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i2c spi: extend BusCLIArguments to handle common driver arguments

This commit is contained in:
Beat Küng 2020-02-29 09:44:46 +01:00 committed by Daniel Agar
parent d1f5b23a5a
commit 134413233a
3 changed files with 201 additions and 14 deletions
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142
platforms/common/i2c_spi_buses.cpp
View File

@ -41,11 +41,146 @@
#include <lib/drivers/device/Device.hpp>
#include <px4_platform_common/i2c_spi_buses.h>
#include <px4_platform_common/log.h>
#include <px4_platform_common/getopt.h>
const char *BusCLIArguments::parseDefaultArguments(int argc, char *argv[])
{
if (getopt(argc, argv, "") == EOF) {
return optarg();
}
// unexpected arguments
return nullptr;
}
int BusCLIArguments::getopt(int argc, char *argv[], const char *options)
{
if (_options[0] == 0) { // need to initialize
char *p = (char *)&_options;
if (_i2c_support) {
*(p++) = 'X'; // external
*(p++) = 'I'; // internal
if (i2c_address != 0) {
*(p++) = 'a'; *(p++) = ':'; // I2C address
}
}
if (_spi_support) {
*(p++) = 'S'; // external
*(p++) = 's'; // internal
*(p++) = 'c'; *(p++) = ':'; // chip-select
*(p++) = 'm'; *(p++) = ':'; // spi mode
}
*(p++) = 'b'; *(p++) = ':'; // bus
*(p++) = 'f'; *(p++) = ':'; // frequency
// copy all options
const char *option = options;
while (p != _options + sizeof(_options) && *option) {
if (*option != ':') {
// check for duplicates
for (const char *c = _options; c != p; ++c) {
if (*c == *option) {
PX4_ERR("conflicting option: %c", *c);
_options[0] = 0;
return EOF;
}
}
}
*(p++) = *(option++);
}
if (p == _options + sizeof(_options)) {
PX4_ERR("too many options");
_options[0] = 0;
return EOF;
}
*p = '\0';
}
int ch;
while ((ch = px4_getopt(argc, argv, _options, &_optind, &_optarg)) != EOF) {
switch (ch) {
case 'X':
bus_option = I2CSPIBusOption::I2CExternal;
break;
case 'I':
bus_option = I2CSPIBusOption::I2CInternal;
break;
case 'a':
if (i2c_address == 0) {
return ch;
}
i2c_address = (int)strtol(_optarg, nullptr, 0);
break;
case 'S':
bus_option = I2CSPIBusOption::SPIExternal;
break;
case 's':
bus_option = I2CSPIBusOption::SPIInternal;
break;
case 'c':
chipselect_index = atoi(_optarg);
break;
case 'b':
requested_bus = atoi(_optarg);
break;
case 'f':
bus_frequency = 1000 * atoi(_optarg);
break;
case 'm':
spi_mode = (spi_mode_e)atoi(_optarg);
break;
default:
if (ch == '?') {
// abort further parsing on unknown arguments
_optarg = nullptr;
return EOF;
}
return ch;
}
}
if (ch == EOF) {
_optarg = argv[_optind];
// apply defaults if not provided
if (bus_frequency == 0) {
if (bus_option == I2CSPIBusOption::I2CExternal || bus_option == I2CSPIBusOption::I2CInternal) {
bus_frequency = default_i2c_frequency;
} else if (bus_option == I2CSPIBusOption::SPIExternal || bus_option == I2CSPIBusOption::SPIInternal) {
bus_frequency = default_spi_frequency;
}
}
}
return ch;
}
BusInstanceIterator::BusInstanceIterator(I2CSPIInstance **instances, int max_num_instances,
const BusCLIArguments &cli_arguments, uint16_t devid_driver_index)
: _instances(instances), _max_num_instances(max_num_instances),
_bus_option(cli_arguments.bus_option), _type(cli_arguments.type),
_bus_option(cli_arguments.bus_option), _type(cli_arguments.type), _i2c_address(cli_arguments.i2c_address),
_spi_bus_iterator(spiFilter(cli_arguments.bus_option),
cli_arguments.bus_option == I2CSPIBusOption::SPIExternal ? cli_arguments.chipselect_index : devid_driver_index,
cli_arguments.requested_bus),
@ -83,7 +218,10 @@ bool BusInstanceIterator::next()
continue;
}
if (_bus_option == _instances[i]->_bus_option && bus == _instances[i]->_bus && _type == _instances[i]->_type) {
bool is_i2c = busType() == BOARD_I2C_BUS;
if (_bus_option == _instances[i]->_bus_option && bus == _instances[i]->_bus && _type == _instances[i]->_type
&& (!is_i2c || _i2c_address == _instances[i]->_i2c_address)) {
_current_instance = i;
}
}

