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I2C changes for upstream NuttX per trasaction freq control

This commit is contained in:
David Sidrane 2016-12-12 14:31:39 -10:00 committed by Lorenz Meier
parent 0177e250f4
commit dcc2d1c3d1
7 changed files with 59 additions and 54 deletions
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26
src/drivers/device/i2c_nuttx.cpp
View File

@ -44,6 +44,10 @@
namespace device
{
/*
* N.B. By defaulting the value of _bus_clocks to non Zero
* All calls to init() will NOT set the buss frequency
*/
unsigned int I2C::_bus_clocks[3] = { 100000, 100000, 100000 };
@ -128,12 +132,6 @@ I2C::init()
goto out;
}
// set the bus frequency on the first access if it has
// not been set yet
if (_bus_clocks[bus_index] == 0) {
_bus_clocks[bus_index] = _frequency;
}
// set frequency for this instance once to the bus speed
// the bus speed is the maximum supported by all devices on the bus,
// as we have to prioritize performance over compatibility.
@ -143,7 +141,12 @@ I2C::init()
// This is necessary as automatically lowering the bus speed
// for maximum compatibility could induce timing issues on
// critical sensors the adopter might be unaware of.
I2C_SETFREQUENCY(_dev, _bus_clocks[bus_index]);
// set the bus frequency on the first access if it has
// not been set yet
if (_bus_clocks[bus_index] == 0) {
_bus_clocks[bus_index] = _frequency;
}
// call the probe function to check whether the device is present
ret = probe();
@ -196,6 +199,7 @@ I2C::transfer(const uint8_t *send, unsigned send_len, uint8_t *recv, unsigned re
msgs = 0;
if (send_len > 0) {
msgv[msgs].frequency = _bus_clocks[_bus - 1];
msgv[msgs].addr = _address;
msgv[msgs].flags = 0;
msgv[msgs].buffer = const_cast<uint8_t *>(send);
@ -204,6 +208,7 @@ I2C::transfer(const uint8_t *send, unsigned send_len, uint8_t *recv, unsigned re
}
if (recv_len > 0) {
msgv[msgs].frequency = _bus_clocks[_bus - 1];;
msgv[msgs].addr = _address;
msgv[msgs].flags = I2C_M_READ;
msgv[msgs].buffer = recv;
@ -224,7 +229,7 @@ I2C::transfer(const uint8_t *send, unsigned send_len, uint8_t *recv, unsigned re
/* if we have already retried once, or we are going to give up, then reset the bus */
if ((retry_count >= 1) || (retry_count >= _retries)) {
up_i2creset(_dev);
I2C_RESET(_dev);
}
} while (retry_count++ < _retries);
@ -239,8 +244,9 @@ I2C::transfer(i2c_msg_s *msgv, unsigned msgs)
int ret;
unsigned retry_count = 0;
/* force the device address into the message vector */
/* force the device address and Frequency into the message vector */
for (unsigned i = 0; i < msgs; i++) {
msgv[i].frequency = _bus_clocks[_bus - 1];
msgv[i].addr = _address;
}
@ -255,7 +261,7 @@ I2C::transfer(i2c_msg_s *msgv, unsigned msgs)
/* if we have already retried once, or we are going to give up, then reset the bus */
if ((retry_count >= 1) || (retry_count >= _retries)) {
up_i2creset(_dev);
I2C_RESET(_dev);
}
} while (retry_count++ < _retries);

2
src/drivers/mkblctrl/mkblctrl.cpp
View File

@ -59,7 +59,7 @@
#include <unistd.h>
#include <nuttx/arch.h>
#include <nuttx/i2c.h>
#include <nuttx/i2c/i2c_master.h>
#include <board_config.h>

