AP_HAL_SITL: simulated i2c support

This commit is contained in:
Peter Barker 2020-08-03 13:24:26 +10:00 committed by Peter Barker
parent 0303c5c4a8
commit 2319638dd2
6 changed files with 341 additions and 1 deletions

View File

@ -6,6 +6,8 @@ class Scheduler;
class SITL_State;
class Storage;
class AnalogIn;
class I2CDevice;
class I2CDeviceManager;
class RCInput;
class RCOutput;
class ADCSource;

View File

@ -13,6 +13,7 @@
#include "Scheduler.h"
#include "AnalogIn.h"
#include "UARTDriver.h"
#include "I2CDevice.h"
#include "Storage.h"
#include "RCInput.h"
#include "RCOutput.h"
@ -40,7 +41,6 @@ static DSP dspDriver;
// use the Empty HAL for hardware we don't emulate
static Empty::I2CDeviceManager i2c_mgr_instance;
static Empty::SPIDeviceManager emptySPI;
static Empty::OpticalFlow emptyOpticalFlow;
static Empty::Flash emptyFlash;
@ -54,6 +54,8 @@ static UARTDriver sitlUart5Driver(5, &sitlState);
static UARTDriver sitlUart6Driver(6, &sitlState);
static UARTDriver sitlUart7Driver(7, &sitlState);
static I2CDeviceManager i2c_mgr_instance;
static Util utilInstance(&sitlState);
HAL_SITL::HAL_SITL() :

