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[omap] Added linux i2c driver

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closes #961
This commit is contained in:
Freek van Tienen
2014-11-19 14:17:07 +01:00
committed by Felix Ruess
parent 8ae37c7f8b
commit b474c5e126
4 changed files with 176 additions and 135 deletions
Download Patch File Download Diff File Expand all files Collapse all files
sw/airborne/arch/omap/mcu_periph/i2c_arch.c
+73 -27
View File
@@ -1,6 +1,6 @@
/*
*
* Copyright (C) 2009-2013 The Paparazzi Team
* Copyright (C) 2014 Freek van Tienen <freek.v.tienen@gmail.com>
*
* This file is part of paparazzi.
*
@@ -22,58 +22,104 @@
*/
/** @file arch/omap/mcu_periph/i2c_arch.h
* I2C functionality (unimplemented)
* I2C functionality
*/
#include "mcu_periph/i2c.h"
#include <stdio.h>
#include <fcntl.h>
#include <unistd.h>
#include <sys/ioctl.h>
#include <linux/i2c-dev.h>
#include <errno.h>
void i2c_event(void)
{
}
bool_t i2c_idle(struct i2c_periph *p __attribute__ ((unused))) { return TRUE; }
bool_t i2c_submit(struct i2c_periph* p __attribute__ ((unused)), struct i2c_transaction* t __attribute__ ((unused))) { return TRUE;}
void i2c_event(void) { }
void i2c_setbitrate(struct i2c_periph* p, int bitrate __attribute__ ((unused))) { }
void i2c_setbitrate(struct i2c_periph *p __attribute__((unused)), int bitrate __attribute__((unused)))
{
}
bool_t i2c_idle(struct i2c_periph *p __attribute__((unused)))
{
return TRUE;
}
bool_t i2c_submit(struct i2c_periph *p, struct i2c_transaction *t)
{
int file = (int)p->reg_addr;
// Set the slave address
ioctl(file, I2C_SLAVE, t->slave_addr);
// Switch the different transaction types
switch (t->type) {
// Just transmitting
case I2CTransTx:
if (write(file, (uint8_t *)t->buf, t->len_w) < 0) {
t->status = I2CTransFailed;
return TRUE;
}
break;
// Just reading
case I2CTransRx:
if (read(file, (uint8_t *)t->buf, t->len_r) < 0) {
t->status = I2CTransFailed;
return TRUE;
}
break;
// First Transmit and then read
case I2CTransTxRx:
if (write(file, (uint8_t *)t->buf, t->len_w) < 0 || read(file, (uint8_t *)t->buf, t->len_r) < 0) {
t->status = I2CTransFailed;
return TRUE;
}
break;
default:
break;
}
// Successfull transfer
t->status = I2CTransSuccess;
return TRUE;
}
#if USE_I2C0
struct i2c_errors i2c0_errors;
void i2c0_hw_init(void) {
void i2c0_hw_init(void)
{
i2c1.reg_addr = (void *)open("/dev/i2c-0", O_RDWR);
i2c0.errors = &i2c0_errors;
/* zeros error counter */
ZEROS_ERR_COUNTER(i2c0_errors);
}
void i2c0_ev_isr(void) {
}
void i2c0_er_isr(void) {
}
#endif
#if USE_I2C1
struct i2c_errors i2c1_errors;
void i2c1_hw_init(void) {
void i2c1_hw_init(void)
{
i2c1.reg_addr = (void *)open("/dev/i2c-1", O_RDWR);
i2c1.errors = &i2c1_errors;
/* zeros error counter */
ZEROS_ERR_COUNTER(i2c1_errors);
}
void i2c1_ev_isr(void) {
}
void i2c1_er_isr(void) {
}
#endif
#if USE_I2C2
struct i2c_errors i2c2_errors;
void i2c2_hw_init(void) {
void i2c2_hw_init(void)
{
i2c2.reg_addr = (void *)open("/dev/i2c-2", O_RDWR);
i2c2.errors = &i2c2_errors;
/* zeros error counter */
ZEROS_ERR_COUNTER(i2c2_errors);
}
void i2c2_ev_isr(void) {
}
void i2c2_er_isr(void) {
}
#endif
sw/airborne/arch/omap/mcu_periph/i2c_arch.h
+2 -11
View File
@@ -1,6 +1,6 @@
/*
*
* Copyright (C) 2009-2013 The Paparazzi Team
* Copyright (C) 2014 Freek van Tienen <freek.v.tienen@gmail.com>
*
* This file is part of paparazzi.
