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AV-X configure i2c network switch at init

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This commit is contained in:
Daniel Agar
2018-07-13 11:09:29 -04:00
committed by Lorenz Meier
parent 4b42cfaa6c
commit 6d662c5531
1 changed files with 59 additions and 5 deletions
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64
src/drivers/boards/av-x-v1/init.c
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@@ -82,9 +82,12 @@
#include <systemlib/hardfault_log.h>
#include <parameters/param.h>
#include <px4_i2c.h>
#include "up_internal.h"
static int configure_switch(void);
/************************************************************************************
* Name: board_rc_input
*
@@ -399,11 +402,62 @@ __EXPORT int board_app_initialize(uintptr_t arg)
#endif
//board_spi_reset(10);
// ethernet switch
//uint8_t txdata[] = {0x51, 0x00, 0x21, 0x00}; //0x5100, 0x2100 MSB to LSB here.
//HAL_I2C_Master_Transmit(&hi2c3, (uint16_t)(0x5F<<1), txdata, 4, 0xFFFF);
configure_switch();
return OK;
}
/************************************************************************************
* Name: configure_switch
*
* Description:
* Configure KSZ9897R ethernet switch on i2c
*
************************************************************************************/
static int configure_switch(void)
{
int ret = PX4_ERROR;
// attach to the i2c bus
struct i2c_master_s *i2c = px4_i2cbus_initialize(PX4_I2C_BUS_ONBOARD);
if (i2c == NULL) {
PX4_ERR("I2C device not opened");
}
// ethernet switch enable
uint8_t txdata[] = {0x51, 0x00, 0x21, 0x00}; //0x5100, 0x2100 MSB to LSB here.
struct px4_i2c_msg_t msgv;
msgv.frequency = 100000;
msgv.addr = 0x5F;
msgv.flags = 0;
msgv.buffer = &txdata[0];
msgv.length = sizeof(txdata);
unsigned retry_count = 0;
const unsigned retries = 5;
do {
ret = I2C_TRANSFER(i2c, &msgv, 1);
/* success */
if (ret == PX4_OK) {
break;
} else {
PX4_ERR("ETH switch I2C fail: %d, retrying", ret);
}
/* if we have already retried once, or we are going to give up, then reset the bus */
if ((retry_count >= 1) || (retry_count >= retries)) {
I2C_RESET(i2c);
}
} while (retry_count++ < retries);
px4_i2cbus_uninitialize(i2c);
return ret;
}