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i2c_spi_buses: respect CONFIG_I2C and CONFIG_SPI 

- bmp280, dps310, and ms5611 barometers support boards without I2C
This commit is contained in:
Daniel Agar 2021-09-20 12:06:45 -04:00
parent eade2915c1
commit 7b7b7acd36
54 changed files with 529 additions and 282 deletions
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4
boards/ark/can-flow/nuttx-config/include/board.h
View File

@ -124,10 +124,6 @@
#define GPIO_CAN1_RX GPIO_CAN1_RX_2
#define GPIO_CAN1_TX GPIO_CAN1_TX_2
/* I2C */
#define GPIO_I2C1_SCL GPIO_I2C1_SCL_1
#define GPIO_I2C1_SDA GPIO_I2C1_SDA_1
/* SPI */
#define GPIO_SPI1_MISO GPIO_SPI1_MISO_1
#define GPIO_SPI1_MOSI GPIO_SPI1_MOSI_1

3
boards/ark/can-flow/nuttx-config/nsh/defconfig
View File

@ -57,8 +57,6 @@ CONFIG_GRAN=y
CONFIG_GRAN_INTR=y
CONFIG_HAVE_CXX=y
CONFIG_HAVE_CXXINITIALIZE=y
CONFIG_I2C=y
CONFIG_I2C_RESET=y
CONFIG_IDLETHREAD_STACKSIZE=750
CONFIG_LIBC_FLOATINGPOINT=y
CONFIG_LIBC_LONG_LONG=y
@ -127,7 +125,6 @@ CONFIG_STM32_DMA1=y
CONFIG_STM32_DMA2=y
CONFIG_STM32_FLASH_PREFETCH=y
CONFIG_STM32_FLOWCONTROL_BROKEN=y
CONFIG_STM32_I2C1=y
CONFIG_STM32_JTAG_SW_ENABLE=y
CONFIG_STM32_PWR=y
CONFIG_STM32_RTC=y

1
boards/ark/can-flow/src/CMakeLists.txt
View File

@ -49,7 +49,6 @@ if("${PX4_BOARD_LABEL}" STREQUAL "canbootloader")
else()
add_library(drivers_board
can.c
i2c.cpp
init.c
led.c
spi.cpp

38
boards/ark/can-flow/src/i2c.cpp
View File

@ -1,38 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2021 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.
*
****************************************************************************/
#include <px4_arch/i2c_hw_description.h>
constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
initI2CBusExternal(1),
};

5
boards/beaglebone/blue/src/board_config.h
View File

@ -48,11 +48,16 @@
// I2C
#define CONFIG_I2C 1
#define PX4_NUMBER_I2C_BUSES 2
#define PX4_I2C_OBDEV_MPU9250 0x68
// SPI
#define CONFIG_SPI 1
// ADC channels:
#define ADC_CHANNELS (1 << 5)
#define BOARD_ADC_POS_REF_V (1.8f)

4
boards/beaglebone/blue/src/spi.cpp
View File

@ -35,4 +35,8 @@
#include <drivers/drv_sensor.h>
constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
initSPIBus(1, {
initSPIDevice(DRV_DEVTYPE_UNUSED, 1), // spidev1.1
initSPIDevice(DRV_DEVTYPE_UNUSED, 2), // spidev1.2
}),
};

3
boards/cubepilot/io-v2/src/board_config.h
View File

@ -164,7 +164,4 @@
#define BOARD_NUM_IO_TIMERS 3
#define BOARD_DISABLE_I2C_SPI
#include <px4_platform_common/board_common.h>

4
boards/emlid/navio2/src/board_config.h
View File

@ -49,9 +49,13 @@
// I2C
#define CONFIG_I2C 1
#define PX4_NUMBER_I2C_BUSES 1
// SPI
#define CONFIG_SPI 1
// ADC channels:
// A0 - board voltage (shows 5V)
// A1 - servo rail voltage

2
boards/px4/io-v2/src/board_config.h
View File

@ -164,6 +164,4 @@
#define BOARD_NUM_IO_TIMERS 3
#define BOARD_DISABLE_I2C_SPI
#include <px4_platform_common/board_common.h>

