Direct-access device functions return errors directly.

Move to using ::init rather than ::probe in keeping with device changes.

4 files changed, 79 insertions, 156 deletions

diff --git a/src/drivers/px4io/interface.h b/src/drivers/px4io/interface.h
deleted file mode 100644
index cb7da1081..000000000
--- a/src/drivers/px4io/interface.h
+++ /dev/null
@@ -1,85 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2013 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 interface.h
- *
- * PX4IO interface classes.
- */
-
-#include <nuttx/config.h>
-
-#include <stdint.h>
-
-class PX4IO_interface
-{
-public:
-	/**
-	 * Check that the interface initialised OK.
-	 *
-	 * Does not check that communication has been established.
-	 */
-	virtual bool	ok() = 0;
-
-	/**
-	 * Set PX4IO registers.
-	 *
-	 * @param page		The register page to write
-	 * @param offset	Offset of the first register to write
-	 * @param values	Pointer to values to write
-	 * @param num_values	The number of values to write
-	 * @return		Zero on success.
-	 */
-	virtual int	set_reg(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num_values) = 0;
-
-	/**
-	 * Get PX4IO registers.
-	 *
-	 * @param page		The register page to read
-	 * @param offset	Offset of the first register to read
-	 * @param values	Pointer to store values read
-	 * @param num_values	The number of values to read
-	 * @return		Zero on success.
-	 */	
-	virtual int	get_reg(uint8_t page, uint8_t offset, uint16_t *values, unsigned num_values) = 0;
-
-	/**
-	 * Perform an interface test.
-	 *
-	 * @param mode		Optional test mode.
-	 */
-	virtual int	test(unsigned mode) = 0;
-};
-
-extern PX4IO_interface	*io_i2c_interface(int bus, uint8_t address);
-extern PX4IO_interface	*io_serial_interface();
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index 1b4f20de0..904da84c4 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -1132,8 +1132,8 @@ PX4IO::io_reg_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned
 	}
 
 	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);
+	if (ret != num_values)
+		debug("io_reg_set(%u,%u,%u): error %d", page, offset, num_values, ret);
 	return ret;
 }
 
@@ -1153,8 +1153,8 @@ PX4IO::io_reg_get(uint8_t page, uint8_t offset, uint16_t *values, unsigned num_v
 	}
 
 	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);
+	if (ret != num_values)
+		debug("io_reg_get(%u,%u,%u): data error %d", page, offset, num_values, ret);
 	return ret;
 }
 
@@ -1617,7 +1617,7 @@ start(int argc, char *argv[])
 	if (interface == nullptr)
 		errx(1, "cannot alloc interface");
 
-	if (interface->probe()) {
+	if (interface->init()) {
 		delete interface;
 		errx(1, "interface init failed");
 	}
@@ -1754,7 +1754,7 @@ if_test(unsigned mode)
 	if (interface == nullptr)
 		errx(1, "cannot alloc interface");
 
-	if (interface->probe()) {
+	if (interface->init()) {
 		delete interface;
 		errx(1, "interface init failed");
 	} else {
diff --git a/src/drivers/px4io/px4io_i2c.cpp b/src/drivers/px4io/px4io_i2c.cpp
index 317326e40..585b995fe 100644
--- a/src/drivers/px4io/px4io_i2c.cpp
+++ b/src/drivers/px4io/px4io_i2c.cpp
@@ -32,7 +32,7 @@
  ****************************************************************************/
 
  /**
-  * @file interface_i2c.cpp
+  * @file px4io_i2c.cpp
   *
   * I2C interface for PX4IO
   */
@@ -65,7 +65,7 @@ public:
 	PX4IO_I2C(int bus, uint8_t address);
 	virtual ~PX4IO_I2C();
 
-	virtual int	probe();
+	virtual int	init();
 	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);
@@ -94,10 +94,17 @@ PX4IO_I2C::~PX4IO_I2C()
 }
 
 int
-PX4IO_I2C::probe()
+PX4IO_I2C::init()
 {
-	/* XXX really should do something here */
+	int ret;
 
+	ret = I2C::init();
+	if (ret != OK)
+		goto out;
+
+	/* XXX really should do something more here */
+
+out:
 	return 0;
 }
 
@@ -130,7 +137,10 @@ PX4IO_I2C::write(unsigned address, void *data, unsigned count)
 	msgv[1].buffer = (uint8_t *)values;
 	msgv[1].length = 2 * count;
 
