mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-05-24 07:09:48 +08:00
lib/drivers: device drivers library for Qurt platform (#20741)
This commit is contained in:
Eric Katzfey
GitHub
@@ -40,6 +40,10 @@ if (${PX4_PLATFORM} STREQUAL "nuttx")
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if ("${CONFIG_SPI}" STREQUAL "y")
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list(APPEND SRCS_PLATFORM nuttx/SPI.cpp)
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endif()
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elseif((${PX4_PLATFORM} MATCHES "qurt"))
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list(APPEND SRCS_PLATFORM qurt/I2C.cpp)
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list(APPEND SRCS_PLATFORM qurt/SPI.cpp)
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list(APPEND SRCS_PLATFORM qurt/uart.c)
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elseif(UNIX AND NOT APPLE) #TODO: add linux PX4 platform type
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# Linux I2Cdev and SPIdev
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list(APPEND SRCS_PLATFORM
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@@ -34,6 +34,8 @@
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#ifdef __PX4_NUTTX
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#include "nuttx/I2C.hpp"
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#elif defined(__PX4_QURT)
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#include "qurt/I2C.hpp"
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#else
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#include "posix/I2C.hpp"
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#endif
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@@ -0,0 +1,159 @@
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/****************************************************************************
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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
|
||||
* 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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/**
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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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@@ -0,0 +1,131 @@
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/****************************************************************************
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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
|
||||
* 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
|
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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.hpp
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*
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* Base class for devices connected via I2C.
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*/
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#ifndef _DEVICE_I2C_H
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#define _DEVICE_I2C_H
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#include <px4_arch/i2c_hw_description.h>
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#include "../CDev.hpp"
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namespace device __EXPORT
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{
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/**
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* Abstract class for character device on I2C
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*/
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class __EXPORT I2C : public CDev
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{
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public:
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// no copy, assignment, move, move assignment
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I2C(const I2C &) = delete;
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I2C &operator=(const I2C &) = delete;
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I2C(I2C &&) = delete;
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I2C &operator=(I2C &&) = delete;
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virtual int init() override;
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typedef int (*_config_i2c_bus_func_t)(uint8_t, uint8_t, uint32_t);
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typedef int (*_set_i2c_address_func_t)(int, uint8_t);
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typedef int (*_i2c_transfer_func_t)(int, const uint8_t *, const unsigned, uint8_t *, const unsigned);
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static void configure_callbacks(_config_i2c_bus_func_t config_func,
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_set_i2c_address_func_t addr_func,
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_i2c_transfer_func_t transfer_func)
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{
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_config_i2c_bus = config_func;
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_set_i2c_address = addr_func;
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_i2c_transfer = transfer_func;
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}
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protected:
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/**
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* The number of times a read or write operation will be retried on
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* error.
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*/
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uint8_t _retries{0};
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/**
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* @ Constructor
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*
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* @param device_type The device type (see drv_sensor.h)
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* @param name Driver name
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* @param bus I2C bus on which the device lives
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* @param address I2C bus address, or zero if set_address will be used
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* @param frequency I2C bus frequency for the device (currently not used)
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*/
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I2C(uint8_t device_type, const char *name, const int bus, const uint16_t address, const uint32_t frequency);
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virtual ~I2C();
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/**
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* Check for the presence of the device on the bus.
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*/
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virtual int probe() { return PX4_OK; }
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virtual void set_device_address(int address);
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/**
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* Perform an I2C transaction to the device.
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*
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* At least one of send_len and recv_len must be non-zero.
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*
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* @param send Pointer to bytes to send.
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* @param send_len Number of bytes to send.
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* @param recv Pointer to buffer for bytes received.
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* @param recv_len Number of bytes to receive.
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* @return OK if the transfer was successful, -errno
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* otherwise.
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*/
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int transfer(const uint8_t *send, const unsigned send_len, uint8_t *recv, const unsigned recv_len);
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virtual bool external() const override { return px4_i2c_bus_external(_device_id.devid_s.bus); }
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|
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private:
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uint32_t _frequency{0};
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int _i2c_fd{-1};
|
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static _config_i2c_bus_func_t _config_i2c_bus;
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static _set_i2c_address_func_t _set_i2c_address;
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static _i2c_transfer_func_t _i2c_transfer;
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static pthread_mutex_t _mutex;
|
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};
|
||||
|
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} // namespace device
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|
||||
#endif /* _DEVICE_I2C_H */
|
||||
@@ -0,0 +1,182 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2019 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.
