mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-18 03:10:35 +08:00
Mark Charlebois
d013ac0927
Added more queue support to linux/px4_layer. Use virt char devices for ms5611, and mavlink. Added more HRT functionality. uORB latency test now fails. Likely due to bad HRT impl for Linux. Signed-off-by: Mark Charlebois <charlebm@gmail.com>
130 lines
4.5 KiB
C
130 lines
4.5 KiB
C
/****************************************************************************
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*
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* Copyright (c) 2015 Mark Charlebois. 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 px4_i2c.h
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*
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* Includes device headers depending on the build target
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*/
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#pragma once
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#define PX4_I2C_M_READ 0x0001 /* read data, from slave to master */
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#if defined(__PX4_ROS)
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#error "Devices not supported in ROS"
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#elif defined (__PX4_NUTTX)
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/*
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* Building for NuttX
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*/
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#include <sys/ioctl.h>
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#include <nuttx/arch.h>
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#include <nuttx/wqueue.h>
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#include <nuttx/clock.h>
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#include <nuttx/i2c.h>
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#include <nuttx/irq.h>
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#include <nuttx/wqueue.h>
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#include <chip.h>
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#include <arch/board/board.h>
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#include <arch/chip/chip.h>
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#include "up_internal.h"
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#include "up_arch.h"
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#define px4_i2c_msg_t i2c_msg_s
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typedef struct i2c_dev_s px4_i2c_dev_t;
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#define px4_i2cuninitialize(x) up_i2cuninitialize(x)
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#define px4_i2cinitialize(x) up_i2cinitialize(x)
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#define px4_i2creset(x) up_i2creset(x)
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#define px4_interrupt_context() up_interrupt_context()
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#elif defined(__PX4_LINUX)
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#include <stdint.h>
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#define I2C_M_READ 0x0001 /* read data, from slave to master */
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#define I2C_M_TEN 0x0002 /* ten bit address */
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#define I2C_M_NORESTART 0x0080 /* message should not begin with (re-)start of transfer */
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// NOTE - This is a copy of the NuttX i2c_msg_s structure
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typedef struct {
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uint16_t addr; /* Slave address */
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uint16_t flags; /* See I2C_M_* definitions */
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uint8_t *buffer;
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int length;
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} px4_i2c_msg_t;
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struct px4_i2c_ops_t;
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// NOTE - This is a copy of the NuttX i2c_ops_s structure
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typedef struct {
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const struct px4_i2c_ops_t *ops; /* I2C vtable */
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} px4_i2c_dev_t;
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// FIXME - Stub implementations
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inline void px4_i2cuninitialize(px4_i2c_dev_t *dev);
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inline void px4_i2cuninitialize(px4_i2c_dev_t *dev) {}
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inline px4_i2c_dev_t *px4_i2cinitialize(int bus);
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inline px4_i2c_dev_t *px4_i2cinitialize(int bus) { return (px4_i2c_dev_t *)0; }
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inline void px4_i2creset(px4_i2c_dev_t *dev);
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inline void px4_i2creset(px4_i2c_dev_t *dev) { }
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inline bool px4_interrupt_context(void);
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inline bool px4_interrupt_context(void) { return false; }
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// FIXME - Empty defines for I2C ops
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// Original version commented out
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//#define I2C_SETFREQUENCY(d,f) ((d)->ops->setfrequency(d,f))
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#define I2C_SETFREQUENCY(d,f)
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//#define SPI_SELECT(d,id,s) ((d)->ops->select(d,id,s))
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#define SPI_SELECT(d,id,s)
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// FIXME - Stub implementation
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// Original version commented out
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//#define I2C_TRANSFER(d,m,c) ((d)->ops->transfer(d,m,c))
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inline int I2C_TRANSFER(px4_i2c_dev_t *dev, px4_i2c_msg_t *msg, int count);
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inline int I2C_TRANSFER(px4_i2c_dev_t *dev, px4_i2c_msg_t *msg, int count) { return 0; }
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struct i2c_msg_s
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{
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uint16_t addr; /* Slave address */
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uint16_t flags; /* See I2C_M_* definitions */
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uint8_t *buffer;
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int length;
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};
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#else
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#error "No target platform defined"
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#endif
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