11
boards/px4/raspberrypi/src/board_config.h
View File

@ -42,11 +42,16 @@
#define BOARD_OVERRIDE_UUID "RPIID00000000000" // must be of length 16
#define PX4_SOC_ARCH_ID PX4_SOC_ARCH_ID_RPI
/*
* I2C busses
*/
// I2C
#define CONFIG_I2C 1
#define PX4_NUMBER_I2C_BUSES 2
// SPI
#define CONFIG_SPI 1
#define ADC_BATTERY_VOLTAGE_CHANNEL 0
#define ADC_BATTERY_CURRENT_CHANNEL -1
#define ADC_AIRSPEED_VOLTAGE_CHANNEL 2

2
boards/px4/sitl/src/CMakeLists.txt
View File

@ -33,7 +33,5 @@
add_library(drivers_board
board_shutdown.cpp
i2c.cpp
sitl_led.c
spi.cpp
)

38
boards/px4/sitl/src/i2c.cpp
View File

@ -1,38 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2020 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.
*
****************************************************************************/
#include <px4_arch/i2c_hw_description.h>
constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
};

38
boards/px4/sitl/src/spi.cpp
View File

@ -1,38 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2020 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.
*
****************************************************************************/
#include <px4_arch/spi_hw_description.h>
#include <drivers/drv_sensor.h>
constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
};

11
boards/scumaker/pilotpi/src/board_config.h
View File

@ -42,11 +42,16 @@
#define BOARD_OVERRIDE_UUID "RPIID00000000000" // must be of length 16
#define PX4_SOC_ARCH_ID PX4_SOC_ARCH_ID_RPI
/*
* I2C busses
*/
// I2C
#define CONFIG_I2C 1
#define PX4_NUMBER_I2C_BUSES 2
// SPI
#define CONFIG_SPI 1
#define ADC_BATTERY_VOLTAGE_CHANNEL 0
#define ADC_BATTERY_CURRENT_CHANNEL -1
#define ADC_AIRSPEED_VOLTAGE_CHANNEL 2

5
platforms/common/i2c.cpp
View File

@ -32,10 +32,11 @@
****************************************************************************/
#include <board_config.h>
#ifndef BOARD_DISABLE_I2C_SPI
#include <px4_platform_common/i2c.h>
#if defined(CONFIG_I2C)
#ifndef BOARD_OVERRIDE_I2C_BUS_EXTERNAL
bool px4_i2c_bus_external(const px4_i2c_bus_t &bus)
{
@ -85,4 +86,4 @@ bool I2CBusIterator::next()
return false;
}
#endif /* BOARD_DISABLE_I2C_SPI */
#endif // CONFIG_I2C

