diff options
Diffstat (limited to 'src/drivers/device')
| -rw-r--r-- | src/drivers/device/cdev.cpp | 16 | ||||
| -rw-r--r-- | src/drivers/device/device.cpp | 19 | ||||
| -rw-r--r-- | src/drivers/device/device.h | 70 | ||||
| -rw-r--r-- | src/drivers/device/i2c.h | 14 | ||||
| -rw-r--r-- | src/drivers/device/ringbuffer.h | 203 | ||||
| -rw-r--r-- | src/drivers/device/spi.h | 2 |
6 files changed, 293 insertions, 31 deletions
diff --git a/src/drivers/device/cdev.cpp b/src/drivers/device/cdev.cpp index 422321850..47ebcd40a 100644 --- a/src/drivers/device/cdev.cpp +++ b/src/drivers/device/cdev.cpp @@ -111,21 +111,21 @@ CDev::~CDev() int CDev::init() { - int ret = OK; - // base class init first - ret = Device::init(); + int ret = Device::init(); if (ret != OK) goto out; // now register the driver - ret = register_driver(_devname, &fops, 0666, (void *)this); + if (_devname != nullptr) { + ret = register_driver(_devname, &fops, 0666, (void *)this); - if (ret != OK) - goto out; + if (ret != OK) + goto out; - _registered = true; + _registered = true; + } out: return ret; @@ -395,4 +395,4 @@ cdev_poll(struct file *filp, struct pollfd *fds, bool setup) return cdev->poll(filp, fds, setup); } -} // namespace device
\ No newline at end of file +} // namespace device diff --git a/src/drivers/device/device.cpp b/src/drivers/device/device.cpp index 04a5222c3..c3ee77b1c 100644 --- a/src/drivers/device/device.cpp +++ b/src/drivers/device/device.cpp @@ -223,5 +223,22 @@ interrupt(int irq, void *context) return OK; } +int +Device::read(unsigned offset, void *data, unsigned count) +{ + return -ENODEV; +} + +int +Device::write(unsigned offset, void *data, unsigned count) +{ + return -ENODEV; +} + +int +Device::ioctl(unsigned operation, unsigned &arg) +{ + return -ENODEV; +} -} // namespace device
\ No newline at end of file +} // namespace device diff --git a/src/drivers/device/device.h b/src/drivers/device/device.h index 7d375aab9..a9ed5d77c 100644 --- a/src/drivers/device/device.h +++ b/src/drivers/device/device.h @@ -69,10 +69,61 @@ class __EXPORT Device { public: /** + * Destructor. + * + * Public so that anonymous devices can be destroyed. + */ + virtual ~Device(); + + /** * Interrupt handler. */ virtual void interrupt(void *ctx); /**< interrupt handler */ + /* + * Direct access methods. + */ + + /** + * Initialise the driver and make it ready for use. + * + * @return OK if the driver initialized OK, negative errno otherwise; + */ + virtual int init(); + + /** + * Read directly from the device. + * + * The actual size of each unit quantity is device-specific. + * + * @param offset The device address at which to start reading + * @param data The buffer into which the read values should be placed. + * @param count The number of items to read. + * @return The number of items read on success, negative errno otherwise. + */ + virtual int read(unsigned address, void *data, unsigned count); + + /** + * Write directly to the device. + * + * The actual size of each unit quantity is device-specific. + * + * @param address The device address at which to start writing. + * @param data The buffer from which values should be read. + * @param count The number of items to write. + * @return The number of items written on success, negative errno otherwise. + */ + virtual int write(unsigned address, void *data, unsigned count); + + /** + * Perform a device-specific operation. + * + * @param operation The operation to perform. + * @param arg An argument to the operation. + * @return Negative errno on error, OK or positive value on success. + */ + virtual int ioctl(unsigned operation, unsigned &arg); + protected: const char *_name; /**< driver name */ bool _debug_enabled; /**< if true, debug messages are printed */ @@ -85,14 +136,6 @@ protected: */ Device(const char *name, int irq = 0); - ~Device(); - - /** - * Initialise the driver and make it ready for use. - * - * @return OK if the driver initialised OK. - */ - virtual int init(); /** * Enable the device interrupt @@ -189,7 +232,7 @@ public: /** * Destructor */ - ~CDev(); + virtual ~CDev(); virtual int init(); @@ -282,6 +325,7 @@ public: * Test whether the device is currently open. * * This can be used to avoid tearing down a device that is still active. + * Note - not virtual, cannot be overridden by a subclass. * * @return True if the device is currently open. */ @@ -396,9 +440,9 @@ public: const char *devname, uint32_t base, int irq = 0); - ~PIO(); + virtual ~PIO(); - int init(); + virtual int init(); protected: @@ -407,7 +451,7 @@ protected: * * @param offset Register offset in bytes from the base address. */ - uint32_t reg(uint32_t offset) { + uint32_t reg(uint32_t offset) { return *(volatile uint32_t *)(_base + offset); } @@ -444,4 +488,4 @@ private: } // namespace device -#endif /* _DEVICE_DEVICE_H */
