diff options
author | px4dev <px4@purgatory.org> | 2013-07-13 21:00:27 -0700 |
---|---|---|
committer | px4dev <px4@purgatory.org> | 2013-07-13 21:00:27 -0700 |
commit | 4f0ae1cdeac75111e232001e86e9d0dc2f531935 (patch) | |
tree | 708f0012d304da258bd6affe27615665f92f1ed9 /src/drivers/px4io | |
parent | 26eb0b9d724654bd87edd9191e72a726f5ce240b (diff) | |
download | px4-firmware-4f0ae1cdeac75111e232001e86e9d0dc2f531935.tar.gz px4-firmware-4f0ae1cdeac75111e232001e86e9d0dc2f531935.tar.bz2 px4-firmware-4f0ae1cdeac75111e232001e86e9d0dc2f531935.zip |
Build the px4io interfaces on top of the Device direct-access API.
Diffstat (limited to 'src/drivers/px4io')
-rw-r--r-- | src/drivers/px4io/px4io.cpp | 37 | ||||
-rw-r--r-- | src/drivers/px4io/px4io_i2c.cpp | 94 | ||||
-rw-r--r-- | src/drivers/px4io/px4io_serial.cpp | 147 |
3 files changed, 134 insertions, 144 deletions
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index 29624018f..1b4f20de0 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -85,7 +85,9 @@ #include <modules/px4iofirmware/protocol.h> #include "uploader.h" -#include "interface.h" + +extern device::Device *PX4IO_i2c_interface() weak_function; +extern device::Device *PX4IO_serial_interface() weak_function; #define PX4IO_SET_DEBUG _IOC(0xff00, 0) #define PX4IO_INAIR_RESTART_ENABLE _IOC(0xff00, 1) @@ -93,7 +95,7 @@ class PX4IO : public device::CDev { public: - PX4IO(PX4IO_interface *interface); + PX4IO(device::Device *interface); virtual ~PX4IO(); virtual int init(); @@ -131,7 +133,7 @@ public: void print_status(); private: - PX4IO_interface *_interface; + device::Device *_interface; // XXX unsigned _hardware; @@ -316,7 +318,7 @@ PX4IO *g_dev; } -PX4IO::PX4IO(PX4IO_interface *interface) : +PX4IO::PX4IO(device::Device *interface) : CDev("px4io", "/dev/px4io"), _interface(interface), _hardware(0), @@ -1129,7 +1131,7 @@ PX4IO::io_reg_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned return -EINVAL; } - int ret = _interface->set_reg(page, offset, values, num_values); + int ret = _interface->write((page << 8) | offset, (void *)values, num_values); if (ret != OK) debug("io_reg_set(%u,%u,%u): error %d", page, offset, num_values, errno); return ret; @@ -1150,7 +1152,7 @@ PX4IO::io_reg_get(uint8_t page, uint8_t offset, uint16_t *values, unsigned num_v return -EINVAL; } - int ret = _interface->get_reg(page, offset, values, num_values); + int ret = _interface->read((page << 8) | offset, reinterpret_cast<void *>(values), num_values); if (ret != OK) debug("io_reg_get(%u,%u,%u): data error %d", page, offset, num_values, errno); return ret; @@ -1602,12 +1604,12 @@ start(int argc, char *argv[]) if (g_dev != nullptr) errx(1, "already loaded"); - PX4IO_interface *interface; + device::Device *interface; #if defined(CONFIG_ARCH_BOARD_PX4FMU_V2) - interface = io_serial_interface(); + interface = PX4IO_serial_interface(); #elif defined(CONFIG_ARCH_BOARD_PX4FMU_V1) - interface = io_i2c_interface(PX4_I2C_BUS_ONBOARD, PX4_I2C_OBDEV_PX4IO); + interface = PX4IO_i2c_interface(); #else # error Unknown board - cannot select interface. #endif @@ -1615,7 +1617,7 @@ start(int argc, char *argv[]) if (interface == nullptr) errx(1, "cannot alloc interface"); - if (!interface->ok()) { + if (interface->probe()) { delete interface; errx(1, "interface init failed"); } @@ -1739,12 +1741,12 @@ monitor(void) void if_test(unsigned mode) { - PX4IO_interface *interface; + device::Device *interface; #if defined(CONFIG_ARCH_BOARD_PX4FMU_V2) - interface = io_serial_interface(); + interface = PX4IO_serial_interface(); #elif defined(CONFIG_ARCH_BOARD_PX4FMU_V1) - interface = io_i2c_interface(PX4_I2C_BUS_ONBOARD, PX4_I2C_OBDEV_PX4IO); + interface = PX4IO_i2c_interface(); #else # error Unknown board - cannot select interface. #endif @@ -1752,20 +1754,17 @@ if_test(unsigned mode) if (interface == nullptr) errx(1, "cannot alloc interface"); - if (!interface->ok()) { + if (interface->probe()) { delete interface; errx(1, "interface init failed"); } else { - - int result = interface->test(mode); + int result = interface->ioctl(1, mode); /* XXX magic numbers */ delete interface; errx(0, "test returned %d", result); } - - exit(0); } -} +} /* namespace */ int px4io_main(int argc, char *argv[]) diff --git a/src/drivers/px4io/px4io_i2c.cpp b/src/drivers/px4io/px4io_i2c.cpp index 45a707883..317326e40 100644 --- a/src/drivers/px4io/px4io_i2c.cpp +++ b/src/drivers/px4io/px4io_i2c.cpp @@ -52,109 +52,93 @@ #include <nuttx/i2c.h> +#include <drivers/device/i2c.h> #include <mavlink/mavlink_log.h> #include "uploader.h" #include <modules/px4iofirmware/protocol.h> -#include "interface.h" +device::Device *PX4IO_i2c_interface(); -class PX4IO_I2C : public PX4IO_interface +class PX4IO_I2C : public device::I2C { public: PX4IO_I2C(int bus, uint8_t address); virtual ~PX4IO_I2C(); - virtual int set_reg(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num_values); - virtual int get_reg(uint8_t page, uint8_t offset, uint16_t *values, unsigned num_values); - - virtual bool ok(); - - virtual int test(unsigned mode); + virtual int probe(); + virtual int read(unsigned offset, void *data, unsigned count = 1); + virtual int write(unsigned address, void *data, unsigned count = 1); + virtual int ioctl(unsigned operation, unsigned &arg); private: - static const unsigned _retries = 2; - struct i2c_dev_s *_dev; - uint8_t _address; }; -PX4IO_interface *io_i2c_interface(int bus, uint8_t address) +device::Device +*PX4IO_i2c_interface() { - return new PX4IO_I2C(bus, address); +#ifdef PX4_I2C_OBDEV_PX4IO + return new PX4IO_I2C(PX4_I2C_BUS_ONBOARD, PX4_I2C_OBDEV_PX4IO); +#endif + return nullptr; } PX4IO_I2C::PX4IO_I2C(int bus, uint8_t address) : - _dev(nullptr), - _address(address) + I2C("PX4IO_i2c", nullptr, bus, address, 400000) { - _dev = up_i2cinitialize(bus); - if (_dev) - I2C_SETFREQUENCY(_dev, 400000); + _retries = 3; } PX4IO_I2C::~PX4IO_I2C() { - if (_dev) - up_i2cuninitialize(_dev); } -bool -PX4IO_I2C::ok() +int +PX4IO_I2C::probe() { - if (!_dev) - return false; - - /* check any other status here */ + /* XXX really should do something here */ - return true; + return 0; } int -PX4IO_I2C::test(unsigned mode) +PX4IO_I2C::ioctl(unsigned operation, unsigned &arg) { return 0; } int -PX4IO_I2C::set_reg(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num_values) +PX4IO_I2C::write(unsigned address, void *data, unsigned count) { - int ret; + uint8_t page = address >> 8; + uint8_t offset = address & 0xff; + const uint16_t *values = reinterpret_cast<const uint16_t *>(data); /* set up the transfer */ uint8_t addr[2] = { page, offset }; + i2c_msg_s msgv[2]; - msgv[0].addr = _address; msgv[0].flags = 0; msgv[0].buffer = addr; msgv[0].length = 2; - msgv[1].addr = _address; msgv[1].flags = I2C_M_NORESTART; msgv[1].buffer = (uint8_t *)values; - msgv[1].length = num_values * sizeof(*values); - - unsigned tries = 0; - do { + msgv[1].length = 2 * count; - /* perform the transfer */ - ret = I2C_TRANSFER(_dev, msgv, 2); - - if (ret == OK) - break; - - } while (tries++ < _retries); - - return ret; + return transfer(msgv, 2); } int -PX4IO_I2C::get_reg(uint8_t page, uint8_t offset, uint16_t *values, unsigned num_values) +PX4IO_I2C::read(unsigned address, void *data, unsigned count) { - int ret; + uint8_t page = address >> 8; + uint8_t offset = address & 0xff; + const uint16_t *values = reinterpret_cast<const