-	return transfer(msgv, 2);
+	int ret = transfer(msgv, 2);
+	if (ret == OK)
+		ret = count;
+	return ret;
 }
 
 int
@@ -155,5 +165,8 @@ PX4IO_I2C::read(unsigned address, void *data, unsigned count)
 	msgv[1].buffer = (uint8_t *)values;
 	msgv[1].length = 2 * count;
 
-	return transfer(msgv, 2);
+	int ret = transfer(msgv, 2);
+	if (ret == OK)
+		ret = count;
+	return ret;
 }
diff --git a/src/drivers/px4io/px4io_serial.cpp b/src/drivers/px4io/px4io_serial.cpp
index 20b89accb..6a0b4d33f 100644
--- a/src/drivers/px4io/px4io_serial.cpp
+++ b/src/drivers/px4io/px4io_serial.cpp
@@ -32,7 +32,7 @@
  ****************************************************************************/
 
  /**
-  * @file interface_serial.cpp
+  * @file px4io_serial.cpp
   *
   * Serial interface for PX4IO
   */
@@ -85,7 +85,7 @@ public:
 	PX4IO_serial();
 	virtual ~PX4IO_serial();
 
-	virtual int	probe();
+	virtual int	init();
 	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);
@@ -181,43 +181,6 @@ PX4IO_serial::PX4IO_serial() :
 	_pc_idle(perf_alloc(PC_COUNT,		"io_idle     ")),
 	_pc_badidle(perf_alloc(PC_COUNT,	"io_badidle  "))
 {
-	/* allocate DMA */
-	_tx_dma = stm32_dmachannel(PX4IO_SERIAL_TX_DMAMAP);
-	_rx_dma = stm32_dmachannel(PX4IO_SERIAL_RX_DMAMAP);
-	if ((_tx_dma == nullptr) || (_rx_dma == nullptr))
-		return;
-
-	/* configure pins for serial use */
-	stm32_configgpio(PX4IO_SERIAL_TX_GPIO);
-	stm32_configgpio(PX4IO_SERIAL_RX_GPIO);
-
-	/* reset & configure the UART */
-	rCR1 = 0;
-	rCR2 = 0;
-	rCR3 = 0;
-
-	/* eat any existing interrupt status */
-	(void)rSR;
-	(void)rDR;
-
-	/* configure line speed */
-	uint32_t usartdiv32 = PX4IO_SERIAL_CLOCK / (PX4IO_SERIAL_BITRATE / 2);
-	uint32_t mantissa = usartdiv32 >> 5;
-	uint32_t fraction = (usartdiv32 - (mantissa << 5) + 1) >> 1;
-	rBRR = (mantissa << USART_BRR_MANT_SHIFT) | (fraction << USART_BRR_FRAC_SHIFT);
-
-	/* attach serial interrupt handler */
-	irq_attach(PX4IO_SERIAL_VECTOR, _interrupt);
-	up_enable_irq(PX4IO_SERIAL_VECTOR);
-
-	/* enable UART in DMA mode, enable error and line idle interrupts */
-	/* rCR3 = USART_CR3_EIE;*/
-	rCR1 = USART_CR1_RE | USART_CR1_TE | USART_CR1_UE | USART_CR1_IDLEIE;
-
-	/* create semaphores */
-	sem_init(&_completion_semaphore, 0, 0);
-	sem_init(&_bus_semaphore, 0, 1);
-
 	g_interface = this;
 }
 
@@ -265,15 +228,48 @@ PX4IO_serial::~PX4IO_serial()
 }
 
 int
-PX4IO_serial::probe()
+PX4IO_serial::init()
 {
-	/* XXX this could try talking to IO */
-
-	if (_tx_dma == nullptr)
-		return -1;
-	if (_rx_dma == nullptr)
+	/* allocate DMA */
+	_tx_dma = stm32_dmachannel(PX4IO_SERIAL_TX_DMAMAP);
+	_rx_dma = stm32_dmachannel(PX4IO_SERIAL_RX_DMAMAP);
+	if ((_tx_dma == nullptr) || (_rx_dma == nullptr))
 		return -1;
 
