mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-21 18:43:33 +08:00
Daniel Agar
ea3acb7121
- px4_add_module now requires MAIN - px4_add_library doesn't automatically link
261 lines
6.7 KiB
C++
261 lines
6.7 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 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
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* 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
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* used to endorse or promote products derived from this software
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* 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
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* 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
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file px4io_driver.h
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*
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* Interface for PX4IO
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*/
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#pragma once
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/* XXX trim includes */
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#include <px4_config.h>
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#include <px4_posix.h>
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#include <sys/types.h>
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#include <stdint.h>
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#include <stdbool.h>
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#include <assert.h>
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#include <debug.h>
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#include <time.h>
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#include <errno.h>
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#include <string.h>
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#include <stdio.h>
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#include <arch/board/board.h>
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#include <perf/perf_counter.h>
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#include <board_config.h>
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#include <drivers/device/device.h>
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#include <modules/px4iofirmware/protocol.h>
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class PX4IO_serial : public device::Device
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{
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public:
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PX4IO_serial();
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virtual ~PX4IO_serial();
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virtual int init() = 0;
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virtual int read(unsigned offset, void *data, unsigned count = 1);
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virtual int write(unsigned address, void *data, unsigned count = 1);
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protected:
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/**
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* Does the PX4IO_serial instance initialization.
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* @param io_buffer The IO buffer that should be used for transfers.
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* @return 0 on success.
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*/
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int init(IOPacket *io_buffer);
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/**
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* Start the transaction with IO and wait for it to complete.
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*/
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virtual int _bus_exchange(IOPacket *_packet) = 0;
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/**
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* Performance counters.
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*/
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perf_counter_t _pc_txns;
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perf_counter_t _pc_retries;
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perf_counter_t _pc_timeouts;
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perf_counter_t _pc_crcerrs;
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perf_counter_t _pc_protoerrs;
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perf_counter_t _pc_uerrs;
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perf_counter_t _pc_idle;
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perf_counter_t _pc_badidle;
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private:
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/*
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* XXX tune this value
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*
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* At 1.5Mbps each register takes 13.3µs, and we always transfer a full packet.
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* Packet overhead is 26µs for the four-byte header.
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*
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* 32 registers = 451µs
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*
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* Maybe we can just send smaller packets (e.g. 8 regs) and loop for larger (less common)
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* transfers? Could cause issues with any regs expecting to be written atomically...
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*/
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IOPacket *_io_buffer_ptr;
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/** bus-ownership lock */
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px4_sem_t _bus_semaphore;
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/* do not allow top copying this class */
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PX4IO_serial(PX4IO_serial &);
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PX4IO_serial &operator = (const PX4IO_serial &);
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};
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#if defined(CONFIG_STM32_STM32F10XX) || defined(CONFIG_STM32_STM32F4XXX)
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/** XXX use F4 implementation for F1 as well. **/
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#define PX4IO_INTERFACE_CLASS PX4IO_serial_f4
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#define PX4IO_INTERFACE_F4
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class PX4IO_serial_f4 : public PX4IO_serial
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{
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public:
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PX4IO_serial_f4();
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~PX4IO_serial_f4();
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virtual int init();
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virtual int ioctl(unsigned operation, unsigned &arg);
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protected:
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/**
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* Start the transaction with IO and wait for it to complete.
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*/
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int _bus_exchange(IOPacket *_packet);
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private:
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DMA_HANDLE _tx_dma;
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DMA_HANDLE _rx_dma;
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IOPacket *_current_packet;
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/** saved DMA status */
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static const unsigned _dma_status_inactive = 0x80000000; // low bits overlap DMA_STATUS_* values
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static const unsigned _dma_status_waiting = 0x00000000;
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volatile unsigned _rx_dma_status;
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/** client-waiting lock/signal */
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px4_sem_t _completion_semaphore;
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/**
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* DMA completion handler.
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*/
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static void _dma_callback(DMA_HANDLE handle, uint8_t status, void *arg);
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void _do_rx_dma_callback(unsigned status);
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/**
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* Serial interrupt handler.
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*/
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static int _interrupt(int vector, void *context, void *arg);
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void _do_interrupt();
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/**
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* Cancel any DMA in progress with an error.
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*/
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void _abort_dma();
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/**
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* Performance counters.
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*/
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perf_counter_t _pc_dmasetup;
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perf_counter_t _pc_dmaerrs;
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/* do not allow top copying this class */
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PX4IO_serial_f4(PX4IO_serial_f4 &);
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PX4IO_serial_f4 &operator = (const PX4IO_serial_f4 &);
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/**
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* IO Buffer storage
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*/
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static IOPacket _io_buffer_storage; // XXX static to ensure DMA-able memory
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};
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#elif defined(CONFIG_ARCH_CHIP_STM32F7)
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#define PX4IO_INTERFACE_CLASS PX4IO_serial_f7
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#define PX4IO_INTERFACE_F7
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#include <stm32_dma.h>
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class PX4IO_serial_f7 : public PX4IO_serial
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{
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public:
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PX4IO_serial_f7();
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~PX4IO_serial_f7();
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virtual int init();
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virtual int ioctl(unsigned operation, unsigned &arg);
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protected:
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/**
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* Start the transaction with IO and wait for it to complete.
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*/
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int _bus_exchange(IOPacket *_packet);
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private:
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DMA_HANDLE _tx_dma;
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DMA_HANDLE _rx_dma;
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IOPacket *_current_packet;
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/** saved DMA status */
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static const unsigned _dma_status_inactive = 0x80000000; // low bits overlap DMA_STATUS_* values
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static const unsigned _dma_status_waiting = 0x00000000;
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volatile unsigned _rx_dma_status;
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/** client-waiting lock/signal */
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px4_sem_t _completion_semaphore;
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/**
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* DMA completion handler.
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*/
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static void _dma_callback(DMA_HANDLE handle, uint8_t status, void *arg);
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void _do_rx_dma_callback(unsigned status);
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/**
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* Serial interrupt handler.
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*/
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static int _interrupt(int vector, void *context, void *arg);
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void _do_interrupt();
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/**
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* Cancel any DMA in progress with an error.
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*/
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void _abort_dma();
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/**
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* Performance counters.
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*/
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perf_counter_t _pc_dmasetup;
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perf_counter_t _pc_dmaerrs;
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/* do not allow top copying this class */
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PX4IO_serial_f7(PX4IO_serial_f7 &);
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PX4IO_serial_f7 &operator = (const PX4IO_serial_f7 &);
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/**
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* IO Buffer storage
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*/
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static uint8_t _io_buffer_storage[];
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};
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#else
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#error "Interface not implemented for this chip"
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#endif
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