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SITL: use enumeration in place of O_RDWR for I2C register defs

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This commit is contained in:
Peter Barker 2021-10-11 16:04:21 +11:00 committed by Peter Barker
parent e99a5c6ef4
commit 5b8a3c3ff9
10 changed files with 71 additions and 58 deletions
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22
libraries/SITL/SIM_BattMonitor_SMBus.cpp
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@ -5,17 +5,17 @@
SITL::SIM_BattMonitor_SMBus::SIM_BattMonitor_SMBus() :
SMBusDevice()
{
add_register("Temperature", SMBusBattDevReg::TEMP, O_RDONLY);
add_register("Voltage", SMBusBattDevReg::VOLTAGE, O_RDONLY);
add_register("Current", SMBusBattDevReg::CURRENT, O_RDONLY);
add_register("Remaining Capacity", SMBusBattDevReg::REMAINING_CAPACITY, O_RDONLY);
add_register("Full Charge Capacity", SMBusBattDevReg::FULL_CHARGE_CAPACITY, O_RDONLY);
add_register("Cycle_Count", SMBusBattDevReg::CYCLE_COUNT, O_RDONLY);
add_register("Specification Info", SMBusBattDevReg::SPECIFICATION_INFO, O_RDONLY);
add_register("Serial", SMBusBattDevReg::SERIAL, O_RDONLY);
add_block("Manufacture Name", SMBusBattDevReg::MANUFACTURE_NAME, O_RDONLY);
add_block("Device Name", SMBusBattDevReg::DEVICE_NAME, O_RDONLY);
add_register("Manufacture Data", SMBusBattDevReg::MANUFACTURE_DATA, O_RDONLY);
add_register("Temperature", SMBusBattDevReg::TEMP, SITL::I2CRegisters::RegMode::RDONLY);
add_register("Voltage", SMBusBattDevReg::VOLTAGE, SITL::I2CRegisters::RegMode::RDONLY);
add_register("Current", SMBusBattDevReg::CURRENT, SITL::I2CRegisters::RegMode::RDONLY);
add_register("Remaining Capacity", SMBusBattDevReg::REMAINING_CAPACITY, SITL::I2CRegisters::RegMode::RDONLY);
add_register("Full Charge Capacity", SMBusBattDevReg::FULL_CHARGE_CAPACITY, SITL::I2CRegisters::RegMode::RDONLY);
add_register("Cycle_Count", SMBusBattDevReg::CYCLE_COUNT, SITL::I2CRegisters::RegMode::RDONLY);
add_register("Specification Info", SMBusBattDevReg::SPECIFICATION_INFO, SITL::I2CRegisters::RegMode::RDONLY);
add_register("Serial", SMBusBattDevReg::SERIAL, SITL::I2CRegisters::RegMode::RDONLY);
add_block("Manufacture Name", SMBusBattDevReg::MANUFACTURE_NAME, SITL::I2CRegisters::RegMode::RDONLY);
add_block("Device Name", SMBusBattDevReg::DEVICE_NAME, SITL::I2CRegisters::RegMode::RDONLY);
add_register("Manufacture Data", SMBusBattDevReg::MANUFACTURE_DATA, SITL::I2CRegisters::RegMode::RDONLY);
set_register(SMBusBattDevReg::TEMP, (int16_t)((15 + C_TO_KELVIN)*10));
// see update for voltage

