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i2c drivers: add '-k' flag for keep_running directly to BusCLIArguments

This commit is contained in:
Beat Küng 2020-09-18 10:18:40 +02:00 committed by Daniel Agar
parent 1bf030e8ba
commit 5fdff6a0e4
10 changed files with 48 additions and 39 deletions
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6
Tools/px4moduledoc/srcparser.py
View File

@ -151,6 +151,12 @@ class ModuleDocumentation(object):
self._handle_usage_param_int(['\'a\'', args[0], '0', '0xff', "\"I2C address\"", 'true'])
self._paring_implicit_options = False
def _handle_usage_params_i2c_keep_running_flag(self, args):
assert(len(args) == 0)
self._paring_implicit_options = True
self._handle_usage_param_flag(['\'k\'', "\"if initialization (probing) fails, keep retrying periodically\"", 'true'])
self._paring_implicit_options = False
def _handle_usage_param_flag(self, args):
assert(len(args) == 3) # option_char, description, is_optional
option_char = self._get_option_char(args[0])

2
boards/modalai/fc-v1/init/rc.board_sensors
View File

@ -6,7 +6,7 @@
board_adc start
# Start Digital power monitors
voxlpm -X -b 3 -K -T VBATT start
voxlpm -X -b 3 -k -T VBATT start
voxlpm -X -b 3 -T P5VDC start
# Internal SPI bus ICM-20602

12
platforms/common/i2c_spi_buses.cpp
View File

@ -84,6 +84,10 @@ int BusCLIArguments::getopt(int argc, char *argv[], const char *options)
*(p++) = 'm'; *(p++) = ':'; // spi mode
}
if (support_keep_running) {
*(p++) = 'k';
}
*(p++) = 'b'; *(p++) = ':'; // bus
*(p++) = 'f'; *(p++) = ':'; // frequency
*(p++) = 'q'; // quiet flag
@ -163,6 +167,14 @@ int BusCLIArguments::getopt(int argc, char *argv[], const char *options)
quiet_start = true;
break;
case 'k':
if (!support_keep_running) {
return ch;
}
keep_running = true;
break;
default:
if (ch == '?') {
// abort further parsing on unknown arguments

3
platforms/common/include/px4_platform_common/i2c_spi_buses.h
View File

@ -110,6 +110,7 @@ public:
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
bool quiet_start{false}; ///< do not print a message when startup fails
bool keep_running{false}; ///< keep driver running even if no device is detected on startup
uint8_t orientation{0}; ///< distance_sensor_s::ROTATION_*
@ -121,6 +122,8 @@ public:
int default_spi_frequency{-1}; ///< default spi bus frequency (driver needs to set this) [Hz]
int default_i2c_frequency{-1}; ///< default i2c bus frequency (driver needs to set this) [Hz]
bool support_keep_running{false}; ///< true if keep_running (see above) is supported
private:
bool validateConfiguration();

5
platforms/common/include/px4_platform_common/module.h
View File

@ -513,6 +513,11 @@ __EXPORT void PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(bool i2c_support, bool sp
*/
__EXPORT void PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(uint8_t default_address);
/**
* -k flag
*/
__EXPORT void PRINT_MODULE_USAGE_PARAMS_I2C_KEEP_RUNNING_FLAG(void);
/** @note Each of the PRINT_MODULE_USAGE_PARAM_* methods apply to the previous PRINT_MODULE_USAGE_COMMAND_DESCR(). */
/**

5
platforms/common/module.cpp
View File

@ -119,6 +119,11 @@ void PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(uint8_t default_address)
PRINT_MODULE_USAGE_PARAM_INT('a', default_address, 0, 0xff, "I2C address", true);
}
void PRINT_MODULE_USAGE_PARAMS_I2C_KEEP_RUNNING_FLAG()
{
PRINT_MODULE_USAGE_PARAM_FLAG('k', "if initialization (probing) fails, keep retrying periodically", true);
}
void PRINT_MODULE_USAGE_PARAM_INT(char option_char, int default_val, int min_val, int max_val,
const char *description, bool is_optional)
{

16
src/drivers/barometer/lps33hw/lps33hw_main.cpp
View File

@ -52,7 +52,7 @@ LPS33HW::print_usage()
PRINT_MODULE_USAGE_COMMAND("start");
PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, true);
PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x5D);
PRINT_MODULE_USAGE_PARAM_FLAG('k', "if initialization (probing) fails, keep retrying periodically", true);
PRINT_MODULE_USAGE_PARAMS_I2C_KEEP_RUNNING_FLAG();
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
}
@ -79,7 +79,7 @@ I2CSPIDriverBase *LPS33HW::instantiate(const BusCLIArguments &cli, const BusInst
return nullptr;
}
LPS33HW *dev = new LPS33HW(iterator.configuredBusOption(), iterator.bus(), interface, cli.custom1 == 1);
LPS33HW *dev = new LPS33HW(iterator.configuredBusOption(), iterator.bus(), interface, cli.keep_running);
if (dev == nullptr) {
delete interface;
@ -96,22 +96,14 @@ I2CSPIDriverBase *LPS33HW::instantiate(const BusCLIArguments &cli, const BusInst
extern "C" int lps33hw_main(int argc, char *argv[])
{
int ch;
using ThisDriver = LPS33HW;
BusCLIArguments cli{true, true};
cli.i2c_address = 0x5D;
cli.default_i2c_frequency = 400000;
cli.default_spi_frequency = 10 * 1000 * 1000;
cli.support_keep_running = true;
while ((ch = cli.getopt(argc, argv, "k")) != EOF) {
switch (ch) {
case 'k': // keep retrying
cli.custom1 = 1;
break;
}
}
const char *verb = cli.optarg();
const char *verb = cli.parseDefaultArguments(argc, argv);
if (!verb) {
ThisDriver::print_usage();