262
platforms/common/i2c_spi_buses.cpp
View File

@ -32,7 +32,6 @@
****************************************************************************/
#include <board_config.h>
#ifndef BOARD_DISABLE_I2C_SPI
#ifndef MODULE_NAME
#define MODULE_NAME "SPI_I2C"
@ -57,11 +56,15 @@ I2CSPIDriverConfig::I2CSPIDriverConfig(const BusCLIArguments &cli, const BusInst
bus_option(iterator.configuredBusOption()),
bus_type(iterator.busType()),
bus(iterator.bus()),
#if defined(CONFIG_I2C)
i2c_address(cli.i2c_address),
#endif // CONFIG_I2C
bus_frequency(cli.bus_frequency),
#if defined(CONFIG_SPI)
drdy_gpio(iterator.DRDYGPIO()),
spi_mode(cli.spi_mode),
spi_devid(iterator.devid()),
#endif // CONFIG_SPI
bus_device_index(iterator.busDeviceIndex()),
rotation(cli.rotation),
quiet_start(cli.quiet_start),
@ -93,6 +96,8 @@ int BusCLIArguments::getOpt(int argc, char *argv[], const char *options)
char *p = (char *)&_options;
#if defined(CONFIG_I2C)
if (_i2c_support) {
*(p++) = 'X'; // external
*(p++) = 'I'; // internal
@ -102,6 +107,9 @@ int BusCLIArguments::getOpt(int argc, char *argv[], const char *options)
}
}
#endif // CONFIG_I2C
#if defined(CONFIG_SPI)
if (_spi_support) {
*(p++) = 'S'; // external
*(p++) = 's'; // internal
@ -109,6 +117,8 @@ int BusCLIArguments::getOpt(int argc, char *argv[], const char *options)
*(p++) = 'm'; *(p++) = ':'; // spi mode
}
#endif // CONFIG_SPI
if (support_keep_running) {
*(p++) = 'k';
}
@ -148,6 +158,8 @@ int BusCLIArguments::getOpt(int argc, char *argv[], const char *options)
while ((ch = px4_getopt(argc, argv, _options, &_optind, &_optarg)) != EOF) {
switch (ch) {
#if defined(CONFIG_I2C)
case 'X':
bus_option = I2CSPIBusOption::I2CExternal;
break;
@ -163,6 +175,8 @@ int BusCLIArguments::getOpt(int argc, char *argv[], const char *options)
i2c_address = (int)strtol(_optarg, nullptr, 0);
break;
#endif // CONFIG_I2C
#if defined(CONFIG_SPI)
case 'S':
bus_option = I2CSPIBusOption::SPIExternal;
@ -175,6 +189,7 @@ int BusCLIArguments::getOpt(int argc, char *argv[], const char *options)
case 'c':
chipselect_index = atoi(_optarg);
break;
#endif // CONFIG_SPI
case 'b':
requested_bus = atoi(_optarg);
@ -183,10 +198,12 @@ int BusCLIArguments::getOpt(int argc, char *argv[], const char *options)
case 'f':
bus_frequency = 1000 * atoi(_optarg);
break;
#if defined(CONFIG_SPI)
case 'm':
spi_mode = (spi_mode_e)atoi(_optarg);
break;
#endif // CONFIG_SPI
case 'q':
quiet_start = true;
@ -216,12 +233,21 @@ int BusCLIArguments::getOpt(int argc, char *argv[], const char *options)
// apply defaults if not provided
if (bus_frequency == 0) {
#if defined(CONFIG_I2C)
if (bus_option == I2CSPIBusOption::I2CExternal || bus_option == I2CSPIBusOption::I2CInternal) {
bus_frequency = default_i2c_frequency;
} else if (bus_option == I2CSPIBusOption::SPIExternal || bus_option == I2CSPIBusOption::SPIInternal) {
}
#endif // CONFIG_I2C
#if defined(CONFIG_SPI)
if (bus_option == I2CSPIBusOption::SPIExternal || bus_option == I2CSPIBusOption::SPIInternal) {
bus_frequency = default_spi_frequency;
}
#endif // CONFIG_SPI
}
}
@ -232,16 +258,22 @@ bool BusCLIArguments::validateConfiguration()
{
bool success = true;
#if defined(CONFIG_I2C)
if (_i2c_support && default_i2c_frequency == -1) {
PX4_ERR("Bug: driver %s does not set default_i2c_frequency", px4_get_taskname());
success = false;