+	/* configure pins for serial use */
+	stm32_configgpio(PX4IO_SERIAL_TX_GPIO);
+	stm32_configgpio(PX4IO_SERIAL_RX_GPIO);
+
+	/* reset & configure the UART */
+	rCR1 = 0;
+	rCR2 = 0;
+	rCR3 = 0;
+
+	/* eat any existing interrupt status */
+	(void)rSR;
+	(void)rDR;
+
+	/* configure line speed */
+	uint32_t usartdiv32 = PX4IO_SERIAL_CLOCK / (PX4IO_SERIAL_BITRATE / 2);
+	uint32_t mantissa = usartdiv32 >> 5;
+	uint32_t fraction = (usartdiv32 - (mantissa << 5) + 1) >> 1;
+	rBRR = (mantissa << USART_BRR_MANT_SHIFT) | (fraction << USART_BRR_FRAC_SHIFT);
+
+	/* attach serial interrupt handler */
+	irq_attach(PX4IO_SERIAL_VECTOR, _interrupt);
+	up_enable_irq(PX4IO_SERIAL_VECTOR);
+
+	/* enable UART in DMA mode, enable error and line idle interrupts */
+	/* rCR3 = USART_CR3_EIE;*/
+	rCR1 = USART_CR1_RE | USART_CR1_TE | USART_CR1_UE | USART_CR1_IDLEIE;
+
+	/* create semaphores */
+	sem_init(&_completion_semaphore, 0, 0);
+	sem_init(&_bus_semaphore, 0, 1);
+
+
+	/* XXX this could try talking to IO */
+
 	return 0;
 }
 
@@ -344,10 +340,8 @@ PX4IO_serial::write(unsigned address, void *data, unsigned count)
 	uint8_t offset = address & 0xff;
 	const uint16_t *values = reinterpret_cast<const uint16_t *>(data);
 
-	if (count > PKT_MAX_REGS) {
-		errno = EINVAL;
-		return -1;
-	}
+	if (count > PKT_MAX_REGS)
+		return -EINVAL;
 
 	sem_wait(&_bus_semaphore);
 
@@ -373,8 +367,7 @@ PX4IO_serial::write(unsigned address, void *data, unsigned count)
 			if (PKT_CODE(_dma_buffer) == PKT_CODE_ERROR) {
 
 				/* IO didn't like it - no point retrying */
-				errno = EINVAL;
-				result = -1;
+				result = -EINVAL;
 				perf_count(_pc_protoerrs);
 			}
 
@@ -384,6 +377,9 @@ PX4IO_serial::write(unsigned address, void *data, unsigned count)
 	}
 
 	sem_post(&_bus_semaphore);
+
+	if (result == OK)
+		result = count;
 	return result;
 }
 
@@ -416,16 +412,14 @@ PX4IO_serial::read(unsigned address, void *data, unsigned count)
 			if (PKT_CODE(_dma_buffer) == PKT_CODE_ERROR) {
 
 				/* IO didn't like it - no point retrying */
-				errno = EINVAL;
-				result = -1;
+				result = -EINVAL;
 				perf_count(_pc_protoerrs);
 
 			/* compare the received count with the expected count */
 			} else if (PKT_COUNT(_dma_buffer) != count) {
 
 				/* IO returned the wrong number of registers - no point retrying */
-				errno = EIO;
-				result = -1;
+				result = -EIO;
 				perf_count(_pc_protoerrs);
 
 			/* successful read */				
@@ -441,6 +435,9 @@ PX4IO_serial::read(unsigned address, void *data, unsigned count)
 	}
 
 	sem_post(&_bus_semaphore);
+
+	if (result == OK)
+		result = count;
 	return result;
 }
 
@@ -524,8 +521,7 @@ PX4IO_serial::_wait_complete()
 			/* check for DMA errors */
 			if (_rx_dma_status & DMA_STATUS_TEIF) {
 				perf_count(_pc_dmaerrs);
-				ret = -1;
-				errno = EIO;
+				ret = -EIO;
 				break;
 			}
 
@@ -534,8 +530,7 @@ PX4IO_serial::_wait_complete()
 			_dma_buffer.crc = 0;
 			if ((crc != crc_packet(&_dma_buffer)) | (PKT_CODE(_dma_buffer) == PKT_CODE_CORRUPT)) {
 				perf_count(_pc_crcerrs);
-				ret = -1;
-				errno = EIO;
+				ret = -EIO;
 				break;
 			}