28
libraries/SITL/SIM_BattMonitor_SMBus_Generic.cpp
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@ -9,46 +9,46 @@ void SITL::SIM_BattMonitor_SMBus_Generic::init()
{
switch (cellcount()) {
case 14:
add_register("Cell14", SMBusBattGenericDevReg::CELL14, O_RDONLY);
add_register("Cell14", SMBusBattGenericDevReg::CELL14, SITL::I2CRegisters::RegMode::RDONLY);
FALLTHROUGH;
case 13:
add_register("Cell13", SMBusBattGenericDevReg::CELL13, O_RDONLY);
add_register("Cell13", SMBusBattGenericDevReg::CELL13, SITL::I2CRegisters::RegMode::RDONLY);
FALLTHROUGH;
case 12:
add_register("Cell12", SMBusBattGenericDevReg::CELL12, O_RDONLY);
add_register("Cell12", SMBusBattGenericDevReg::CELL12, SITL::I2CRegisters::RegMode::RDONLY);
FALLTHROUGH;
case 11:
add_register("Cell11", SMBusBattGenericDevReg::CELL11, O_RDONLY);
add_register("Cell11", SMBusBattGenericDevReg::CELL11, SITL::I2CRegisters::RegMode::RDONLY);
FALLTHROUGH;
case 10:
add_register("Cell10", SMBusBattGenericDevReg::CELL10, O_RDONLY);
add_register("Cell10", SMBusBattGenericDevReg::CELL10, SITL::I2CRegisters::RegMode::RDONLY);
FALLTHROUGH;
case 9:
add_register("Cell9", SMBusBattGenericDevReg::CELL9, O_RDONLY);
add_register("Cell9", SMBusBattGenericDevReg::CELL9, SITL::I2CRegisters::RegMode::RDONLY);
FALLTHROUGH;
case 8:
add_register("Cell8", SMBusBattGenericDevReg::CELL8, O_RDONLY);
add_register("Cell8", SMBusBattGenericDevReg::CELL8, SITL::I2CRegisters::RegMode::RDONLY);
FALLTHROUGH;
case 7:
add_register("Cell7", SMBusBattGenericDevReg::CELL7, O_RDONLY);
add_register("Cell7", SMBusBattGenericDevReg::CELL7, SITL::I2CRegisters::RegMode::RDONLY);
FALLTHROUGH;
case 6:
add_register("Cell6", SMBusBattGenericDevReg::CELL6, O_RDONLY);
add_register("Cell6", SMBusBattGenericDevReg::CELL6, SITL::I2CRegisters::RegMode::RDONLY);
FALLTHROUGH;
case 5:
add_register("Cell5", SMBusBattGenericDevReg::CELL5, O_RDONLY);
add_register("Cell5", SMBusBattGenericDevReg::CELL5, SITL::I2CRegisters::RegMode::RDONLY);
FALLTHROUGH;
case 4:
add_register("Cell4", SMBusBattGenericDevReg::CELL4, O_RDONLY);
add_register("Cell4", SMBusBattGenericDevReg::CELL4, SITL::I2CRegisters::RegMode::RDONLY);
FALLTHROUGH;
case 3:
add_register("Cell3", SMBusBattGenericDevReg::CELL3, O_RDONLY);
add_register("Cell3", SMBusBattGenericDevReg::CELL3, SITL::I2CRegisters::RegMode::RDONLY);
FALLTHROUGH;
case 2:
add_register("Cell2", SMBusBattGenericDevReg::CELL2, O_RDONLY);
add_register("Cell2", SMBusBattGenericDevReg::CELL2, SITL::I2CRegisters::RegMode::RDONLY);
FALLTHROUGH;
case 1:
add_register("Cell1", SMBusBattGenericDevReg::CELL1, O_RDONLY);
add_register("Cell1", SMBusBattGenericDevReg::CELL1, SITL::I2CRegisters::RegMode::RDONLY);
return;
default:
AP_HAL::panic("Bad cellcount %u", cellcount());

2
libraries/SITL/SIM_BattMonitor_SMBus_Rotoye.cpp
View File

@ -4,7 +4,7 @@
SITL::Rotoye::Rotoye() :
SIM_BattMonitor_SMBus_Generic()
{
add_register("External Temperature", SMBusBattRotoyeDevReg::TEMP_EXT, O_RDONLY);
add_register("External Temperature", SMBusBattRotoyeDevReg::TEMP_EXT, SITL::I2CRegisters::RegMode::RDONLY);
set_register(SMBusBattRotoyeDevReg::SERIAL, (uint16_t)39);
}

6
libraries/SITL/SIM_I2CDevice.cpp
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@ -1,14 +1,14 @@
#include "SIM_I2CDevice.h"
#include <AP_HAL/utility/sparse-endian.h>
void SITL::I2CRegisters::add_register(const char *name, uint8_t reg, int8_t mode)
void SITL::I2CRegisters::add_register(const char *name, uint8_t reg, RegMode mode)
{
// ::fprintf(stderr, "Adding register %u (0x%02x) (%s)\n", reg, reg, name);
regname[reg] = name;
if (mode == O_RDONLY || mode == O_RDWR) {
if (mode == RegMode::RDONLY || mode == RegMode::RDWR) {
readable_registers.set((uint8_t)reg);
}
if (mode == O_WRONLY || mode == O_RDWR) {
if (mode == RegMode::WRONLY || mode == RegMode::RDWR) {
writable_registers.set((uint8_t)reg);
}
}

10
libraries/SITL/SIM_I2CDevice.h
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@ -14,11 +14,19 @@ class I2CRegEnum {
class I2CRegisters {
public:
enum class RegMode {
RDONLY = 11,
WRONLY = 22,
RDWR = 33,
};
protected:
virtual int rdwr(I2C::i2c_rdwr_ioctl_data *&data) = 0;
void add_register(const char *name, uint8_t reg, int8_t mode);
void add_register(const char *name, uint8_t reg, RegMode mode);
const char *regname[256];
Bitmask<256> writable_registers;