*
@@ -22,7 +22,7 @@
*/
/** @file arch/omap/mcu_periph/i2c_arch.h
* I2C functionality (unimplemented)
* I2C functionality
*/
#ifndef OMAP_MCU_PERIPH_I2C_ARCH_H
@@ -30,27 +30,18 @@
#include "mcu_periph/i2c.h"
#define I2cSendStart() {}
#if USE_I2C0
extern void i2c0_hw_init(void);
#endif /* USE_I2C0 */
#if USE_I2C1
extern void i2c1_hw_init(void);
#endif /* USE_I2C1 */
#if USE_I2C2
extern void i2c2_hw_init(void);
#endif /* USE_I2C2 */
sw/airborne/boards/ardrone/i2c-dev.h → sw/airborne/arch/omap/mcu_periph/i2c_smbus.h
+79 -78
View File
@@ -31,6 +31,7 @@
#define LIB_I2CDEV_H
#include <linux/types.h>
#include <linux/i2c-dev.h>
#include <sys/ioctl.h>
/*
@@ -39,12 +40,12 @@
struct i2c_msg {
__u16 addr; /* slave address */
unsigned short flags;
#define I2C_M_TEN 0x10 /* we have a ten bit chip address */
#define I2C_M_RD 0x01
#define I2C_M_NOSTART 0x4000
#define I2C_M_TEN 0x10 /* we have a ten bit chip address */
#define I2C_M_RD 0x01
#define I2C_M_NOSTART 0x4000
#define I2C_M_REV_DIR_ADDR 0x2000
#define I2C_M_IGNORE_NAK 0x1000
#define I2C_M_NO_RD_ACK 0x0800
#define I2C_M_IGNORE_NAK 0x1000
#define I2C_M_NO_RD_ACK 0x0800
short len; /* msg length */
char *buf; /* pointer to msg data */
};
@@ -92,7 +93,7 @@ union i2c_smbus_data {
__u8 byte;
__u16 word;
__u8 block[I2C_SMBUS_BLOCK_MAX + 2]; /* block[0] is used for length */
/* and one more for PEC */
/* and one more for PEC */
};
/* smbus_access read or write markers */
@@ -117,20 +118,20 @@ union i2c_smbus_data {
* dependent layers - these can be listed here, or see the
* corresponding header files.
*/
/* -> bit-adapter specific ioctls */
/* -> bit-adapter specific ioctls */
#define I2C_RETRIES 0x0701 /* number of times a device address */
/* should be polled when not */
/* acknowledging */
/* should be polled when not */
/* acknowledging */
#define I2C_TIMEOUT 0x0702 /* set timeout - call with int */
/* this is for i2c-dev.c */
#define I2C_SLAVE 0x0703 /* Change slave address */
/* Attn.: Slave address is 7 or 10 bits */
/* Attn.: Slave address is 7 or 10 bits */
#define I2C_SLAVE_FORCE 0x0706 /* Change slave address */
/* Attn.: Slave address is 7 or 10 bits */
/* This changes the address, even if it */
/* is already taken! */
/* Attn.: Slave address is 7 or 10 bits */
/* This changes the address, even if it */
/* is already taken! */
#define I2C_TENBIT 0x0704 /* 0 for 7 bit addrs, != 0 for 10 bit */
#define I2C_FUNCS 0x0705 /* Get the adapter functionality */
@@ -144,20 +145,6 @@ union i2c_smbus_data {
/* Note: 10-bit addresses are NOT supported! */
/* This is the structure as used in the I2C_SMBUS ioctl call */
struct i2c_smbus_ioctl_data {
char read_write;
__u8 command;
int size;
union i2c_smbus_data *data;
};
/* This is the structure as used in the I2C_RDWR ioctl call */
struct i2c_rdwr_ioctl_data {
struct i2c_msg *msgs; /* pointers to i2c_msgs */
int nmsgs; /* number of i2c_msgs */
};
static inline __s32 i2c_smbus_access(int file, char read_write, __u8 command,