\ No newline at end of file +#endif /* _DEVICE_DEVICE_H */ diff --git a/src/drivers/device/i2c.h b/src/drivers/device/i2c.h index b4a9cdd53..549879352 100644 --- a/src/drivers/device/i2c.h +++ b/src/drivers/device/i2c.h @@ -55,13 +55,11 @@ class __EXPORT I2C : public CDev public: - /** - * Get the address - */ - uint16_t get_address() { - return _address; - } - + /** + * Get the address + */ + int16_t get_address() { return _address; } + protected: /** * The number of times a read or write operation will be retried on @@ -90,7 +88,7 @@ protected: uint16_t address, uint32_t frequency, int irq = 0); - ~I2C(); + virtual ~I2C(); virtual int init(); diff --git a/src/drivers/device/ringbuffer.h b/src/drivers/device/ringbuffer.h new file mode 100644 index 000000000..dc0c84052 --- /dev/null +++ b/src/drivers/device/ringbuffer.h @@ -0,0 +1,203 @@ +/**************************************************************************** + * + * Copyright (C) 2013 PX4 Development Team. All rights reserved. + * Author: Lorenz Meier <lm@inf.ethz.ch> + * + * 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 ringbuffer.h + * + * A simple ringbuffer template. + */ + +#pragma once + +template<typename T> +class RingBuffer { +public: + RingBuffer(unsigned size); + virtual ~RingBuffer(); + + /** + * Put an item into the buffer. + * + * @param val Item to put + * @return true if the item was put, false if the buffer is full + */ + bool put(T &val); + + /** + * Put an item into the buffer. + * + * @param val Item to put + * @return true if the item was put, false if the buffer is full + */ + bool put(const T &val); + + /** + * Get an item from the buffer. + * + * @param val Item that was gotten + * @return true if an item was got, false if the buffer was empty. + */ + bool get(T &val); + + /** + * Get an item from the buffer (scalars only). + * + * @return The value that was fetched, or zero if the buffer was + * empty. + */ + T get(void); + + /* + * Get the number of slots free in the buffer. + * + * @return The number of items that can be put into the buffer before + * it becomes full. + */ + unsigned space(void); + + /* + * Get the number of items in the buffer. + * + * @return The number of items that can be got from the buffer before + * it becomes empty. + */ + unsigned count(void); + + /* + * Returns true if the buffer is empty. + */ + bool empty() { return _tail == _head; } + + /* + * Returns true if the buffer is full. + */ + bool full() { return _next(_head) == _tail; } + + /* + * Returns the capacity of the buffer, or zero if the buffer could + * not be allocated. + */ + unsigned size() { return (_buf != nullptr) ? _size : 0; } + + /* + * Empties the buffer. + */ + void flush() { _head = _tail = _size; } + +private: + T *const _buf; + const unsigned _size; + volatile unsigned _head; /**< insertion point */ + volatile unsigned _tail; /**< removal point */ + + unsigned _next(unsigned index); +}; + +template <typename T> +RingBuffer<T>::RingBuffer(unsigned with_size) : + _buf(new T[with_size + 1]), + _size(with_size), + _head(with_size), + _tail(with_size) +{} + +template <typename T> +RingBuffer<T>::~RingBuffer() +{ + if (_buf != nullptr) + delete[] _buf; +} + +template <typename T> +bool RingBuffer<T>::put(T &val) +{ + unsigned next = _next(_head); + if (next != _tail) { + _buf[_head] = val; + _head = next; + return true; + } else { + return false; + } +} + +template <typename T> +bool RingBuffer<T>::put(const T &val) +{ + unsigned next = _next(_head); + if (next != _tail) { + _buf[_head] = val; + _head = next; + return true; + } else { + return false; + } +} + +template <typename T> +bool RingBuffer<T>::get(T &val) +{ + if (_tail != _head) { + val = _buf[_tail]; + _tail = _next(_tail); + return true; + } else { + return false; + } +} + +template <typename T> +T RingBuffer<T>::get(void) +{ + T val; + return get(val) ? val : 0; +} + +template <typename T> +unsigned RingBuffer<T>::space(void) +{ + return (_tail >= _head) ? (_size - (_tail - _head)) : (_head - _tail - 1); +} + +template <typename T> +unsigned RingBuffer<T>::count(void) +{ + return _size - space(); +} + +template <typename T> +unsigned RingBuffer<T>::_next(unsigned index) +{ + return (0 == index) ? _size : (index - 1); +} diff --git a/src/drivers/device/spi.h b/src/drivers/device/spi.h index d2d01efb3..e0122372a 100644 --- a/src/drivers/device/spi.h +++ b/src/drivers/device/spi.h @@ -71,7 +71,7 @@ protected: enum spi_mode_e mode, uint32_t frequency, int irq = 0); - ~SPI(); + virtual ~SPI(); virtual int init(); |