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create systemcmds/i2cdetect tool to scan i2c bus

This commit is contained in:
Daniel Agar 2019-07-05 14:21:42 -04:00
parent d9c90ed31a
commit 15d1543f95
35 changed files with 247 additions and 0 deletions
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1
boards/airmind/mindpx-v2/default.cmake
View File

@ -81,6 +81,7 @@ px4_add_board(
dumpfile
esc_calib
hardfault_log
i2cdetect
led_control
mixer
motor_ramp

1
boards/auav/x21/default.cmake
View File

@ -87,6 +87,7 @@ px4_add_board(
dumpfile
esc_calib
hardfault_log
i2cdetect
led_control
mixer
motor_ramp

1
boards/av/x-v1/default.cmake
View File

@ -90,6 +90,7 @@ px4_add_board(
dumpfile
esc_calib
hardfault_log
i2cdetect
led_control
mixer
motor_ramp

1
boards/bitcraze/crazyflie/default.cmake
View File

@ -47,6 +47,7 @@ px4_add_board(
dumpfile
esc_calib
hardfault_log
i2cdetect
led_control
mixer
motor_ramp

1
boards/intel/aerofc-v1/default.cmake
View File

@ -64,6 +64,7 @@ px4_add_board(
dumpfile
esc_calib
hardfault_log
i2cdetect
led_control
mixer
motor_ramp

1
boards/intel/aerofc-v1/rtps.cmake
View File

@ -68,6 +68,7 @@ px4_add_board(
dumpfile
esc_calib
hardfault_log
i2cdetect
led_control
mixer
motor_ramp

1
boards/omnibus/f4sd/default.cmake
View File

@ -77,6 +77,7 @@ px4_add_board(
dumpfile
esc_calib
hardfault_log
i2cdetect
led_control
mixer
#motor_ramp

1
boards/px4/fmu-v2/default.cmake
View File

@ -95,6 +95,7 @@ px4_add_board(
#dumpfile
#esc_calib
hardfault_log
#i2c
#led_control
mixer
#motor_ramp

1
boards/px4/fmu-v2/fixedwing.cmake
View File

@ -66,6 +66,7 @@ px4_add_board(
#dumpfile
#esc_calib
hardfault_log
i2cdetect
#led_control
mixer
#motor_ramp

1
boards/px4/fmu-v2/lpe.cmake
View File

@ -91,6 +91,7 @@ px4_add_board(
#dumpfile
#esc_calib
hardfault_log
i2cdetect
#led_control
mixer
#motor_ramp

1
boards/px4/fmu-v2/multicopter.cmake
View File

@ -63,6 +63,7 @@ px4_add_board(
#dumpfile
#esc_calib
hardfault_log
i2cdetect
#led_control
mixer
#motor_ramp

1
boards/px4/fmu-v2/rover.cmake
View File

@ -58,6 +58,7 @@ px4_add_board(
#dumpfile
#esc_calib
hardfault_log
i2cdetect
#led_control
mixer
#motor_ramp

1
boards/px4/fmu-v2/test.cmake
View File

@ -91,6 +91,7 @@ px4_add_board(
#dumpfile
#esc_calib
hardfault_log
i2cdetect
#led_control
mixer
#motor_ramp

1
boards/px4/fmu-v3/default.cmake
View File

@ -95,6 +95,7 @@ px4_add_board(
dumpfile
esc_calib
hardfault_log
i2cdetect
led_control
mixer
motor_ramp

1
boards/px4/fmu-v3/rtps.cmake
View File

@ -95,6 +95,7 @@ px4_add_board(
dumpfile
esc_calib
hardfault_log
i2cdetect
led_control
mixer
motor_ramp

1
boards/px4/fmu-v3/stackcheck.cmake
View File

@ -94,6 +94,7 @@ px4_add_board(
dumpfile
esc_calib
hardfault_log
i2cdetect
led_control
mixer
motor_ramp

1
boards/px4/fmu-v4/default.cmake
View File

@ -79,6 +79,7 @@ px4_add_board(
dumpfile
esc_calib
hardfault_log
i2cdetect
led_control
mixer
motor_ramp

1
boards/px4/fmu-v4/rtps.cmake
View File

@ -82,6 +82,7 @@ px4_add_board(
dumpfile
esc_calib
hardfault_log
i2cdetect
led_control
mixer
motor_ramp

1
boards/px4/fmu-v4/stackcheck.cmake
View File

@ -79,6 +79,7 @@ px4_add_board(
dumpfile
esc_calib
hardfault_log
i2cdetect
led_control
mixer
motor_ramp

1
boards/px4/fmu-v4pro/default.cmake
View File

@ -93,6 +93,7 @@ px4_add_board(
dumpfile
esc_calib
hardfault_log
i2cdetect
led_control
mixer
motor_ramp

1
boards/px4/fmu-v4pro/rtps.cmake
View File

@ -93,6 +93,7 @@ px4_add_board(
dumpfile
esc_calib
hardfault_log
i2cdetect
led_control
mixer
motor_ramp

1
boards/px4/fmu-v5/default.cmake
View File

@ -95,6 +95,7 @@ px4_add_board(
dumpfile
esc_calib
hardfault_log
i2cdetect
led_control
mixer
motor_ramp

1
boards/px4/fmu-v5/fixedwing.cmake
View File

@ -67,6 +67,7 @@ px4_add_board(
dumpfile
esc_calib
hardfault_log
i2cdetect
led_control
mixer
motor_ramp

1
boards/px4/fmu-v5/multicopter.cmake
View File

@ -76,6 +76,7 @@ px4_add_board(
dumpfile
esc_calib
hardfault_log
i2cdetect
led_control
mixer
motor_ramp