int size, union i2c_smbus_data *data)
@@ -168,65 +155,68 @@ static inline __s32 i2c_smbus_access(int file, char read_write, __u8 command,
args.command = command;
args.size = size;
args.data = data;
return ioctl(file,I2C_SMBUS,&args);
return ioctl(file, I2C_SMBUS, &args);
}
static inline __s32 i2c_smbus_write_quick(int file, __u8 value)
{
return i2c_smbus_access(file,value,0,I2C_SMBUS_QUICK,NULL);
return i2c_smbus_access(file, value, 0, I2C_SMBUS_QUICK, NULL);
}
static inline __s32 i2c_smbus_read_byte(int file)
{
union i2c_smbus_data data;
if (i2c_smbus_access(file,I2C_SMBUS_READ,0,I2C_SMBUS_BYTE,&data))
if (i2c_smbus_access(file, I2C_SMBUS_READ, 0, I2C_SMBUS_BYTE, &data)) {
return -1;
else
} else {
return 0x0FF & data.byte;
}
}
static inline __s32 i2c_smbus_write_byte(int file, __u8 value)
{
return i2c_smbus_access(file,I2C_SMBUS_WRITE,value,
I2C_SMBUS_BYTE,NULL);
return i2c_smbus_access(file, I2C_SMBUS_WRITE, value,
I2C_SMBUS_BYTE, NULL);
}
static inline __s32 i2c_smbus_read_byte_data(int file, __u8 command)
{
union i2c_smbus_data data;
if (i2c_smbus_access(file,I2C_SMBUS_READ,command,
I2C_SMBUS_BYTE_DATA,&data))
if (i2c_smbus_access(file, I2C_SMBUS_READ, command,
I2C_SMBUS_BYTE_DATA, &data)) {
return -1;
else
} else {
return 0x0FF & data.byte;
}
}
static inline __s32 i2c_smbus_write_byte_data(int file, __u8 command,
__u8 value)
__u8 value)
{
union i2c_smbus_data data;
data.byte = value;
return i2c_smbus_access(file,I2C_SMBUS_WRITE,command,
return i2c_smbus_access(file, I2C_SMBUS_WRITE, command,
I2C_SMBUS_BYTE_DATA, &data);
}
static inline __s32 i2c_smbus_read_word_data(int file, __u8 command)
{
union i2c_smbus_data data;
if (i2c_smbus_access(file,I2C_SMBUS_READ,command,
I2C_SMBUS_WORD_DATA,&data))
if (i2c_smbus_access(file, I2C_SMBUS_READ, command,
I2C_SMBUS_WORD_DATA, &data)) {
return -1;
else
} else {
return 0x0FFFF & data.word;
}
}
static inline __s32 i2c_smbus_write_word_data(int file, __u8 command,
__u16 value)
__u16 value)
{
union i2c_smbus_data data;
data.word = value;
return i2c_smbus_access(file,I2C_SMBUS_WRITE,command,
return i2c_smbus_access(file, I2C_SMBUS_WRITE, command,
I2C_SMBUS_WORD_DATA, &data);
}
@@ -234,41 +224,45 @@ static inline __s32 i2c_smbus_process_call(int file, __u8 command, __u16 value)
{
union i2c_smbus_data data;
data.word = value;
if (i2c_smbus_access(file,I2C_SMBUS_WRITE,command,
I2C_SMBUS_PROC_CALL,&data))
if (i2c_smbus_access(file, I2C_SMBUS_WRITE, command,
I2C_SMBUS_PROC_CALL, &data)) {
return -1;
else
} else {
return 0x0FFFF & data.word;
}
}
/* Returns the number of read bytes */
static inline __s32 i2c_smbus_read_block_data(int file, __u8 command,
__u8 *values)
__u8 *values)
{
union i2c_smbus_data data;
int i;
if (i2c_smbus_access(file,I2C_SMBUS_READ,command,
I2C_SMBUS_BLOCK_DATA,&data))
if (i2c_smbus_access(file, I2C_SMBUS_READ, command,
I2C_SMBUS_BLOCK_DATA, &data)) {
return -1;
else {
for (i = 1; i <= data.block[0]; i++)
values[i-1] = data.block[i];
} else {
for (i = 1; i <= data.block[0]; i++) {