16
libraries/SITL/SIM_Invensense_v3.cpp
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@ -103,14 +103,16 @@ int SITL::InvensenseV3::rdwr_fifo(I2C::i2c_rdwr_ioctl_data *&data)
return -1;
}
void SITL::InvensenseV3::add_fifo(const char *name, uint8_t reg, int8_t mode)
void SITL::InvensenseV3::add_fifo(const char *name, uint8_t reg, I2CRegisters::RegMode mode)
{
// ::fprintf(stderr, "Adding fifo %u (0x%02x) (%s)\n", reg, reg, name);
fifoname[reg] = name;
if (mode == O_RDONLY || mode == O_RDWR) {
if (mode == I2CRegisters::RegMode::RDONLY ||
mode == I2CRegisters::RegMode::RDWR) {
readable_fifos.set((uint8_t)reg);
}
if (mode == O_WRONLY || mode == O_RDWR) {
if (mode == I2CRegisters::RegMode::WRONLY ||
mode == I2CRegisters::RegMode::RDWR) {
writable_fifos.set((uint8_t)reg);
}
@ -155,7 +157,7 @@ bool SITL::InvensenseV3::write_to_fifo(uint8_t fifo, uint8_t *value, uint8_t val
void SITL::InvensenseV3::add_block(const char *name, uint8_t addr, uint8_t len, int8_t mode)
void SITL::InvensenseV3::add_block(const char *name, uint8_t addr, uint8_t len, I2CRegisters::RegMode mode)
{
// ::fprintf(stderr, "Adding block %u (0x%02x) (%s)\n", addr, addr, name);
blockname[addr] = name;
@ -164,10 +166,12 @@ void SITL::InvensenseV3::add_block(const char *name, uint8_t addr, uint8_t len,
if (block_values[addr] == nullptr) {
AP_HAL::panic("Allocation failed for block (len=%u)", len);
}
if (mode == O_RDONLY || mode == O_RDWR) {
if (mode == I2CRegisters::RegMode::RDONLY ||
mode == I2CRegisters::RegMode::RDWR) {
readable_blocks.set((uint8_t)addr);
}
if (mode == O_WRONLY || mode == O_RDWR) {
if (mode == I2CRegisters::RegMode::WRONLY ||
mode == I2CRegisters::RegMode::RDWR) {
writable_blocks.set((uint8_t)addr);
}
}

24
libraries/SITL/SIM_Invensense_v3.h
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@ -25,19 +25,19 @@ class InvensenseV3 : public I2CDevice, protected I2CRegisters_8Bit
{
public:
void init() override {
add_register("WHOAMI", InvensenseV3DevReg::WHOAMI, O_RDONLY);
add_register("FIFO_CONFIG", InvensenseV3DevReg::FIFO_CONFIG, O_RDWR);
add_register("FIFO_CONFIG1", InvensenseV3DevReg::FIFO_CONFIG1, O_RDWR);
add_register("INTF_CONFIG0", InvensenseV3DevReg::INTF_CONFIG0, O_RDWR);
add_register("SIGNAL_PATH_RESET", InvensenseV3DevReg::SIGNAL_PATH_RESET, O_RDWR);
add_register("PWR_MGMT0", InvensenseV3DevReg::PWR_MGMT0, O_RDWR);
add_register("GYRO_CONFIG0", InvensenseV3DevReg::GYRO_CONFIG0, O_RDWR);
add_register("ACCDEL_CONFIG0", InvensenseV3DevReg::ACCEL_CONFIG0, O_RDWR);
add_register("WHOAMI", InvensenseV3DevReg::WHOAMI, I2CRegisters::RegMode::RDONLY);
add_register("FIFO_CONFIG", InvensenseV3DevReg::FIFO_CONFIG, I2CRegisters::RegMode::RDWR);
add_register("FIFO_CONFIG1", InvensenseV3DevReg::FIFO_CONFIG1, I2CRegisters::RegMode::RDWR);
add_register("INTF_CONFIG0", InvensenseV3DevReg::INTF_CONFIG0, I2CRegisters::RegMode::RDWR);
add_register("SIGNAL_PATH_RESET", InvensenseV3DevReg::SIGNAL_PATH_RESET, I2CRegisters::RegMode::RDWR);
add_register("PWR_MGMT0", InvensenseV3DevReg::PWR_MGMT0, I2CRegisters::RegMode::RDWR);
add_register("GYRO_CONFIG0", InvensenseV3DevReg::GYRO_CONFIG0, I2CRegisters::RegMode::RDWR);
add_register("ACCDEL_CONFIG0", InvensenseV3DevReg::ACCEL_CONFIG0, I2CRegisters::RegMode::RDWR);
// sample count!
add_block("FIFO_COUNTH", InvensenseV3DevReg::FIFO_COUNTH, 2, O_RDONLY);
add_block("FIFO_COUNTH", InvensenseV3DevReg::FIFO_COUNTH, 2, I2CRegisters::RegMode::RDONLY);
add_fifo("FIFO_DATA", InvensenseV3DevReg::FIFO_DATA, O_RDONLY);
add_fifo("FIFO_DATA", InvensenseV3DevReg::FIFO_DATA, I2CRegisters::RegMode::RDONLY);
}
void update(const class Aircraft &aircraft) override;
@ -54,7 +54,7 @@ private:
void assert_register_values();
void add_fifo(const char *name, uint8_t reg, int8_t mode);
void add_fifo(const char *name, uint8_t reg, I2CRegisters::RegMode mode);
bool write_to_fifo(uint8_t fifo, uint8_t *value, uint8_t valuelen);
int rdwr_fifo(I2C::i2c_rdwr_ioctl_data *&data);
@ -79,7 +79,7 @@ private:
// block support
// for things that are larger than a register....
int rdwr_block(I2C::i2c_rdwr_ioctl_data *&data);
void add_block(const char *name, uint8_t addr, uint8_t len, int8_t mode);
void add_block(const char *name, uint8_t addr, uint8_t len, I2CRegisters::RegMode mode);
void set_block(uint8_t addr, uint8_t *value, uint8_t valuelen);
const char *blockname[256];

