|
||||
*/
|
||||
const char* get_devname() { return _devname; }
|
||||
|
||||
bool _pub_blocked; /**< true if publishing should be blocked */
|
||||
|
||||
private:
|
||||
static const unsigned _max_pollwaiters = 8;
|
||||
|
||||
const char *_devname; /**< device node name */
|
||||
bool _registered; /**< true if device name was registered */
|
||||
unsigned _open_count; /**< number of successful opens */
|
||||
|
||||
struct pollfd *_pollset[_max_pollwaiters];
|
||||
|
||||
/**
|
||||
* Store a pollwaiter in a slot where we can find it later.
|
||||
*
|
||||
* Expands the pollset as required. Must be called with the driver locked.
|
||||
*
|
||||
* @return OK, or -errno on error.
|
||||
*/
|
||||
int store_poll_waiter(struct pollfd *fds);
|
||||
|
||||
/**
|
||||
* Remove a poll waiter.
|
||||
*
|
||||
* @return OK, or -errno on error.
|
||||
*/
|
||||
int remove_poll_waiter(struct pollfd *fds);
|
||||
|
||||
/* do not allow copying this class */
|
||||
CDev(const CDev&);
|
||||
CDev operator=(const CDev&);
|
||||
};
|
||||
|
||||
/**
|
||||
* Abstract class for character device accessed via PIO
|
||||
*/
|
||||
class __EXPORT PIO : public CDev
|
||||
{
|
||||
public:
|
||||
/**
|
||||
* Constructor
|
||||
*
|
||||
* @param name Driver name
|
||||
* @param devname Device node name
|
||||
* @param base Base address of the device PIO area
|
||||
* @param irq Interrupt assigned to the device (or zero if none)
|
||||
*/
|
||||
PIO(const char *name,
|
||||
const char *devname,
|
||||
uint32_t base,
|
||||
int irq = 0);
|
||||
virtual ~PIO();
|
||||
|
||||
virtual int init();
|
||||
|
||||
protected:
|
||||
|
||||
/**
|
||||
* Read a register
|
||||
*
|
||||
* @param offset Register offset in bytes from the base address.
|
||||
*/
|
||||
unsigned long reg(uint32_t offset) {
|
||||
return *(volatile uint32_t *)(_base + offset);
|
||||
}
|
||||
|
||||
/**
|
||||
* Write a register
|
||||
*
|
||||
* @param offset Register offset in bytes from the base address.
|
||||
* @param value Value to write.
|
||||
*/
|
||||
void reg(uint32_t offset, uint32_t value) {
|
||||
*(volatile uint32_t *)(_base + offset) = value;
|
||||
}
|
||||
|
||||
/**
|
||||
* Modify a register
|
||||
*
|
||||
* Note that there is a risk of a race during the read/modify/write cycle
|
||||
* that must be taken care of by the caller.
|
||||
*
|
||||
* @param offset Register offset in bytes from the base address.
|
||||
* @param clearbits Bits to clear in the register
|
||||
* @param setbits Bits to set in the register
|
||||
*/
|
||||
void modify(uint32_t offset, uint32_t clearbits, uint32_t setbits) {
|
||||
uint32_t val = reg(offset);
|
||||
val &= ~clearbits;
|
||||
val |= setbits;
|
||||
reg(offset, val);
|
||||
}
|
||||
|
||||
private:
|
||||
unsigned long _base;
|
||||
};
|
||||
|
||||
} // namespace device
|
||||
|
||||
// class instance for primary driver of each class
|
||||
enum CLASS_DEVICE {
|
||||
CLASS_DEVICE_PRIMARY=0,
|
||||
CLASS_DEVICE_SECONDARY=1,
|
||||
CLASS_DEVICE_TERTIARY=2
|
||||
};
|
||||
|
||||
#endif /* _DEVICE_DEVICE_H */
|
||||
Reference in New Issue
Block a user