22
src/platforms/px4_i2c.h
View File

@ -46,14 +46,17 @@
#error "Devices not supported in ROS"
#elif defined (__PX4_NUTTX)
__BEGIN_DECLS
/*
* Building for NuttX
*/
#include <px4_config.h>
#include <sys/ioctl.h>
#include <nuttx/arch.h>
#include <nuttx/wqueue.h>
#include <nuttx/clock.h>
#include <nuttx/i2c.h>
#include <nuttx/i2c/i2c_master.h>
#include <nuttx/irq.h>
#include <nuttx/wqueue.h>
#include <chip.h>
@ -64,7 +67,8 @@
#define px4_i2c_msg_t i2c_msg_s
typedef struct i2c_dev_s px4_i2c_dev_t;
typedef struct i2c_master_s px4_i2c_dev_t;
__END_DECLS
#elif defined(__PX4_POSIX)
#include <stdint.h>
@ -74,11 +78,13 @@ typedef struct i2c_dev_s px4_i2c_dev_t;
#define I2C_M_NORESTART 0x0080 /* message should not begin with (re-)start of transfer */
// NOTE - This is a copy of the NuttX i2c_msg_s structure
typedef struct {
uint16_t addr; /* Slave address */
uint16_t flags; /* See I2C_M_* definitions */
uint8_t *buffer;
int length;
uint32_t frequency; /* I2C frequency */
uint16_t addr; /* Slave address (7- or 10-bit) */
uint16_t flags; /* See I2C_M_* definitions */
uint8_t *buffer; /* Buffer to be transferred */
ssize_t length; /* Length of the buffer in bytes */
} px4_i2c_msg_t;
// NOTE - This is a copy of the NuttX i2c_ops_s structure
@ -86,10 +92,6 @@ typedef struct {
const struct px4_i2c_ops_t *ops; /* I2C vtable */
} px4_i2c_dev_t;
// FIXME - Empty defines for I2C ops
// Original version commented out
//#define I2C_SETFREQUENCY(d,f) ((d)->ops->setfrequency(d,f))
#define I2C_SETFREQUENCY(d,f)
//#define SPI_SELECT(d,id,s) ((d)->ops->select(d,id,s))
#define SPI_SELECT(d,id,s)

12
src/systemcmds/i2c/i2c.c
View File

@ -50,7 +50,7 @@
#include <sys/ioctl.h>
#include <sys/stat.h>
#include <nuttx/i2c.h>
#include <nuttx/i2c/i2c_master.h>
#include <board_config.h>
@ -68,7 +68,7 @@ __EXPORT int i2c_main(int argc, char *argv[]);
static int transfer(uint8_t address, uint8_t *send, unsigned send_len, uint8_t *recv, unsigned recv_len);
static struct i2c_dev_s *i2c;
static struct i2c_master_s *i2c;
int i2c_main(int argc, char *argv[])
{
@ -110,6 +110,7 @@ transfer(uint8_t address, uint8_t *send, unsigned send_len, uint8_t *recv, unsig
msgs = 0;
if (send_len > 0) {
msgv[msgs].frequency = 400000;
msgv[msgs].addr = address;
msgv[msgs].flags = 0;
msgv[msgs].buffer = send;
@ -118,6 +119,7 @@ transfer(uint8_t address, uint8_t *send, unsigned send_len, uint8_t *recv, unsig
}
if (recv_len > 0) {
msgv[msgs].frequency = 400000;
msgv[msgs].addr = address;
msgv[msgs].flags = I2C_M_READ;
msgv[msgs].buffer = recv;
@ -129,12 +131,6 @@ transfer(uint8_t address, uint8_t *send, unsigned send_len, uint8_t *recv, unsig
return -1;
}
/*
* I2C architecture means there is an unavoidable race here
* if there are any devices on the bus with a different frequency
* preference. Really, this is pointless.
*/
I2C_SETFREQUENCY(i2c, 400000);
ret = I2C_TRANSFER(i2c, &msgv[0], msgs);
// reset the I2C bus to unwedge on error