|
||||
*
|
||||
*/
|
||||
|
||||
#include "SPI.hpp"
|
||||
|
||||
#include <fcntl.h>
|
||||
#include <unistd.h>
|
||||
#include <sys/ioctl.h>
|
||||
#include <px4_platform_common/px4_config.h>
|
||||
#include <px4_platform_common/i2c_spi_buses.h>
|
||||
|
||||
static int (*register_interrupt_callback_func)(int (*)(int, void *, void *), void *arg) = NULL;
|
||||
|
||||
int px4_arch_gpiosetevent(spi_drdy_gpio_t pin, bool r, bool f, bool e, int (*func)(int, void *, void *), void *arg)
|
||||
{
|
||||
|
||||
if ((register_interrupt_callback_func != NULL) && (func != NULL) && (arg != NULL)) {
|
||||
PX4_INFO("Register interrupt %p %p %p", register_interrupt_callback_func, func, arg);
|
||||
return register_interrupt_callback_func(func, arg);
|
||||
}
|
||||
|
||||
return -1;
|
||||
}
|
||||
|
||||
void register_interrupt_callback_initalizer(int (*func)(int (*)(int, void *, void *), void *arg))
|
||||
{
|
||||
register_interrupt_callback_func = func;
|
||||
}
|
||||
|
||||
namespace device
|
||||
{
|
||||
|
||||
SPI::_config_spi_bus_func_t SPI::_config_spi_bus = NULL;
|
||||
SPI::_spi_transfer_func_t SPI::_spi_transfer = NULL;
|
||||
|
||||
pthread_mutex_t SPI::_mutex = PTHREAD_MUTEX_INITIALIZER;
|
||||
|
||||
SPI::SPI(uint8_t device_type, const char *name, int bus, uint32_t device, enum spi_mode_e mode, uint32_t frequency) :
|
||||
CDev(name, nullptr)
|
||||
// CDev(name, nullptr),
|
||||
// _device(device),
|
||||
// _mode(mode),
|
||||
// _frequency(frequency)
|
||||
{
|
||||
_device_id.devid = 0;
|
||||
|
||||
_device_id.devid_s.devtype = device_type;
|
||||
// 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;
|
||||
|
||||
PX4_INFO("*** SPI Device ID 0x%x %d", _device_id.devid, _device_id.devid);
|
||||
}
|
||||
|
||||
SPI::SPI(const I2CSPIDriverConfig &config)
|
||||
: SPI(config.devid_driver_index, config.module_name, config.bus, config.spi_devid, config.spi_mode,
|
||||
config.bus_frequency)
|
||||
{
|
||||
}
|
||||
|
||||
SPI::~SPI()
|
||||
{
|
||||
if (_fd >= 0) {
|
||||
::close(_fd);
|
||||
_fd = -1;
|
||||
}
|
||||
}
|
||||
|
||||
int
|
||||
SPI::init()
|
||||
{
|
||||
int ret = PX4_ERROR;
|
||||
|
||||
if (_config_spi_bus == NULL) {
|
||||
PX4_ERR("NULL spi init function");
|
||||
return ret;
|
||||
}
|
||||
|
||||
pthread_mutex_lock(&_mutex);
|
||||
_fd = _config_spi_bus();
|
||||
pthread_mutex_unlock(&_mutex);
|
||||
|
||||
if (_fd == PX4_ERROR) {
|
||||
PX4_ERR("spi init failed");
|
||||
return ret;
|
||||
}
|
||||
|
||||
/* call the probe function to check whether the device is present */
|
||||
ret = probe();
|
||||
|
||||
if (ret != OK) {
|
||||
PX4_INFO("SPI probe failed");
|
||||
return ret;
|
||||
}
|
||||
|
||||
/* do base class init, which will create the device node, etc. */
|
||||
ret = CDev::init();
|
||||
|
||||
if (ret != OK) {
|
||||
PX4_ERR("cdev init failed");
|
||||
return ret;
|
||||
}
|
||||
|
||||
/* tell the world where we are */
|
||||
PX4_INFO("on SPI bus %d", get_device_bus());
|
||||
|
||||
return PX4_OK;
|
||||
}
|
||||
|
||||
int
|
||||
SPI::transfer(uint8_t *send, uint8_t *recv, unsigned len)
|
||||
{
|
||||
int ret = PX4_ERROR;
|
||||
unsigned retry_count = 1;
|
||||
|
||||
if ((_fd != PX4_ERROR) && (_spi_transfer != NULL)) {
|
||||
do {
|
||||
// PX4_DEBUG("SPI transfer out %p in %p len %u", send, recv, len);
|
||||
|
||||
if (_spi_transfer != NULL) {
|
||||
pthread_mutex_lock(&_mutex);
|
||||
ret = _spi_transfer(_fd, send, recv, len);
|
||||
pthread_mutex_unlock(&_mutex);
|
||||
|
||||
} else {
|
||||
PX4_ERR("SPI transfer function is NULL");
|
||||
}
|
||||
|
||||
if (ret != PX4_ERROR) { break; }
|
||||
|
||||
} while (retry_count++ < _retries);
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
int
|
||||
SPI::transferhword(uint16_t *send, uint16_t *recv, unsigned len)
|
||||
{
|
||||
// Not supported on SLPI
|
||||
return PX4_ERROR;
|
||||
}
|
||||
|
||||
} // namespace device
|
||||
@@ -0,0 +1,198 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2019 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.hpp
|
||||
*
|
||||
* Base class for devices connected via SPI.
