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AP_HAL_Linux: remove I2CDriver

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I2CDevice now serves for the same purpose.
This commit is contained in:
Lucas De Marchi 2016-07-22 15:02:19 -03:00
parent 3eb0a48d59
commit 73bb371918
5 changed files with 12 additions and 383 deletions
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1
libraries/AP_HAL_Linux/AP_HAL_Linux_Namespace.h
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@ -6,7 +6,6 @@ namespace Linux {
class RPIOUARTDriver;
class I2CDevice;
class I2CDeviceManager;
class I2CDriver;
class SPIDeviceManager;
class SPIDeviceDriver;
class Storage;

1
libraries/AP_HAL_Linux/AP_HAL_Linux_Private.h
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@ -8,7 +8,6 @@
#include "SPIUARTDriver.h"
#include "RPIOUARTDriver.h"
#include "I2CDevice.h"
#include "I2CDriver.h"
#include "SPIDriver.h"
#include "AnalogIn_ADS1115.h"
#include "AnalogIn_IIO.h"

56
libraries/AP_HAL_Linux/HAL_Linux_Class.cpp
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@ -45,29 +45,6 @@ static UARTDriver uartFDriver(false);
static I2CDeviceManager i2c_mgr_instance;
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
static I2CDriver i2cDriver0(0);
static I2CDriver i2cDriver1(1);
static I2CDriver i2cDriver2(2);
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
static I2CDriver i2cDriver0(2);
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE
static const std::vector<const char *> i2c_devpaths({
/* UEFI with lpss set to ACPI */
"platform/80860F41:05",
/* UEFI with lpss set to PCI */
"pci0000:00/0000:00:18.6",
});
static I2CDriver i2cDriver0(i2c_devpaths);
/* One additional emulated bus */
static I2CDriver i2cDriver1(10);
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_QFLIGHT
static Semaphore i2cSemaphore0;
static Empty::I2CDriver i2cDriver0(&i2cSemaphore0);
#else
static I2CDriver i2cDriver0(1);
#endif
static SPIDeviceManager spiDeviceManager;
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 || \
@ -174,7 +151,18 @@ static RCOutput_ZYNQ rcoutDriver;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
static RCOutput_Bebop rcoutDriver(i2c_mgr_instance.get_device(HAL_RCOUT_BEBOP_BLDC_I2C_BUS, HAL_RCOUT_BEBOP_BLDC_I2C_ADDR));
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE
static RCOutput_PCA9685 rcoutDriver(i2c_mgr_instance.get_device(i2c_devpaths, PCA9685_PRIMARY_ADDRESS), false, 0, MINNOW_GPIO_S5_1);
static const std::vector<const char *> i2c_devpaths({
/* UEFI with lpss set to ACPI */
"platform/80860F41:05",
/* UEFI with lpss set to PCI */
"pci0000:00/0000:00:18.6",
});
static RCOutput_PCA9685 rcoutDriver(i2c_mgr_instance.get_device(
{ /* UEFI with lpss set to ACPI */
"platform/80860F41:05",
/* UEFI with lpss set to PCI */
"pci0000:00/0000:00:18.6" },
PCA9685_PRIMARY_ADDRESS), false, 0, MINNOW_GPIO_S5_1);
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_QFLIGHT
static RCOutput_QFLIGHT rcoutDriver;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
@ -204,19 +192,6 @@ HAL_Linux::HAL_Linux() :
&uartEDriver,
&uartFDriver,
&i2c_mgr_instance,
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
&i2cDriver0,
&i2cDriver1,
&i2cDriver2,
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE
&i2cDriver0,
&i2cDriver1,
NULL,
#else
&i2cDriver0,
NULL,
NULL,
#endif
&spiDeviceManager,
&analogIn,
&storageDriver,
@ -333,13 +308,6 @@ void HAL_Linux::run(int argc, char* const argv[], Callbacks* callbacks) const
scheduler->init();
gpio->init();
i2c->begin();
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
i2c1->begin();
i2c2->begin();
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE
i2c1->begin();
#endif
spi->init();
rcout->init();
rcin->init();