values[i - 1] = data.block[i];
}
return data.block[0];
}
}
static inline __s32 i2c_smbus_write_block_data(int file, __u8 command,
__u8 length, __u8 *values)
__u8 length, __u8 *values)
{
union i2c_smbus_data data;
int i;
if (length > 32)
if (length > 32) {
length = 32;
for (i = 1; i <= length; i++)
data.block[i] = values[i-1];
}
for (i = 1; i <= length; i++) {
data.block[i] = values[i - 1];
}
data.block[0] = length;
return i2c_smbus_access(file,I2C_SMBUS_WRITE,command,
return i2c_smbus_access(file, I2C_SMBUS_WRITE, command,
I2C_SMBUS_BLOCK_DATA, &data);
}
@@ -277,56 +271,63 @@ static inline __s32 i2c_smbus_write_block_data(int file, __u8 command,
ask for less than 32 bytes, your code will only work with kernels
2.6.23 and later. */
static inline __s32 i2c_smbus_read_i2c_block_data(int file, __u8 command,
__u8 length, __u8 *values)
__u8 length, __u8 *values)
{
union i2c_smbus_data data;
int i;
if (length > 32)
if (length > 32) {
length = 32;
}
data.block[0] = length;
if (i2c_smbus_access(file,I2C_SMBUS_READ,command,
if (i2c_smbus_access(file, I2C_SMBUS_READ, command,
length == 32 ? I2C_SMBUS_I2C_BLOCK_BROKEN :
I2C_SMBUS_I2C_BLOCK_DATA,&data))
I2C_SMBUS_I2C_BLOCK_DATA, &data)) {
return -1;
else {
for (i = 1; i <= data.block[0]; i++)
values[i-1] = data.block[i];
} else {
for (i = 1; i <= data.block[0]; i++) {
values[i - 1] = data.block[i];
}
return data.block[0];
}
}
static inline __s32 i2c_smbus_write_i2c_block_data(int file, __u8 command,
__u8 length, __u8 *values)
__u8 length, __u8 *values)
{
union i2c_smbus_data data;
int i;
if (length > 32)
if (length > 32) {
length = 32;
for (i = 1; i <= length; i++)
data.block[i] = values[i-1];
}
for (i = 1; i <= length; i++) {
data.block[i] = values[i - 1];
}
data.block[0] = length;
return i2c_smbus_access(file,I2C_SMBUS_WRITE,command,
return i2c_smbus_access(file, I2C_SMBUS_WRITE, command,
I2C_SMBUS_I2C_BLOCK_BROKEN, &data);
}
/* Returns the number of read bytes */
static inline __s32 i2c_smbus_block_process_call(int file, __u8 command,
__u8 length, __u8 *values)
__u8 length, __u8 *values)
{
union i2c_smbus_data data;
int i;
if (length > 32)
if (length > 32) {
length = 32;
for (i = 1; i <= length; i++)
data.block[i] = values[i-1];
}
for (i = 1; i <= length; i++) {
data.block[i] = values[i - 1];
}
data.block[0] = length;
if (i2c_smbus_access(file,I2C_SMBUS_WRITE,command,
I2C_SMBUS_BLOCK_PROC_CALL,&data))
if (i2c_smbus_access(file, I2C_SMBUS_WRITE, command,
I2C_SMBUS_BLOCK_PROC_CALL, &data)) {
return -1;
else {
for (i = 1; i <= data.block[0]; i++)
values[i-1] = data.block[i];
} else {
for (i = 1; i <= data.block[0]; i++) {
values[i - 1] = data.block[i];
}
return data.block[0];
}
}
sw/airborne/boards/ardrone/electrical_raw.c
+22 -19
View File
@@ -35,7 +35,7 @@
#include <sys/time.h>
#include <unistd.h>
#include <math.h>
#include "i2c-dev.h"
#include "mcu_periph/i2c_smbus.h"
#include "subsystems/commands.h"
#include "generated/airframe.h"
@@ -67,45 +67,48 @@ static struct {