38
src/systemcmds/mtd/24xxxx_mtd.c
View File

@ -63,8 +63,8 @@
#include <nuttx/kmalloc.h>
#include <nuttx/fs/ioctl.h>
#include <nuttx/i2c.h>
#include <nuttx/mtd.h>
#include <nuttx/i2c/i2c_master.h>
#include <nuttx/mtd/mtd.h>
#include "systemlib/perf_counter.h"
@ -146,7 +146,7 @@
struct at24c_dev_s {
struct mtd_dev_s mtd; /* MTD interface */
FAR struct i2c_dev_s *dev; /* Saved I2C interface instance */
FAR struct i2c_master_s *dev; /* Saved I2C interface instance */
uint8_t addr; /* I2C address */
uint16_t pagesize; /* 32, 63 */
uint16_t npages; /* 128, 256, 512, 1024 */
@ -193,6 +193,7 @@ static int at24c_eraseall(FAR struct at24c_dev_s *priv)
struct i2c_msg_s msgv[1] = {
{
.frequency = 400000,
.addr = priv->addr,
.flags = 0,
.buffer = &buf[0],
@ -208,7 +209,7 @@ static int at24c_eraseall(FAR struct at24c_dev_s *priv)
buf[0] = (offset >> 8) & 0xff;
while (I2C_TRANSFER(priv->dev, &msgv[0], 1) < 0) {
fvdbg("erase stall\n");
fwarn("erase stall\n");
usleep(10000);
}
}
@ -242,16 +243,16 @@ void at24c_test(void)
if (result == ERROR) {
if (errors++ > 2) {
vdbg("too many errors\n");
syslog(LOG_INFO, "too many errors\n");
return;
}
} else if (result != 1) {
vdbg("unexpected %u\n", result);
syslog(LOG_INFO, "unexpected %u\n", result);
}
if ((count % 100) == 0) {
vdbg("test %u errors %u\n", count, errors);
syslog(LOG_INFO, "test %u errors %u\n", count, errors);
}
}
}
@ -270,12 +271,14 @@ static ssize_t at24c_bread(FAR struct mtd_dev_s *dev, off_t startblock,
struct i2c_msg_s msgv[2] = {
{
.frequency = 400000,
.addr = priv->addr,
.flags = 0,
.buffer = &addr[0],
.length = sizeof(addr),
},
{
.frequency = 400000,
.addr = priv->addr,
.flags = I2C_M_READ,
.buffer = 0,
@ -289,7 +292,7 @@ static ssize_t at24c_bread(FAR struct mtd_dev_s *dev, off_t startblock,
#endif
blocksleft = nblocks;
fvdbg("startblock: %08lx nblocks: %d\n", (long)startblock, (int)nblocks);
finfo("startblock: %08lx nblocks: %d\n", (long)startblock, (int)nblocks);
if (startblock >= priv->npages) {
return 0;
@ -317,7 +320,7 @@ static ssize_t at24c_bread(FAR struct mtd_dev_s *dev, off_t startblock,
break;
}
fvdbg("read stall");
finfo("read stall");
usleep(1000);
/* We should normally only be here on the first read after
@ -362,6 +365,7 @@ static ssize_t at24c_bwrite(FAR struct mtd_dev_s *dev, off_t startblock, size_t
struct i2c_msg_s msgv[1] = {
{
.frequency = 400000,
.addr = priv->addr,
.flags = 0,
.buffer = &buf[0],
@ -383,7 +387,7 @@ static ssize_t at24c_bwrite(FAR struct mtd_dev_s *dev, off_t startblock, size_t
nblocks = priv->npages - startblock;
}
fvdbg("startblock: %08lx nblocks: %d\n", (long)startblock, (int)nblocks);
finfo("startblock: %08lx nblocks: %d\n", (long)startblock, (int)nblocks);
while (blocksleft-- > 0) {
uint16_t offset = startblock * priv->pagesize;
@ -403,7 +407,7 @@ static ssize_t at24c_bwrite(FAR struct mtd_dev_s *dev, off_t startblock, size_t
break;
}
fvdbg("write stall");
finfo("write stall");
usleep(1000);
/* We expect to see a number of retries per write cycle as we
@ -435,7 +439,7 @@ static int at24c_ioctl(FAR struct mtd_dev_s *dev, int cmd, unsigned long arg)
FAR struct at24c_dev_s *priv = (FAR struct at24c_dev_s *)dev;
int ret = -EINVAL; /* Assume good command with bad parameters */
fvdbg("cmd: %d \n", cmd);
finfo("cmd: %d \n", cmd);
switch (cmd) {
case MTDIOC_GEOMETRY: {
@ -474,7 +478,7 @@ static int at24c_ioctl(FAR struct mtd_dev_s *dev, int cmd, unsigned long arg)
#endif
ret = OK;
fvdbg("blocksize: %d erasesize: %d neraseblocks: %d\n",
finfo("blocksize: %d erasesize: %d neraseblocks: %d\n",
geo->blocksize, geo->erasesize, geo->neraseblocks);
}
}
@ -507,11 +511,11 @@ static int at24c_ioctl(FAR struct mtd_dev_s *dev, int cmd, unsigned long arg)
*
************************************************************************************/
FAR struct mtd_dev_s *at24c_initialize(FAR struct i2c_dev_s *dev)
FAR struct mtd_dev_s *at24c_initialize(FAR struct i2c_master_s *dev)
{
FAR struct at24c_dev_s *priv;
fvdbg("dev: %p\n", dev);
finfo("dev: %p\n", dev);
/* Allocate a state structure (we allocate the structure instead of using
* a fixed, static allocation so that we can handle multiple FLASH devices.
@ -546,12 +550,14 @@ FAR struct mtd_dev_s *at24c_initialize(FAR struct i2c_dev_s *dev)
struct i2c_msg_s msgv[2] = {
{
.frequency = 400000,
.addr = priv->addr,
.flags = 0,
.buffer = &addrbuf[0],
.length = sizeof(addrbuf),
},
{
.frequency = 400000,
.addr = priv->addr,
.flags = I2C_M_READ,
.buffer = &buf[0],
@ -569,7 +575,7 @@ FAR struct mtd_dev_s *at24c_initialize(FAR struct i2c_dev_s *dev)
/* Return the implementation-specific state structure as the MTD device */
fvdbg("Return %p\n", priv);
finfo("Return %p\n", priv);
return (FAR struct mtd_dev_s *)priv;
}