uint16_t *>(data); /* set up the transfer */ uint8_t addr[2] = { @@ -163,25 +147,13 @@ PX4IO_I2C::get_reg(uint8_t page, uint8_t offset, uint16_t *values, unsigned num_ }; i2c_msg_s msgv[2]; - msgv[0].addr = _address; msgv[0].flags = 0; msgv[0].buffer = addr; msgv[0].length = 2; - msgv[1].addr = _address; msgv[1].flags = I2C_M_READ; msgv[1].buffer = (uint8_t *)values; - msgv[1].length = num_values * sizeof(*values); - - unsigned tries = 0; - do { - /* perform the transfer */ - ret = I2C_TRANSFER(_dev, msgv, 2); - - if (ret == OK) - break; - - } while (tries++ < _retries); + msgv[1].length = 2 * count; - return ret; + return transfer(msgv, 2); } diff --git a/src/drivers/px4io/px4io_serial.cpp b/src/drivers/px4io/px4io_serial.cpp index 06b955971..c48b6ec4c 100644 --- a/src/drivers/px4io/px4io_serial.cpp +++ b/src/drivers/px4io/px4io_serial.cpp @@ -59,6 +59,7 @@ #include <debug.h> +#include <drivers/device/device.h> #include <drivers/drv_hrt.h> #include <drivers/boards/px4fmuv2/px4fmu_internal.h> /* XXX should really not be hardcoding v2 here */ @@ -66,7 +67,7 @@ #include <modules/px4iofirmware/protocol.h> -#include "interface.h" +device::Device *PX4IO_serial_interface(); /* serial register accessors */ #define REG(_x) (*(volatile uint32_t *)(PX4IO_SERIAL_BASE + _x)) @@ -78,17 +79,16 @@ #define rCR3 REG(STM32_USART_CR3_OFFSET) #define rGTPR REG(STM32_USART_GTPR_OFFSET) -class PX4IO_serial : public PX4IO_interface +class PX4IO_serial : public device::Device { public: PX4IO_serial(); virtual ~PX4IO_serial(); - virtual int set_reg(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num_values); - virtual int get_reg(uint8_t page, uint8_t offset, uint16_t *values, unsigned num_values); - - virtual bool ok(); - virtual int test(unsigned mode); + virtual int probe(); + virtual int read(unsigned offset, void *data, unsigned count = 1); + virtual int write(unsigned address, void *data, unsigned count = 1); + virtual int ioctl(unsigned operation, unsigned &arg); private: /* @@ -159,12 +159,14 @@ private: IOPacket PX4IO_serial::_dma_buffer; static PX4IO_serial *g_interface; -PX4IO_interface *io_serial_interface() +device::Device +*PX4IO_serial_interface() { return new PX4IO_serial(); } PX4IO_serial::PX4IO_serial() : + Device("PX4IO_serial"), _tx_dma(nullptr), _rx_dma(nullptr), _rx_dma_status(_dma_status_inactive), @@ -262,74 +264,87 @@ PX4IO_serial::~PX4IO_serial() g_interface = nullptr; } -bool -PX4IO_serial::ok() +int +PX4IO_serial::probe() { + /* XXX this could try talking to IO */ + if (_tx_dma == nullptr) - return false; + return -1; if (_rx_dma == nullptr) - return false; + return -1; - return true; + return 0; } int -PX4IO_serial::test(unsigned mode) +PX4IO_serial::ioctl(unsigned operation, unsigned &arg) { - switch (mode) { - case 0: - lowsyslog("test 0\n"); + switch (operation) { - /* kill DMA, this is a PIO test */ - stm32_dmastop(_tx_dma); - stm32_dmastop(_rx_dma); - rCR3 &= ~(USART_CR3_DMAR | USART_CR3_DMAT); + case 1: /* XXX magic number - test operation */ + switch (arg) { + case 0: + lowsyslog("test 0\n"); - for (;;) { - while (!(rSR & USART_SR_TXE)) - ; - rDR = 0x55; - } - return 0; - - case 1: - { - unsigned fails = 0; - for (unsigned count = 0;; count++) { - uint16_t value = count & 0xffff; - - if (set_reg(PX4IO_PAGE_TEST, PX4IO_P_TEST_LED, &value, 1) != 0) - fails++; - - if (count >= 5000) { - lowsyslog("==== test 1 : %u failures ====\n", fails); - perf_print_counter(_pc_txns); - perf_print_counter(_pc_dmasetup); - perf_print_counter(_pc_retries); - perf_print_counter(_pc_timeouts); - perf_print_counter(_pc_crcerrs); - perf_print_counter(_pc_dmaerrs); - perf_print_counter(_pc_protoerrs); - perf_print_counter(_pc_uerrs); - perf_print_counter(_pc_idle); - perf_print_counter(_pc_badidle); - count = 0; + /* kill DMA, this is a PIO test */ + stm32_dmastop(_tx_dma); + stm32_dmastop(_rx_dma); + rCR3 &= ~(USART_CR3_DMAR | USART_CR3_DMAT); + + for (;;) { + while (!