16
src/drivers/differential_pressure/sdp3x/SDP3X_main.cpp
View File

@ -39,7 +39,7 @@ I2CSPIDriverBase *SDP3X::instantiate(const BusCLIArguments &cli, const BusInstan
int runtime_instance)
{
SDP3X *instance = new SDP3X(iterator.configuredBusOption(), iterator.bus(), cli.bus_frequency, cli.i2c_address,
cli.custom1 == 1);
cli.keep_running);
if (instance == nullptr) {
PX4_ERR("alloc failed");
@ -64,28 +64,20 @@ SDP3X::print_usage()
PRINT_MODULE_USAGE_COMMAND("start");
PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false);
PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x21);
PRINT_MODULE_USAGE_PARAM_FLAG('k', "if initialization (probing) fails, keep retrying periodically", true);
PRINT_MODULE_USAGE_PARAMS_I2C_KEEP_RUNNING_FLAG();
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
}
int
sdp3x_airspeed_main(int argc, char *argv[])
{
int ch;
using ThisDriver = SDP3X;
BusCLIArguments cli{true, false};
cli.default_i2c_frequency = 100000;
cli.i2c_address = I2C_ADDRESS_1_SDP3X;
cli.support_keep_running = true;
while ((ch = cli.getopt(argc, argv, "k")) != EOF) {
switch (ch) {
case 'k': // keep retrying
cli.custom1 = 1;
break;
}
}
const char *verb = cli.optarg();
const char *verb = cli.parseDefaultArguments(argc, argv);
if (!verb) {
ThisDriver::print_usage();

11
src/drivers/power_monitor/ina226/ina226_main.cpp
View File

@ -15,7 +15,7 @@ I2CSPIDriverBase *INA226::instantiate(const BusCLIArguments &cli, const BusInsta
return nullptr;
}
if (cli.custom1 == 1) {
if (cli.keep_running) {
if (instance->force_init() != PX4_OK) {
PX4_INFO("Failed to init INA226 on bus %d, but will try again periodically.", iterator.bus());
}
@ -52,7 +52,7 @@ this flag set, the battery must be plugged in before starting the driver.
PRINT_MODULE_USAGE_COMMAND("start");
PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false);
PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x41);
PRINT_MODULE_USAGE_PARAM_FLAG('k', "if initialization (probing) fails, keep retrying periodically", true);
PRINT_MODULE_USAGE_PARAMS_I2C_KEEP_RUNNING_FLAG();
PRINT_MODULE_USAGE_PARAM_INT('t', 1, 1, 2, "battery index for calibration values (1 or 2)", true);
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
}
@ -65,14 +65,11 @@ ina226_main(int argc, char *argv[])
BusCLIArguments cli{true, false};
cli.i2c_address = INA226_BASEADDR;
cli.default_i2c_frequency = 100000;
cli.support_keep_running = true;
cli.custom2 = 1;
while ((ch = cli.getopt(argc, argv, "kt:")) != EOF) {
while ((ch = cli.getopt(argc, argv, "t:")) != EOF) {
switch (ch) {
case 'k': // keep retrying
cli.custom1 = 1;
break;
case 't': // battery index
cli.custom2 = (int)strtol(cli.optarg(), NULL, 0);
break;

11
src/drivers/power_monitor/voxlpm/voxlpm_main.cpp
View File

@ -47,7 +47,7 @@ I2CSPIDriverBase *VOXLPM::instantiate(const BusCLIArguments &cli, const BusInsta
return nullptr;
}
if (cli.custom1 == 1) {
if (cli.keep_running) {
if (OK != instance->force_init()) {
PX4_INFO("Failed to init voxlpm type: %d on bus: %d, but will try again periodically.", (VOXLPM_CH_TYPE)cli.type,
iterator.bus());
@ -69,7 +69,7 @@ VOXLPM::print_usage()
PRINT_MODULE_USAGE_COMMAND("start");
PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false);
PRINT_MODULE_USAGE_PARAM_STRING('T', "VBATT", "VBATT|P5VDC|P12VDC", "Type", true);
PRINT_MODULE_USAGE_PARAM_FLAG('K', "if initialization (probing) fails, keep retrying periodically", true);
PRINT_MODULE_USAGE_PARAMS_I2C_KEEP_RUNNING_FLAG();
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
}
@ -81,8 +81,9 @@ voxlpm_main(int argc, char *argv[])
BusCLIArguments cli{true, false};
cli.default_i2c_frequency = 400000;
cli.type = VOXLPM_CH_TYPE_VBATT;
cli.support_keep_running = true;
while ((ch = cli.getopt(argc, argv, "KT:")) != EOF) {
while ((ch = cli.getopt(argc, argv, "T:")) != EOF) {
switch (ch) {
case 'T':
if (strcmp(cli.optarg(), "VBATT") == 0) {
@ -100,10 +101,6 @@ voxlpm_main(int argc, char *argv[])
}
break;
case 'K': // keep retrying
cli.custom1 = 1;
break;
}
}