281
libraries/AP_HAL_Linux/I2CDriver.cpp
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@ -1,281 +0,0 @@
#include <dirent.h>
#include <errno.h>
#include <fcntl.h>
#include <limits.h>
#include <linux/i2c-dev.h>
#ifndef I2C_SMBUS_BLOCK_MAX
#include <linux/i2c.h>
#endif
#include <stdio.h>
#include <stdlib.h>
#include <sys/ioctl.h>
#include <sys/stat.h>
#include <sys/types.h>
#include <unistd.h>
#include <AP_HAL/AP_HAL.h>
#include "I2CDriver.h"
#include "Util.h"
extern const AP_HAL::HAL &hal;
using namespace Linux;
I2CDriver::I2CDriver(uint8_t bus)
: _fake_dev(I2CDeviceManager::from(hal.i2c_mgr)->get_device(bus, 0))
{
}
I2CDriver::I2CDriver(std::vector<const char *> devpaths)
: _fake_dev(I2CDeviceManager::from(hal.i2c_mgr)->get_device(devpaths, 0))
{
}
/*
tell the I2C library what device we want to talk to
*/
bool I2CDriver::set_address(uint8_t addr)
{
if (!_fake_dev) {
return false;
}
if (_addr == addr) {
/* nothing to do */
return true;
}
int fd = _fake_dev->get_fd();
if (ioctl(fd, I2C_SLAVE, addr) < 0) {
if (errno != EBUSY) {
return false;
}
/* Only print this message once per i2c bus */
if (_print_ioctl_error) {
hal.console->printf("couldn't set i2c slave address: %s\n",
strerror(errno));
hal.console->printf("trying I2C_SLAVE_FORCE\n");
_print_ioctl_error = false;
}
if (ioctl(fd, I2C_SLAVE_FORCE, addr) < 0) {
return false;
}
}
_addr = addr;
return true;
}
void I2CDriver::setTimeout(uint16_t ms)
{
// unimplemented
}
void I2CDriver::setHighSpeed(bool active)
{
// unimplemented
}
uint8_t I2CDriver::write(uint8_t addr, uint8_t len, uint8_t* data)
{
if (!set_address(addr)) {
return 1;
}
if (::write(_fake_dev->get_fd(), data, len) != len) {
return 1;
}
return 0; // success
}
uint8_t I2CDriver::writeRegisters(uint8_t addr, uint8_t reg,
uint8_t len, uint8_t* data)
{
uint8_t buf[len+1];
buf[0] = reg;
if (len != 0) {
memcpy(&buf[1], data, len);
}
return write(addr, len+1, buf);
}
/*
this is a copy of i2c_smbus_access() from i2c-dev.h. We need it for
platforms with older headers
*/
static inline __s32 _i2c_smbus_access(int file, char read_write, __u8 command,
int size, union i2c_smbus_data *data)
{
struct i2c_smbus_ioctl_data args;
args.read_write = read_write;
args.command = command;
args.size = size;
args.data = data;
return ioctl(file,I2C_SMBUS,&args);
}
uint8_t I2CDriver::writeRegister(uint8_t addr, uint8_t reg, uint8_t val)
{
if (!set_address(addr)) {
return 1;
}
union i2c_smbus_data data;
data.byte = val;
if (_i2c_smbus_access(_fake_dev->get_fd(),I2C_SMBUS_WRITE, reg,
I2C_SMBUS_BYTE_DATA, &data) == -1) {
return 1;
}
return 0;
}
uint8_t I2CDriver::read(uint8_t addr, uint8_t len, uint8_t* data)
{
if (!set_address(addr)) {
return 1;
}
if (::read(_fake_dev->get_fd(), data, len) != len) {
return 1;
}
return 0;
}
uint8_t I2CDriver::readRegisters(uint8_t addr, uint8_t reg,
uint8_t len, uint8_t* data)
{
if (!_fake_dev) {
return 1;
}
struct i2c_msg msgs[] = {
{
addr : addr,
flags : 0,
len : 1,
buf : (typeof(msgs->buf))&reg
},
{
addr : addr,
flags : I2C_M_RD,
len : len,
buf : (typeof(msgs->buf))data,
}
};
struct i2c_rdwr_ioctl_data i2c_data = {
msgs : msgs,
nmsgs : 2
};
// prevent valgrind error
memset(data, 0, len);
if (ioctl(_fake_dev->get_fd(), I2C_RDWR, &i2c_data) == -1) {
return 1;
}
return 0;
}
uint8_t I2CDriver::readRegistersMultiple(uint8_t addr, uint8_t reg,
uint8_t len,
uint8_t count, uint8_t* data)
{
#ifdef I2C_RDRW_IOCTL_MAX_MSGS
const uint8_t max_count = I2C_RDRW_IOCTL_MAX_MSGS / 2;
#else
const uint8_t max_count = 8;
#endif
if (!_fake_dev) {
return 1;
}
while (count > 0) {
uint8_t n = count > max_count ? max_count : count;
struct i2c_msg msgs[2*n];
struct i2c_rdwr_ioctl_data i2c_data = {
msgs : msgs,
nmsgs : (typeof(i2c_data.nmsgs))(2*n)
};
for (uint8_t i=0; i<n; i++) {
msgs[i*2].addr = addr;
msgs[i*2].flags = 0;
msgs[i*2].len = 1;
msgs[i*2].buf = (typeof(msgs->buf))&reg;
msgs[i*2+1].addr = addr;
msgs[i*2+1].flags = I2C_M_RD;
msgs[i*2+1].len = len;
msgs[i*2+1].buf = (typeof(msgs->buf))data;
data += len;
};
if (ioctl(_fake_dev->get_fd(), I2C_RDWR, &i2c_data) == -1) {
return 1;
}
count -= n;
}
return 0;
}
uint8_t I2CDriver::readRegister(uint8_t addr, uint8_t reg, uint8_t* data)
{
if (!set_address(addr)) {
return 1;
}
union i2c_smbus_data v;
memset(&v, 0, sizeof(v));
if (_i2c_smbus_access(_fake_dev->get_fd(),I2C_SMBUS_READ, reg,
I2C_SMBUS_BYTE_DATA, &v)) {
return 1;
}
*data = v.byte;
return 0;
}
/*
main transfer function
*/
bool I2CDriver::do_transfer(uint8_t addr, const uint8_t *send,
uint32_t send_len, uint8_t *recv,
uint32_t recv_len)
{
struct i2c_msg i2cmsg[2] = {
{
addr : addr,
flags : 0,
len : (typeof(i2cmsg->len))send_len,
buf : (typeof(i2cmsg->buf))send
},
{
addr : addr,
flags : I2C_M_RD,
len : (typeof(i2cmsg->len))recv_len,
buf : (typeof(i2cmsg->buf))recv,
}
};
struct i2c_rdwr_ioctl_data msg_rdwr;
if (send_len == 0 && recv_len) {
msg_rdwr.msgs = &i2cmsg[1];
msg_rdwr.nmsgs = 1;
} else if (send_len && recv_len == 0) {
msg_rdwr.msgs = &i2cmsg[0];
msg_rdwr.nmsgs = 1;
}else if (send_len && recv_len) {
msg_rdwr.msgs = &i2cmsg[0];
msg_rdwr.nmsgs = 2;
} else {
return false;
}
return ioctl(_fake_dev->get_fd(), I2C_RDWR, &msg_rdwr) == (int)msg_rdwr.nmsgs;
}
uint8_t I2CDriver::lockup_count()
{
return 0;
}
AP_HAL::Semaphore *I2CDriver::get_semaphore()
{
return _fake_dev->get_semaphore();
}