9
src/systemcmds/mtd/mtd.c
View File

@ -51,10 +51,11 @@
#include <sys/ioctl.h>
#include <sys/stat.h>
#include <nuttx/spi.h>
#include <nuttx/mtd.h>
#include <nuttx/spi/spi.h>
#include <nuttx/mtd/mtd.h>
#include <nuttx/fs/nxffs.h>
#include <nuttx/fs/ioctl.h>
#include <nuttx/drivers/drivers.h>
#include <arch/board/board.h>
@ -230,9 +231,7 @@ static void
at24xxx_attach(void)
{
/* find the right I2C */
struct i2c_dev_s *i2c = px4_i2cbus_initialize(PX4_I2C_BUS_MTD);
/* this resets the I2C bus, set correct bus speed again */
I2C_SETFREQUENCY(i2c, 400000);
struct i2c_master_s *i2c = px4_i2cbus_initialize(PX4_I2C_BUS_MTD);
if (i2c == NULL) {
errx(1, "failed to locate I2C bus");

4
src/systemcmds/pwm/pwm.c
View File

@ -46,13 +46,9 @@
#include <unistd.h>
#include <fcntl.h>
#include <poll.h>
#include <sys/mount.h>
#include <sys/ioctl.h>
#include <sys/stat.h>
#include <nuttx/i2c.h>
#include <nuttx/mtd.h>
#include <nuttx/fs/nxffs.h>
#include <nuttx/fs/ioctl.h>
#include <arch/board/board.h>