8
libraries/SITL/SIM_SMBusDevice.cpp
View File

@ -37,14 +37,16 @@ int SITL::SMBusDevice::rdwr(I2C::i2c_rdwr_ioctl_data *&data)
return -1;
}
void SITL::SMBusDevice::add_block(const char *name, uint8_t reg, int8_t mode)
void SITL::SMBusDevice::add_block(const char *name, uint8_t reg, I2CRegisters::RegMode mode)
{
// ::fprintf(stderr, "Adding block %u (0x%02x) (%s)\n", reg, reg, name);
blockname[reg] = name;
if (mode == O_RDONLY || mode == O_RDWR) {
if (mode == I2CRegisters::RegMode::RDONLY ||
mode == I2CRegisters::RegMode::RDWR) {
readable_blocks.set((uint8_t)reg);
}
if (mode == O_WRONLY || mode == O_RDWR) {
if (mode == I2CRegisters::RegMode::WRONLY ||
mode == I2CRegisters::RegMode::RDWR) {
writable_blocks.set((uint8_t)reg);
}
}

5
libraries/SITL/SIM_SMBusDevice.h
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@ -32,14 +32,13 @@ protected:
int rdwr(I2C::i2c_rdwr_ioctl_data *&data) override;
void set_block(uint8_t block, uint8_t *value, uint8_t valuelen);
void add_block(const char *name, uint8_t reg, int8_t mode);
void add_block(const char *name, uint8_t reg, I2CRegisters::RegMode mode);
void set_block(uint8_t block, const char *value) {
set_block(block, (uint8_t*)value, strlen(value));
}
void add_register(const char *name, uint8_t reg, int8_t mode) {
void add_register(const char *name, uint8_t reg, I2CRegisters::RegMode mode) {
I2CRegisters_16Bit::add_register(name, reg, mode);
}

8
libraries/SITL/SIM_ToshibaLED.h
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@ -14,10 +14,10 @@ class ToshibaLED : public I2CDevice, protected I2CRegisters_8Bit
{
public:
void init() override {
add_register("PWM0", ToshibaLEDDevReg::PWM0, O_WRONLY);
add_register("PWM1", ToshibaLEDDevReg::PWM1, O_WRONLY);
add_register("PWM2", ToshibaLEDDevReg::PWM2, O_WRONLY);
add_register("ENABLE", ToshibaLEDDevReg::ENABLE, O_WRONLY);
add_register("PWM0", ToshibaLEDDevReg::PWM0, I2CRegisters::RegMode::WRONLY);
add_register("PWM1", ToshibaLEDDevReg::PWM1, I2CRegisters::RegMode::WRONLY);
add_register("PWM2", ToshibaLEDDevReg::PWM2, I2CRegisters::RegMode::WRONLY);
add_register("ENABLE", ToshibaLEDDevReg::ENABLE, I2CRegisters::RegMode::WRONLY);
}
void update(const class Aircraft &aircraft) override;