}
#endif // CONFIG_I2C
#if defined(CONFIG_SPI)
if (_spi_support && default_spi_frequency == -1) {
PX4_ERR("Bug: driver %s does not set default_spi_frequency", px4_get_taskname());
success = false;
}
#endif // CONFIG_SPI
return success;
}
@ -249,11 +281,17 @@ bool BusCLIArguments::validateConfiguration()
BusInstanceIterator::BusInstanceIterator(const char *module_name,
const BusCLIArguments &cli_arguments, uint16_t devid_driver_index)
: _module_name(module_name), _bus_option(cli_arguments.bus_option), _devid_driver_index(devid_driver_index),
#if defined(CONFIG_I2C)
_i2c_address(cli_arguments.i2c_address),
#endif // CONFIG_I2C
#if defined(CONFIG_SPI)
_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),
#endif // CONFIG_SPI
#if defined(CONFIG_I2C)
_i2c_bus_iterator(i2cFilter(cli_arguments.bus_option), cli_arguments.requested_bus),
#endif // CONFIG_I2C
_current_instance(i2c_spi_module_instances.end())
{
// We lock the module instance list as long as this object is alive, since we iterate over the list.
@ -290,20 +328,31 @@ bool BusInstanceIterator::next()
return false;
#if defined(CONFIG_SPI)
} else if (busType() == BOARD_SPI_BUS) {
if (_spi_bus_iterator.next()) {
bus = _spi_bus_iterator.bus().bus;
}
} else {
#endif // CONFIG_SPI
#if defined(CONFIG_I2C)
} else if (busType() == BOARD_I2C_BUS) {
if (_i2c_bus_iterator.next()) {
bus = _i2c_bus_iterator.bus().bus;
}
#endif // CONFIG_I2C
}
if (bus != -1) {
// find matching runtime instance
#if defined(CONFIG_I2C)
bool is_i2c = busType() == BOARD_I2C_BUS;
#else
bool is_i2c = false;
#endif
for (_current_instance = i2c_spi_module_instances.begin(); _current_instance != i2c_spi_module_instances.end();
++_current_instance) {
@ -314,7 +363,12 @@ bool BusInstanceIterator::next()
if (_bus_option == (*_current_instance)->_bus_option && bus == (*_current_instance)->_bus &&
_devid_driver_index == (*_current_instance)->_devid_driver_index &&
busDeviceIndex() == (*_current_instance)->_bus_device_index &&
(!is_i2c || _i2c_address == (*_current_instance)->_i2c_address)) {
(!is_i2c
#if defined(CONFIG_I2C)
|| _i2c_address == (*_current_instance)->_i2c_address
#endif // CONFIG_I2C
)
) {
break;
}
}
@ -371,13 +425,19 @@ board_bus_types BusInstanceIterator::busType() const
case I2CSPIBusOption::All:
return BOARD_INVALID_BUS;
#if defined(CONFIG_I2C)
case I2CSPIBusOption::I2CInternal:
case I2CSPIBusOption::I2CExternal:
return BOARD_I2C_BUS;
#endif // CONFIG_I2C
#if defined(CONFIG_SPI)
case I2CSPIBusOption::SPIInternal:
case I2CSPIBusOption::SPIExternal:
return BOARD_SPI_BUS;
#endif // CONFIG_SPI
}
return BOARD_INVALID_BUS;
@ -385,78 +445,104 @@ board_bus_types BusInstanceIterator::busType() const
int BusInstanceIterator::bus() const
{
if (busType() == BOARD_INVALID_BUS) {
return -1;
#if defined(CONFIG_SPI)
} else if (busType() == BOARD_SPI_BUS) {
if (busType() == BOARD_SPI_BUS) {
return _spi_bus_iterator.bus().bus;
}
} else {
#endif // CONFIG_SPI
#if defined(CONFIG_I2C)
if (busType() == BOARD_I2C_BUS) {
return _i2c_bus_iterator.bus().bus;
}
}
uint32_t BusInstanceIterator::devid() const
{
if (busType() == BOARD_INVALID_BUS) {
return 0;
} else if (busType() == BOARD_SPI_BUS) {
return _spi_bus_iterator.devid();
} else {
return 0;
}
}
spi_drdy_gpio_t BusInstanceIterator::DRDYGPIO() const
{
if (busType() == BOARD_INVALID_BUS) {