View File

@ -0,0 +1,204 @@
/*
* Copyright (C) 2020 Peter Barker. All rights reserved.
*
* This file is free software: you can redistribute it and/or modify it
* under the terms of the GNU General Public License as published by the
* Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This file is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "I2CDevice.h"
#include <AP_HAL/AP_HAL.h>
#include <SITL/SITL.h>
extern const AP_HAL::HAL& hal;
using namespace HALSITL;
/*
* I2CBus
*/
class I2CBus {
friend class I2CDeviceManager;
public:
uint8_t bus;
Semaphore sem;
int ioctl(uint8_t ioctl_number, void *data) {
return _ioctl(ioctl_number, data);
}
void _timer_tick(); // in lieu of a thread-per-bus
AP_HAL::Device::PeriodicHandle register_periodic_callback(uint32_t period_usec, AP_HAL::Device::PeriodicCb cb);
private:
int _ioctl(uint8_t ioctl_number, void *data);
struct callback_info {
struct callback_info *next;
AP_HAL::Device::PeriodicCb cb;
uint32_t period_usec;
uint64_t next_usec;
} *callbacks;
};
int I2CBus::_ioctl(uint8_t ioctl_number, void *data)
{
SITL::SITL *sitl = AP::sitl();
return sitl->i2c_ioctl(ioctl_number, data);
}
AP_HAL::Device::PeriodicHandle I2CBus::register_periodic_callback(uint32_t period_usec, AP_HAL::Device::PeriodicCb cb)
{
// mostly swiped from ChibiOS:
I2CBus::callback_info *callback = new I2CBus::callback_info;
if (callback == nullptr) {
return nullptr;
}
callback->cb = cb;
callback->period_usec = period_usec;
callback->next_usec = AP_HAL::micros64() + period_usec;
// add to linked list of callbacks on thread
callback->next = callbacks;
callbacks = callback;
return callback;
}
void I2CBus::_timer_tick()
{
const uint64_t now = AP_HAL::micros64();
for (struct callback_info *ci = callbacks; ci != nullptr; ci = ci->next) {
if (ci->next_usec >= now) {
ci->cb();
ci->next_usec += ci->period_usec;
}
}
}
/*
* I2CDeviceManager
*/
I2CBus I2CDeviceManager::buses[NUM_SITL_I2C_BUSES];
I2CDeviceManager::I2CDeviceManager()
{
}
AP_HAL::OwnPtr<AP_HAL::I2CDevice>
I2CDeviceManager::get_device(uint8_t bus,
uint8_t address,
uint32_t bus_clock,
bool use_smbus,
uint32_t timeout_ms)
{
if (bus >= ARRAY_SIZE(buses)) {
return AP_HAL::OwnPtr<AP_HAL::I2CDevice>(nullptr);
}
auto dev = AP_HAL::OwnPtr<AP_HAL::I2CDevice>(new I2CDevice(buses[bus], address));
return dev;
}
void I2CDeviceManager::_timer_tick()
{
for (auto bus : buses) {
bus._timer_tick();
}
}
/*
* I2CDevice
*/
I2CDevice::I2CDevice(I2CBus &bus, uint8_t address)
: _bus(bus)
, _address(address)
{
set_device_bus(bus.bus);
set_device_address(address);
}
#include <stdio.h>
#include <signal.h>
bool I2CDevice::transfer(const uint8_t *send, uint32_t send_len,
uint8_t *recv, uint32_t recv_len)
{
// kill(0, SIGTRAP);
// combined transfer
if (!_transfer(send, send_len, recv, recv_len)) {
return false;
}
return true;
}
bool I2CDevice::_transfer(const uint8_t *send, uint32_t send_len,
uint8_t *recv, uint32_t recv_len)
{
struct i2c_msg msgs[2] = { };
unsigned nmsgs = 0;
if (send && send_len != 0) {
msgs[nmsgs].addr = _address;
msgs[nmsgs].flags = 0;
msgs[nmsgs].buf = const_cast<uint8_t*>(send);
msgs[nmsgs].len = send_len;
nmsgs++;
}
if (recv && recv_len != 0) {
msgs[nmsgs].addr = _address;
msgs[nmsgs].flags = I2C_M_RD;
msgs[nmsgs].buf = recv;
msgs[nmsgs].len = recv_len;
nmsgs++;
}
/* interpret it as an input error if nothing has to be done */
if (!nmsgs) {
return false;
}
struct i2c_rdwr_ioctl_data i2c_data = { };
i2c_data.msgs = msgs;
i2c_data.nmsgs = nmsgs;
int r;
unsigned retries = _retries;
do {
r = _bus.ioctl(I2C_RDWR, &i2c_data);
} while (r == -1 && retries-- > 0);
return r != -1;
}
bool I2CDevice::read_registers_multiple(uint8_t first_reg, uint8_t *recv,
uint32_t recv_len, uint8_t times)
{
::fprintf(stderr, "read_registers_multiple called\n");
return false;
}
AP_HAL::Semaphore *I2CDevice::get_semaphore() {
return &_bus.sem;
}
AP_HAL::Device::PeriodicHandle I2CDevice::register_periodic_callback(uint32_t period_usec, AP_HAL::Device::PeriodicCb cb)
{
return _bus.register_periodic_callback(period_usec, cb);
}
bool I2CDevice::adjust_periodic_callback(Device::PeriodicHandle h, uint32_t period_usec)
{
return false;
}