int fd;
void electrical_init(void) {
void electrical_init(void)
{
// First we try to kill the program.elf and its respawner if it is running (done here because initializes first)
int ret = system("killall -9 program.elf.respawner.sh; killall -9 program.elf");
(void) ret;
// Initialize 12c device for power
fd = open( "/dev/i2c-1", O_RDWR );
if ( ioctl( fd, I2C_SLAVE_FORCE, 0x4a) < 0 ) {
fprintf( stderr, "Failed to set slave address: %m\n" );
fd = open("/dev/i2c-1", O_RDWR);
if (ioctl(fd, I2C_SLAVE_FORCE, 0x4a) < 0) {
fprintf(stderr, "Failed to set slave address: %m\n");
}
electrical_setup();
electrical_priv.nonlin_factor = CURRENT_ESTIMATION_NONLINEARITY;
}
void electrical_setup(void) {
void electrical_setup(void)
{
// Turn on MADC in CTRL1
if( i2c_smbus_write_byte_data( fd, 0x00, 0x01)) {
fprintf( stderr, "Failed to write to I2C device. 1\n" );
if (i2c_smbus_write_byte_data(fd, 0x00, 0x01)) {
fprintf(stderr, "Failed to write to I2C device. 1\n");
}
// Select ADCIN0 for conversion in SW1SELECT_LSB
if( i2c_smbus_write_byte_data( fd, 0x06, 0xff)){
fprintf( stderr, "Failed to write to I2C device. 2\n" );
if (i2c_smbus_write_byte_data(fd, 0x06, 0xff)) {
fprintf(stderr, "Failed to write to I2C device. 2\n");
}
// Select ADCIN12 for conversion in SW1SELECT_MSB
if( i2c_smbus_write_byte_data( fd, 0x07, 0xff)) {
fprintf( stderr, "Failed to write to I2C device. 3\n" );
if (i2c_smbus_write_byte_data(fd, 0x07, 0xff)) {
fprintf(stderr, "Failed to write to I2C device. 3\n");
}
// Setup register for averaging
if( i2c_smbus_write_byte_data( fd, 0x08, 0xff)) {
fprintf( stderr, "Failed to write to I2C device. 4\n" );
if (i2c_smbus_write_byte_data(fd, 0x08, 0xff)) {
fprintf(stderr, "Failed to write to I2C device. 4\n");
}
// Start all channel conversion by setting bit 5 to one in CTRL_SW1
if( i2c_smbus_write_byte_data( fd, 0x12, 0x20)) {
fprintf( stderr, "Failed to write to I2C device. 5\n" );
if (i2c_smbus_write_byte_data(fd, 0x12, 0x20)) {
fprintf(stderr, "Failed to write to I2C device. 5\n");
}
}
void electrical_periodic(void) {
void electrical_periodic(void)
{
electrical_setup();
@@ -122,7 +125,7 @@ void electrical_periodic(void) {
//from raw measurement we got quite a lineair response
//9.0V=662, 9.5V=698, 10.0V=737,10.5V=774, 11.0V=811, 11.5V=848, 12.0V=886, 12.5V=923
//leading to our 0.13595166 magic number for decivolts conversion
electrical.vsupply = raw_voltage*0.13595166;
electrical.vsupply = raw_voltage * 0.13595166;
/*
* Superellipse: abs(x/a)^n + abs(y/b)^n = 1
@@ -139,5 +142,5 @@ void electrical_periodic(void) {
/* electrical.current y = ( b^n - (b* x/a)^n )^1/n
* a=1, n = electrical_priv.nonlin_factor
*/
electrical.current = b - pow((pow(b,electrical_priv.nonlin_factor)-pow((b*x),electrical_priv.nonlin_factor)), (1./electrical_priv.nonlin_factor));
electrical.current = b - pow((pow(b, electrical_priv.nonlin_factor) - pow((b * x), electrical_priv.nonlin_factor)), (1. / electrical_priv.nonlin_factor));
}