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160 lines
4.4 KiB
C++
160 lines
4.4 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2016-2020 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 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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#include <dev_fs_lib_i2c.h>
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#include <px4_platform_common/time.h>
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namespace device
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{
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I2C::_config_i2c_bus_func_t I2C::_config_i2c_bus = NULL;
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I2C::_set_i2c_address_func_t I2C::_set_i2c_address = NULL;
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I2C::_i2c_transfer_func_t I2C::_i2c_transfer = NULL;
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pthread_mutex_t I2C::_mutex = PTHREAD_MUTEX_INITIALIZER;
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I2C::I2C(uint8_t device_type, const char *name, const int bus, const uint16_t address, const uint32_t frequency) :
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CDev(name, nullptr),
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_frequency(frequency / 1000)
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{
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_device_id.devid = 0;
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// fill in _device_id fields for a I2C device
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_device_id.devid_s.devtype = device_type;
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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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PX4_INFO("*** I2C Device ID 0x%x %d", _device_id.devid, _device_id.devid);
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}
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I2C::~I2C()
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{
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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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if (_config_i2c_bus == NULL) {
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PX4_ERR("NULL i2c init function");
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goto out;
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}
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pthread_mutex_lock(&_mutex);
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// Open the actual I2C device
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_i2c_fd = _config_i2c_bus(get_device_bus(), get_device_address(), _frequency);
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pthread_mutex_unlock(&_mutex);
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if (_i2c_fd == PX4_ERROR) {
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PX4_ERR("i2c init failed");
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goto out;
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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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PX4_ERR("i2c 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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PX4_ERR("i2c 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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// PX4_INFO("on I2C bus %d at 0x%02x", get_device_bus(), get_device_address());
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out:
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return ret;
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}
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void
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I2C::set_device_address(int address)
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{
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if ((_i2c_fd != PX4_ERROR) && (_set_i2c_address != NULL)) {
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PX4_INFO("Set i2c address 0x%x, fd %d", address, _i2c_fd);
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pthread_mutex_lock(&_mutex);
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_set_i2c_address(_i2c_fd, address);
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pthread_mutex_unlock(&_mutex);
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Device::set_device_address(address);
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}
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}
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int
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I2C::transfer(const uint8_t *send, const unsigned send_len, uint8_t *recv, const unsigned recv_len)
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{
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int ret = PX4_ERROR;
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unsigned retry_count = 1;
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if ((_i2c_fd != PX4_ERROR) && (_i2c_transfer != NULL)) {
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do {
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// PX4_INFO("transfer out %p/%u in %p/%u", send, send_len, recv, recv_len);
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pthread_mutex_lock(&_mutex);
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ret = _i2c_transfer(_i2c_fd, send, send_len, recv, recv_len);
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pthread_mutex_unlock(&_mutex);
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if (ret != PX4_ERROR) { break; }
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px4_usleep(1000);
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} while (retry_count++ < _retries);
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}
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return ret;
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}
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} // namespace device
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