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include "../CDev.hpp"
|
||||
|
||||
// #include "dev_fs_lib_spi.h"
|
||||
|
||||
#include <px4_platform_common/spi.h>
|
||||
|
||||
// Perhaps not the best place for these but they are only used for the IMU SPI driver on Qurt
|
||||
int px4_arch_gpiosetevent(spi_drdy_gpio_t pin, bool r, bool f, bool e, int (*func)(int, void *, void *), void *arg);
|
||||
void register_interrupt_callback_initalizer(int (*)(int (*)(int, void *, void *), void *arg));
|
||||
|
||||
enum spi_mode_e {
|
||||
SPIDEV_MODE0 = 0, /* CPOL=0 CHPHA=0 */
|
||||
SPIDEV_MODE1 = 1, /* CPOL=0 CHPHA=1 */
|
||||
SPIDEV_MODE2 = 2, /* CPOL=1 CHPHA=0 */
|
||||
SPIDEV_MODE3 = 3 /* CPOL=1 CHPHA=1 */
|
||||
};
|
||||
|
||||
struct I2CSPIDriverConfig;
|
||||
|
||||
namespace device __EXPORT
|
||||
{
|
||||
|
||||
/**
|
||||
* Abstract class for character device on SPI
|
||||
*/
|
||||
class __EXPORT SPI : public CDev
|
||||
{
|
||||
public:
|
||||
typedef int (*_config_spi_bus_func_t)();
|
||||
typedef int (*_spi_transfer_func_t)(int, const uint8_t *, uint8_t *, const unsigned);
|
||||
|
||||
static void configure_callbacks(_config_spi_bus_func_t config_func,
|
||||
_spi_transfer_func_t transfer_func)
|
||||
{
|
||||
_config_spi_bus = config_func;
|
||||
_spi_transfer = transfer_func;
|
||||
}
|
||||
|
||||
protected:
|
||||
/**
|
||||
* Constructor
|
||||
*
|
||||
* @param device_type The device type (see drv_sensor.h)
|
||||
* @param name Driver 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(uint8_t device_type, const char *name, int bus, uint32_t device, enum spi_mode_e mode, uint32_t frequency);
|
||||
|
||||
SPI(const I2CSPIDriverConfig &config);
|
||||
|
||||
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) {}
|
||||
uint32_t get_frequency() { return 0; }
|
||||
|
||||
/**
|
||||
* 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) {}
|
||||
|
||||
private:
|
||||
int _fd{-1};
|
||||
|
||||
static _config_spi_bus_func_t _config_spi_bus;
|
||||
static _spi_transfer_func_t _spi_transfer;
|
||||
|
||||
static pthread_mutex_t _mutex;
|
||||
|
||||
protected:
|
||||
|
||||
/**
|
||||
* The number of times a read or write operation will be retried on
|
||||
* error.