View File

@ -0,0 +1,127 @@
/*
* Copyright (C) 2020 Peter Barker. All rights reserved.
*
* This file is free software: you can redistribute it and/or modify it
* under the terms of the GNU General Public License as published by the
* Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This file is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#include <inttypes.h>
#include <AP_HAL/HAL.h>
#include <AP_HAL/I2CDevice.h>
#include <AP_HAL/utility/OwnPtr.h>
#include "AP_HAL_SITL_Namespace.h"
#include "Semaphores.h"
class I2CBus;
class HALSITL::I2CDevice : public AP_HAL::I2CDevice {
public:
static I2CDevice *from(AP_HAL::I2CDevice *dev) {
return static_cast<I2CDevice*>(dev);
}
/* AP_HAL::I2CDevice implementation */
I2CDevice(I2CBus &bus, uint8_t address);
~I2CDevice() {}
/* See AP_HAL::I2CDevice::set_address() */
void set_address(uint8_t address) override { _address = address; }
/* See AP_HAL::I2CDevice::set_retries() */
void set_retries(uint8_t retries) override { _retries = retries; }
/* AP_HAL::Device implementation */
/* See AP_HAL::Device::set_speed(): Empty implementation, not supported. */
bool set_speed(enum Device::Speed speed) override { return true; }
/* See AP_HAL::Device::transfer() */
bool transfer(const uint8_t *send, uint32_t send_len,
uint8_t *recv, uint32_t recv_len) override;
bool read_registers_multiple(uint8_t first_reg, uint8_t *recv,
uint32_t recv_len, uint8_t times) override;
/* See AP_HAL::Device::get_semaphore() */
AP_HAL::Semaphore *get_semaphore() override;
/* See AP_HAL::Device::register_periodic_callback() */
AP_HAL::Device::PeriodicHandle register_periodic_callback(
uint32_t period_usec, AP_HAL::Device::PeriodicCb) override;
/* See AP_HAL::Device::adjust_periodic_callback() */
bool adjust_periodic_callback(
AP_HAL::Device::PeriodicHandle h, uint32_t period_usec) override;
/* set split transfers flag */
void set_split_transfers(bool set) override {
_split_transfers = set;
}
static void sitl_update();
// the following must be identical to the structure in SITL/SIM_I2C.h!
#define I2C_M_RD 1
#define I2C_RDWR 0
struct i2c_msg {
uint8_t addr;
uint8_t flags;
uint8_t *buf;
uint16_t len; // FIXME: what type should this be?
};
struct i2c_rdwr_ioctl_data {
i2c_msg *msgs;
uint8_t nmsgs;
};
// end "the following"
protected:
I2CBus &_bus;
uint8_t _address;
uint8_t _retries;
bool _split_transfers = false;
bool _transfer(const uint8_t *send, uint32_t send_len,
uint8_t *recv, uint32_t recv_len);
};
class HALSITL::I2CDeviceManager : public AP_HAL::I2CDeviceManager {
public:
friend class I2CDevice;
static I2CDeviceManager *from(AP_HAL::I2CDeviceManager *i2c_mgr)
{
return static_cast<I2CDeviceManager*>(i2c_mgr);
}
I2CDeviceManager();
~I2CDeviceManager() {};
void _timer_tick(); // in lieu of a thread-per-bus
/* AP_HAL::I2CDeviceManager implementation */
AP_HAL::OwnPtr<AP_HAL::I2CDevice> get_device(uint8_t bus, uint8_t address,
uint32_t bus_clock=400000,
bool use_smbus = false,
uint32_t timeout_ms=4) override;
protected:
#define NUM_SITL_I2C_BUSES 4
static I2CBus buses[];
};

View File

@ -95,6 +95,7 @@ void SITL_State::_sitl_setup(const char *home_str)
sitl_model->set_gripper_epm(&_sitl->gripper_epm_sim);
sitl_model->set_parachute(&_sitl->parachute_sim);
sitl_model->set_precland(&_sitl->precland_sim);
sitl_model->set_i2c(&_sitl->i2c_sim);
if (_use_fg_view) {
fg_socket.connect(_fg_address, _fg_view_port);

View File

@ -1,6 +1,7 @@
#include <AP_HAL/AP_HAL.h>
#include "AP_HAL_SITL.h"
#include <AP_HAL_SITL/I2CDevice.h>
#include "Scheduler.h"
#include "UARTDriver.h"
#include <sys/time.h>
@ -240,6 +241,9 @@ void Scheduler::_run_io_procs()
hal.uartH->_timer_tick();
hal.storage->_timer_tick();
// in lieu of a thread-per-bus:
((HALSITL::I2CDeviceManager*)(hal.i2c_mgr))->_timer_tick();
#if SITL_STACK_CHECKING_ENABLED
check_thread_stacks();
#endif