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Linux: I2C implementation with simulator stub

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If PX4_I2C_SIMULATE is set to 1, then the actual I2C device will
not be opened and all transfers will succeed.

If PX4_I2C_SIMULATE is false and transfer() is called, then the
appropriate ioctl is make on the actual device.

if I2C::ioctl is called via px4_ioctl() then the command fails and
a warning is printed to use I2C::transfer

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois
2015-04-01 16:04:21 -07:00
parent 78dd177e86
commit e3efe71444
2 changed files with 37 additions and 42 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/device/i2c_linux.cpp
+37 -40
View File
@@ -47,6 +47,9 @@
#include <fcntl.h>
#include <sys/ioctl.h>
#define PX4_SIMULATE_I2C 1
static int simulate = PX4_SIMULATE_I2C;
namespace device
{
@@ -62,8 +65,7 @@ I2C::I2C(const char *name,
// private
_bus(bus),
_address(address),
_fd(-1),
_dname()
_fd(-1)
{
// fill in _device_id fields for a I2C device
_device_id.devid_s.bus_type = DeviceBusType_I2C;
@@ -71,9 +73,6 @@ I2C::I2C(const char *name,
_device_id.devid_s.address = address;
// devtype needs to be filled in by the driver
_device_id.devid_s.devtype = 0;
if (devname)
_dname = devname;
}
I2C::~I2C()
@@ -100,24 +99,24 @@ I2C::init()
return ret;
}
_fd = px4_open(_dname.c_str(), PX4_F_RDONLY | PX4_F_WRONLY);
_fd = px4_open(get_devname(), PX4_F_RDONLY | PX4_F_WRONLY);
if (_fd < 0) {
debug("px4_open failed of device %s", _dname.c_str());
debug("px4_open failed of device %s", get_devname());
return PX4_ERROR;
}
#if 0
// Open the actual I2C device and map to the virtual dev name
char str[22];
// Fixme - not sure bus is the right mapping here
// may have to go through /sys/bus/i2c interface to find the right map
snprintf(str, sizeof(str), "/dev/i2c-%d", _bus);
_fd = ::open(str, O_RDWR);
if (_fd < 0) {
warnx("could not open %s for virtual device %s", str, _dname.c_str());
return -errno;
}
#endif
if (simulate) {
_fd = 0;
}
else {
// Open the actual I2C device and map to the virtual dev name
_fd = ::open(get_devname(), O_RDWR);
if (_fd < 0) {
warnx("could not open %s", get_devname());
px4_errno = errno;
return PX4_ERROR;
}
}
return ret;
}
@@ -162,23 +161,22 @@ I2C::transfer(const uint8_t *send, unsigned send_len, uint8_t *recv, unsigned re
packets.msgs = msgv;
packets.nmsgs = msgs;
ret = px4_ioctl(_fd, I2C_RDWR, (unsigned long)&packets);
if (ret < 0) {
warnx("I2C transfer failed");
return 1;
}
if (simulate) {
printf("I2C SIM: transfer_4 on %s\n", get_devname());
ret = PX4_OK;
}
else {
ret = px4_ioctl(_fd, I2C_RDWR, (unsigned long)&packets);
if (ret < 0) {
warnx("I2C transfer failed");
return 1;
}
}
/* success */
if (ret == PX4_OK)
break;
// No way to reset device from userspace
#if 0
/* if we have already retried once, or we are going to give up, then reset the bus */
if ((retry_count >= 1) || (retry_count >= _retries))
px4_i2creset(_dev);
#endif
} while (retry_count++ < _retries);
return ret;
@@ -199,7 +197,13 @@ I2C::transfer(struct i2c_msg *msgv, unsigned msgs)
packets.msgs = msgv;
packets.nmsgs = msgs;
ret = px4_ioctl(_fd, I2C_RDWR, (unsigned long)&packets);
if (simulate) {
printf("I2C SIM: transfer_2 on %s\n", get_devname());
ret = PX4_OK;
}
else {
ret = px4_ioctl(_fd, I2C_RDWR, (unsigned long)&packets);
}
if (ret < 0) {
warnx("I2C transfer failed");
return 1;
@@ -209,13 +213,6 @@ I2C::transfer(struct i2c_msg *msgv, unsigned msgs)
if (ret == PX4_OK)
break;
// No way to reset device from userspace
#if 0
/* if we have already retried once, or we are going to give up, then reset the bus */
if ((retry_count >= 1) || (retry_count >= _retries))
px4_i2creset(_dev);
#endif
} while (retry_count++ < _retries);
return ret;
@@ -227,7 +224,7 @@ int I2C::ioctl(device::px4_dev_handle_t *handlep, int cmd, unsigned long arg)
switch (cmd) {
case I2C_RDWR:
warnx("I2C transfer request");
warnx("Use I2C::transfer, not ioctl");
return 0;
default:
/* give it to the superclass */
src/drivers/device/i2c_linux.h
-2
View File
@@ -82,8 +82,6 @@ protected:
* @param devname Device node name
* @param bus I2C bus on which the device lives
* @param address I2C bus address, or zero if set_address will be used
* @param frequency I2C bus frequency for the device (currently not used)
* @param irq Interrupt assigned to the device (or zero if none)
*/
I2C(const char *name,
const char *devname,