1
boards/px4/fmu-v5/rover.cmake
View File

@ -70,6 +70,7 @@ px4_add_board(
dumpfile
esc_calib
hardfault_log
i2cdetect
led_control
mixer
motor_ramp

1
boards/px4/fmu-v5/rtps.cmake
View File

@ -93,6 +93,7 @@ px4_add_board(
dumpfile
esc_calib
hardfault_log
i2cdetect
led_control
mixer
motor_ramp

1
boards/px4/fmu-v5/stackcheck.cmake
View File

@ -93,6 +93,7 @@ px4_add_board(
dumpfile
esc_calib
hardfault_log
i2cdetect
led_control
mixer
motor_ramp

1
boards/px4/fmu-v5x/default.cmake
View File

@ -95,6 +95,7 @@ px4_add_board(
dumpfile
esc_calib
hardfault_log
i2cdetect
led_control
mixer
motor_ramp

1
boards/px4/fmu-v5x/fixedwing.cmake
View File

@ -78,6 +78,7 @@ px4_add_board(
dumpfile
esc_calib
hardfault_log
i2cdetect
led_control
mixer
motor_ramp

1
boards/px4/fmu-v5x/multicopter.cmake
View File

@ -84,6 +84,7 @@ px4_add_board(
dumpfile
esc_calib
hardfault_log
i2cdetect
led_control
mixer
motor_ramp

1
boards/px4/fmu-v5x/rover.cmake
View File

@ -81,6 +81,7 @@ px4_add_board(
dumpfile
esc_calib
hardfault_log
i2cdetect
led_control
mixer
motor_ramp

1
boards/px4/fmu-v5x/rtps.cmake
View File

@ -96,6 +96,7 @@ px4_add_board(
dumpfile
esc_calib
hardfault_log
i2cdetect
led_control
mixer
motor_ramp

1
boards/px4/fmu-v5x/stackcheck.cmake
View File

@ -95,6 +95,7 @@ px4_add_board(
dumpfile
esc_calib
hardfault_log
i2cdetect
led_control
mixer
motor_ramp

41
src/systemcmds/i2cdetect/CMakeLists.txt Normal file
View File

@ -0,0 +1,41 @@
############################################################################
#
# Copyright (c) 2019 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
px4_add_module(
MODULE systemcmds__i2cdetect
MAIN i2cdetect
STACK_MAIN 4096
COMPILE_FLAGS
SRCS
i2cdetect.cpp
)

173
src/systemcmds/i2cdetect/i2cdetect.cpp Normal file
View File

@ -0,0 +1,173 @@
/****************************************************************************
*
* Copyright (c) 2019 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file i2cdetect.cpp
*
* Simple tool to scan an I2C bus.
*
*/
#include <px4_config.h>
#include <px4_log.h>
#include <px4_module.h>
#include <px4_getopt.h>
#include <px4_i2c.h>
namespace i2cdetect
{
int detect(int bus)
{
printf("Scanning I2C bus: %d\n", bus);
int ret = PX4_ERROR;
// attach to the i2c bus
struct i2c_master_s *i2c_dev = px4_i2cbus_initialize(bus);
if (i2c_dev == nullptr) {
PX4_ERR("invalid bus %d", bus);
return PX4_ERROR;
}
printf(" 0 1 2 3 4 5 6 7 8 9 a b c d e f\n");
for (int i = 0; i < 128; i += 16) {
printf("%02x: ", i);
for (int j = 0; j < 16; j++) {
fflush(stdout);
uint8_t addr = i + j;
unsigned retry_count = 0;
const unsigned retries = 5;
bool found = false;
do {
uint8_t send_data = 0;
uint8_t recv_data = 0;
px4_i2c_msg_t msgv[2];
// send
msgv[0].frequency = 1000000;
msgv[0].addr = addr;
msgv[0].flags = 0;
msgv[0].buffer = &send_data;
msgv[0].length = sizeof(send_data);
// recv
msgv[1].frequency = 1000000;
msgv[1].addr = addr;
msgv[1].flags = I2C_M_READ;
msgv[1].buffer = &recv_data;;
msgv[1].length = sizeof(recv_data);
ret = I2C_TRANSFER(i2c_dev, &msgv[0], 2);
// success
if (ret == PX4_OK) {
found = true;
break;
}
// 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_dev);
}
} while (retry_count++ < retries);
if (found) {
printf("%02x ", addr);
} else {
printf("-- ");
}
}
printf("\n");
}
px4_i2cbus_uninitialize(i2c_dev);
return ret;
}
int usage(const char *reason = nullptr)
{
if (reason) {
PX4_ERR("%s", reason);
}
PRINT_MODULE_DESCRIPTION("Utility to scan for I2C devices on a particular bus.");
PRINT_MODULE_USAGE_NAME_SIMPLE("i2cdetect", "command");
PRINT_MODULE_USAGE_PARAM_INT('b', 1, 4, PX4_I2C_BUS_EXPANSION, "I2C bus", true);
return PX4_OK;
}
} // namespace i2cdetect
extern "C" {
__EXPORT int i2cdetect_main(int argc, char *argv[]);
}
int i2cdetect_main(int argc, char *argv[])
{
int i2c_bus = PX4_I2C_BUS_EXPANSION;
int myoptind = 1;
int ch = 0;
const char *myoptarg = nullptr;
while ((ch = px4_getopt(argc, argv, "b:", &myoptind, &myoptarg)) != EOF) {
switch (ch) {
case 'b':
// set i2c bus
i2c_bus = strtol(myoptarg, nullptr, 0);
break;
default:
i2cdetect::usage();
return -1;
break;
}
}
return i2cdetect::detect(i2c_bus);
}