56
libraries/AP_HAL_Linux/I2CDriver.h
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@ -1,56 +0,0 @@
#pragma once
#include <vector>
#include <AP_HAL/utility/OwnPtr.h>
#include "AP_HAL_Linux.h"
#include "I2CDevice.h"
class Linux::I2CDriver : public AP_HAL::I2CDriver {
public:
I2CDriver(uint8_t bus);
I2CDriver(std::vector<const char *> devpaths);
void begin() { }
void end() { }
void setTimeout(uint16_t ms);
void setHighSpeed(bool active);
/* write: for i2c devices which do not obey register conventions */
uint8_t write(uint8_t addr, uint8_t len, uint8_t* data);
/* writeRegister: write a single 8-bit value to a register */
uint8_t writeRegister(uint8_t addr, uint8_t reg, uint8_t val);
/* writeRegisters: write bytes to contiguous registers */
uint8_t writeRegisters(uint8_t addr, uint8_t reg,
uint8_t len, uint8_t* data);
/* read: for i2c devices which do not obey register conventions */
uint8_t read(uint8_t addr, uint8_t len, uint8_t* data);
/* readRegister: read from a device register - writes the register,
* then reads back an 8-bit value. */
uint8_t readRegister(uint8_t addr, uint8_t reg, uint8_t* data);
/* readRegister: read contiguous device registers - writes the first
* register, then reads back multiple bytes */
uint8_t readRegisters(uint8_t addr, uint8_t reg,
uint8_t len, uint8_t* data);
uint8_t readRegistersMultiple(uint8_t addr, uint8_t reg,
uint8_t len, uint8_t count,
uint8_t* data);
uint8_t lockup_count();
AP_HAL::Semaphore *get_semaphore();
bool do_transfer(uint8_t address, const uint8_t *send, uint32_t send_len,
uint8_t *recv, uint32_t recv_len)override;
private:
bool set_address(uint8_t addr);
AP_HAL::OwnPtr<AP_HAL::I2CDevice> _fake_dev;
char *_device = NULL;
uint8_t _addr;
bool _print_ioctl_error = true;
};