65
platforms/common/include/px4_platform_common/i2c_spi_buses.h
View File

@ -43,6 +43,7 @@
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include <px4_platform_common/sem.h>
#include <board_config.h>
#include <drivers/device/spi.h>
enum class I2CSPIBusOption : uint8_t {
All = 0, ///< select all runnning instances
@ -59,31 +60,68 @@ enum class I2CSPIBusOption : uint8_t {
class I2CSPIInstance
{
public:
I2CSPIInstance(I2CSPIBusOption bus_option, int bus, int type)
: _bus_option(bus_option), _bus(bus), _type(type) {}
virtual ~I2CSPIInstance() = default;
private:
I2CSPIInstance(I2CSPIBusOption bus_option, int bus, uint8_t i2c_address, uint16_t type)
: _bus_option(bus_option), _bus(bus), _type(type), _i2c_address(i2c_address) {}
friend class BusInstanceIterator;
friend class I2CSPIDriverBase;
const I2CSPIBusOption _bus_option;
const int _bus;
const int _type; ///< device type (driver-specific)
const int16_t _type; ///< device type (driver-specific)
const int8_t _i2c_address; ///< I2C address (optional)
};
struct BusCLIArguments {
class BusCLIArguments
{
public:
BusCLIArguments(bool i2c_support, bool spi_support)
: _i2c_support(i2c_support), _spi_support(spi_support) {}
/**
* Parse CLI arguments (for drivers that don't need any custom arguments, otherwise getopt() should be used)
* @return command (e.g. "start") or nullptr on error or unknown argument
*/
const char *parseDefaultArguments(int argc, char *argv[]);
/**
* Like px4_getopt(), but adds and handles i2c/spi driver-specific arguments
*/
int getopt(int argc, char *argv[], const char *options);
/**
* returns the current optional argument (for options like 'T:'), or the command (e.g. "start")
* @return nullptr or argument/command
*/
const char *optarg() const { return _optarg; }
I2CSPIBusOption bus_option{I2CSPIBusOption::All};
int type{0}; ///< device type (driver-specific)
uint16_t type{0}; ///< device type (driver-specific)
int requested_bus{-1};
int chipselect_index{1};
Rotation rotation{ROTATION_NONE};
int bus_frequency{0};
int spi_mode{-1};
spi_mode_e spi_mode{SPIDEV_MODE3};
uint8_t i2c_address{0}; ///< optional I2C address: a driver can set this to allow configuring the I2C address
int custom1{0}; ///< driver-specific custom argument
int custom2{0}; ///< driver-specific custom argument
void *custom_data{nullptr}; ///< driver-specific custom argument
// driver defaults, if not specified via CLI
int default_spi_frequency{20 * 1000 * 1000}; ///< default spi bus frequency [Hz]
int default_i2c_frequency{400 * 1000}; ///< default i2c bus frequency [Hz]
private:
char _options[32] {};
int _optind{1};
const char *_optarg{nullptr};
const bool _i2c_support;
const bool _spi_support;
};
/**
@ -117,7 +155,8 @@ private:
I2CSPIInstance **_instances;
const int _max_num_instances;
const I2CSPIBusOption _bus_option;
const int _type;
const uint16_t _type;
const uint8_t _i2c_address;
SPIBusIterator _spi_bus_iterator;
I2CBusIterator _i2c_bus_iterator;
int _current_instance{-1};
@ -130,9 +169,10 @@ private:
class I2CSPIDriverBase : public px4::ScheduledWorkItem, public I2CSPIInstance
{
public:
I2CSPIDriverBase(const char *module_name, const px4::wq_config_t &config, I2CSPIBusOption bus_option, int bus, int type)
I2CSPIDriverBase(const char *module_name, const px4::wq_config_t &config, I2CSPIBusOption bus_option, int bus,
uint8_t i2c_address, uint16_t type)
: ScheduledWorkItem(module_name, config),
I2CSPIInstance(bus_option, bus, type) {}
I2CSPIInstance(bus_option, bus, i2c_address, type) {}
static int module_stop(BusInstanceIterator &iterator);
static int module_status(BusInstanceIterator &iterator);
@ -184,8 +224,9 @@ public:
static I2CSPIInstance **instances() { return _instances; }
protected:
I2CSPIDriver(const char *module_name, const px4::wq_config_t &config, I2CSPIBusOption bus_option, int bus, int type = 0)
: I2CSPIDriverBase(module_name, config, bus_option, bus, type) {}
I2CSPIDriver(const char *module_name, const px4::wq_config_t &config, I2CSPIBusOption bus_option, int bus,
uint8_t i2c_address = 0, uint16_t type = 0)
: I2CSPIDriverBase(module_name, config, bus_option, bus, i2c_address, type) {}
virtual ~I2CSPIDriver() = default;

8
src/lib/drivers/device/posix/SPI.hpp
View File

@ -186,6 +186,14 @@ protected:
} // namespace device
#else
enum spi_mode_e {
SPIDEV_MODE0 = 0, /* CPOL=0 CHPHA=0 */
SPIDEV_MODE1 = 1, /* CPOL=0 CHPHA=1 */
SPIDEV_MODE2 = 2, /* CPOL=1 CHPHA=0 */
SPIDEV_MODE3 = 3 /* CPOL=1 CHPHA=1 */
};
#endif // __PX4_LINUX
#endif /* _DEVICE_SPI_H */