(rSR & USART_SR_TXE)) + ; + rDR = 0x55; + } + return 0; + + case 1: + { + unsigned fails = 0; + for (unsigned count = 0;; count++) { + uint16_t value = count & 0xffff; + + if (write((PX4IO_PAGE_TEST << 8) | PX4IO_P_TEST_LED, &value, 1) != 0) + fails++; + + if (count >= 5000) { + lowsyslog("==== test 1 : %u failures ====\n", fails); + perf_print_counter(_pc_txns); + perf_print_counter(_pc_dmasetup); + perf_print_counter(_pc_retries); + perf_print_counter(_pc_timeouts); + perf_print_counter(_pc_crcerrs); + perf_print_counter(_pc_dmaerrs); + perf_print_counter(_pc_protoerrs); + perf_print_counter(_pc_uerrs); + perf_print_counter(_pc_idle); + perf_print_counter(_pc_badidle); + count = 0; + } } + return 0; } + case 2: + lowsyslog("test 2\n"); return 0; } - case 2: - lowsyslog("test 2\n"); - return 0; + default: + break; } + return -1; } int -PX4IO_serial::set_reg(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num_values) +PX4IO_serial::write(unsigned address, void *data, unsigned count) { - if (num_values > PKT_MAX_REGS) { + uint8_t page = address >> 8; + uint8_t offset = address & 0xff; + const uint16_t *values = reinterpret_cast<const uint16_t *>(data); + + if (count > PKT_MAX_REGS) { errno = EINVAL; return -1; } @@ -339,11 +354,11 @@ PX4IO_serial::set_reg(uint8_t page, uint8_t offset, const uint16_t *values, unsi int result; for (unsigned retries = 0; retries < 3; retries++) { - _dma_buffer.count_code = num_values | PKT_CODE_WRITE; + _dma_buffer.count_code = count | PKT_CODE_WRITE; _dma_buffer.page = page; _dma_buffer.offset = offset; - memcpy((void *)&_dma_buffer.regs[0], (void *)values, (2 * num_values)); - for (unsigned i = num_values; i < PKT_MAX_REGS; i++) + memcpy((void *)&_dma_buffer.regs[0], (void *)values, (2 * count)); + for (unsigned i = count; i < PKT_MAX_REGS; i++) _dma_buffer.regs[i] = 0x55aa; /* XXX implement check byte */ @@ -373,9 +388,13 @@ PX4IO_serial::set_reg(uint8_t page, uint8_t offset, const uint16_t *values, unsi } int -PX4IO_serial::get_reg(uint8_t page, uint8_t offset, uint16_t *values, unsigned num_values) +PX4IO_serial::read(unsigned address, void *data, unsigned count) { - if (num_values > PKT_MAX_REGS) + uint8_t page = address >> 8; + uint8_t offset = address & 0xff; + uint16_t *values = reinterpret_cast<uint16_t *>(data); + + if (count > PKT_MAX_REGS) return -EINVAL; sem_wait(&_bus_semaphore); @@ -383,7 +402,7 @@ PX4IO_serial::get_reg(uint8_t page, uint8_t offset, uint16_t *values, unsigned n int result; for (unsigned retries = 0; retries < 3; retries++) { - _dma_buffer.count_code = num_values | PKT_CODE_READ; + _dma_buffer.count_code = count | PKT_CODE_READ; _dma_buffer.page = page; _dma_buffer.offset = offset; @@ -402,7 +421,7 @@ PX4IO_serial::get_reg(uint8_t page, uint8_t offset, uint16_t *values, unsigned n perf_count(_pc_protoerrs); /* compare the received count with the expected count */ - } else if (PKT_COUNT(_dma_buffer) != num_values) { + } else if (PKT_COUNT(_dma_buffer) != count) { /* IO returned the wrong number of registers - no point retrying */ errno = EIO; @@ -413,14 +432,14 @@ PX4IO_serial::get_reg(uint8_t page, uint8_t offset, uint16_t *values, unsigned n } else { /* copy back the result */ - memcpy(values, &_dma_buffer.regs[0], (2 * num_values)); + memcpy(values, &_dma_buffer.regs[0], (2 * count)); } break; } perf_count(_pc_retries); } -out: + sem_post(&_bus_semaphore); return result; } |