|
||||
*/
|
||||
uint8_t _retries{0};
|
||||
|
||||
// bool external() { return px4_spi_bus_external(get_device_bus()); }
|
||||
// bool external() { return false; }
|
||||
|
||||
};
|
||||
|
||||
} // namespace device
|
||||
@@ -0,0 +1,116 @@
|
||||
|
||||
#include <px4_log.h>
|
||||
#include <px4_platform_common/time.h>
|
||||
#include "uart.h"
|
||||
|
||||
#define UART_READ_POLL_INTERVAL_US 500
|
||||
|
||||
// Static variables
|
||||
static bool _callbacks_configured = false;
|
||||
|
||||
static open_uart_func_t _open_uart = NULL;
|
||||
static write_uart_func_t _write_uart = NULL;
|
||||
static read_uart_func_t _read_uart = NULL;
|
||||
|
||||
void configure_uart_callbacks(open_uart_func_t open_func,
|
||||
write_uart_func_t write_func,
|
||||
read_uart_func_t read_func)
|
||||
{
|
||||
_open_uart = open_func;
|
||||
_write_uart = write_func;
|
||||
_read_uart = read_func;
|
||||
|
||||
if (_open_uart && _write_uart && _read_uart) {
|
||||
_callbacks_configured = true;
|
||||
}
|
||||
}
|
||||
|
||||
int qurt_uart_open(const char *dev, speed_t speed)
|
||||
{
|
||||
if (_callbacks_configured) {
|
||||
// Convert device string into a uart port number
|
||||
char *endptr = NULL;
|
||||
uint8_t port_number = (uint8_t) strtol(dev, &endptr, 10);
|
||||
|
||||
if ((port_number == 0) && (endptr == dev)) {
|
||||
PX4_ERR("Could not convert %s into a valid uart port number", dev);
|
||||
return -1;
|
||||
}
|
||||
|
||||
return _open_uart(port_number, speed);
|
||||
|
||||
} else {
|
||||
PX4_ERR("Cannot open uart until callbacks have been configured");
|
||||
}
|
||||
|
||||
return -1;
|
||||
}
|
||||
|
||||
int qurt_uart_write(int fd, const char *buf, size_t len)
|
||||
{
|
||||
if (fd < 0) {
|
||||
PX4_ERR("invalid fd %d for %s", fd, __FUNCTION__);
|
||||
return -1;
|
||||
}
|
||||
|
||||
if (buf == NULL) {
|
||||
PX4_ERR("NULL buffer pointer in %s", fd, __FUNCTION__);
|
||||
return -1;
|
||||
}
|
||||
|
||||
if (len == 0) {
|
||||
PX4_ERR("Zero length buffer in %s", __FUNCTION__);
|
||||
return -1;
|
||||
}
|
||||
|
||||
if (_callbacks_configured) {
|
||||
return _write_uart(fd, buf, len);
|
||||
|
||||
} else {
|
||||
PX4_ERR("Cannot write to uart until callbacks have been configured");
|
||||
}
|
||||
|
||||
return -1;
|
||||
}
|
||||
|
||||
int qurt_uart_read(int fd, char *buf, size_t len, uint32_t timeout_us)
|
||||
{
|
||||
if (fd < 0) {
|
||||
PX4_ERR("invalid fd %d for %s", fd, __FUNCTION__);
|
||||
return -1;
|
||||
}
|
||||
|
||||
if (buf == NULL) {
|
||||
PX4_ERR("NULL buffer pointer in %s", fd, __FUNCTION__);
|
||||
return -1;
|
||||
}
|
||||
|
||||
if (len == 0) {
|
||||
PX4_ERR("Zero length buffer in %s", __FUNCTION__);
|
||||
return -1;
|
||||
}
|
||||
|
||||
if (_callbacks_configured) {
|
||||
uint32_t interval_counter = (timeout_us + (UART_READ_POLL_INTERVAL_US - 1)) / UART_READ_POLL_INTERVAL_US;
|
||||
// PX4_INFO("UART interval counter = %d", interval_counter);
|
||||
int read_len = 0;
|
||||
|
||||
do {
|
||||
read_len = _read_uart(fd, buf, len);
|
||||
|
||||
if (read_len > 0) { break; }
|
||||
|
||||
interval_counter--;
|
||||
px4_usleep(UART_READ_POLL_INTERVAL_US);
|
||||
} while (interval_counter);
|
||||
|
||||
// if (read_len <= 0) PX4_INFO("Warning, UART read timed out");
|
||||
// else PX4_INFO("UART read %d bytes, counter = %d", read_len, interval_counter);
|
||||
return read_len;
|
||||
|
||||
} else {
|
||||
PX4_ERR("Cannot read from uart until callbacks have been configured");
|
||||
}
|
||||
|
||||
return -1;
|
||||
}
|
||||
@@ -0,0 +1,22 @@
|
||||
#pragma once
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
#include <stdbool.h>
|
||||
#include <termios.h>
|
||||
|
||||
int qurt_uart_open(const char *dev, speed_t speed);
|
||||
int qurt_uart_write(int fd, const char *buf, size_t len);
|
||||
int qurt_uart_read(int fd, char *buf, size_t len, uint32_t timeout_us);
|
||||
|
||||
typedef int (*open_uart_func_t)(uint8_t, speed_t);
|
||||
typedef int (*write_uart_func_t)(int, const void *, size_t);
|
||||
typedef int (*read_uart_func_t)(int, void *, size_t);
|
||||
|
||||
void configure_uart_callbacks(open_uart_func_t, write_uart_func_t, read_uart_func_t);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif // __cplusplus
|
||||
@@ -34,6 +34,8 @@
|
||||
|
||||
#ifdef __PX4_NUTTX
|
||||
#include "nuttx/SPI.hpp"
|
||||
#elif defined(__PX4_QURT)
|
||||
#include "qurt/SPI.hpp"
|
||||
#else
|
||||
#include "posix/SPI.hpp"
|
||||
#endif
|
||||
|
||||
Reference in New Issue
Block a user