return 0;
} else if (busType() == BOARD_SPI_BUS) {
return _spi_bus_iterator.DRDYGPIO();
} else {
return 0;
}
}
bool BusInstanceIterator::external() const
{
if (busType() == BOARD_INVALID_BUS) {
return false;
} else if (busType() == BOARD_SPI_BUS) {
return _spi_bus_iterator.external();
} else {
return _i2c_bus_iterator.external();
}
}
int BusInstanceIterator::externalBusIndex() const
{
if (busType() == BOARD_INVALID_BUS) {
return 0;
} else if (busType() == BOARD_SPI_BUS) {
return _spi_bus_iterator.externalBusIndex();
} else {
return _i2c_bus_iterator.externalBusIndex();
}
}
int BusInstanceIterator::busDeviceIndex() const
{
if (busType() == BOARD_SPI_BUS) {
return _spi_bus_iterator.busDeviceIndex();
}
#endif // CONFIG_I2C
return -1;
}
uint32_t BusInstanceIterator::devid() const
{
#if defined(CONFIG_SPI)
if (busType() == BOARD_SPI_BUS) {
return _spi_bus_iterator.devid();
}
#endif // CONFIG_SPI
return 0;
}
#if defined(CONFIG_SPI)
spi_drdy_gpio_t BusInstanceIterator::DRDYGPIO() const
{
if (busType() == BOARD_SPI_BUS) {
return _spi_bus_iterator.DRDYGPIO();
}
return 0;
}
#endif // CONFIG_SPI
bool BusInstanceIterator::external() const
{
#if defined(CONFIG_SPI)
if (busType() == BOARD_SPI_BUS) {
return _spi_bus_iterator.external();
}
#endif // CONFIG_SPI
#if defined(CONFIG_I2C)
if (busType() == BOARD_I2C_BUS) {
return _i2c_bus_iterator.external();
}
#endif // CONFIG_I2C
return false;
}
int BusInstanceIterator::externalBusIndex() const
{
#if defined(CONFIG_SPI)
if (busType() == BOARD_SPI_BUS) {
return _spi_bus_iterator.externalBusIndex();
}
#endif // CONFIG_SPI
#if defined(CONFIG_I2C)
if (busType() == BOARD_I2C_BUS) {
return _i2c_bus_iterator.externalBusIndex();
}
#endif // CONFIG_I2C
return 0;
}
int BusInstanceIterator::busDeviceIndex() const
{
#if defined(CONFIG_SPI)
if (busType() == BOARD_SPI_BUS) {
return _spi_bus_iterator.busDeviceIndex();
}
#endif // CONFIG_SPI
return -1;
}
#if defined(CONFIG_I2C)
I2CBusIterator::FilterType BusInstanceIterator::i2cFilter(I2CSPIBusOption bus_option)
{
switch (bus_option) {
@ -471,7 +557,9 @@ I2CBusIterator::FilterType BusInstanceIterator::i2cFilter(I2CSPIBusOption bus_op
return I2CBusIterator::FilterType::All;
}
#endif // CONFIG_I2C
#if defined(CONFIG_SPI)
SPIBusIterator::FilterType BusInstanceIterator::spiFilter(I2CSPIBusOption bus_option)
{
switch (bus_option) {
@ -484,6 +572,7 @@ SPIBusIterator::FilterType BusInstanceIterator::spiFilter(I2CSPIBusOption bus_op
return SPIBusIterator::FilterType::InternalBus;
}
#endif // CONFIG_SPI
struct I2CSPIDriverInitializing {
const I2CSPIDriverConfig &config;
@ -520,9 +609,15 @@ int I2CSPIDriverBase::module_start(const BusCLIArguments &cli, BusInstanceIterat
device_id.devid_s.bus = iterator.bus();
switch (iterator.busType()) {
#if defined(CONFIG_I2C)
case BOARD_I2C_BUS: device_id.devid_s.bus_type = device::Device::DeviceBusType_I2C; break;
#endif // CONFIG_I2C
#if defined(CONFIG_SPI)
case BOARD_SPI_BUS: device_id.devid_s.bus_type = device::Device::DeviceBusType_SPI; break;
#endif // CONFIG_SPI
case BOARD_INVALID_BUS: device_id.devid_s.bus_type = device::Device::DeviceBusType_UNKNOWN; break;
}
@ -543,15 +638,21 @@ int I2CSPIDriverBase::module_start(const BusCLIArguments &cli, BusInstanceIterat
continue;
}
#if defined(CONFIG_I2C)
if (cli.i2c_address != 0 && instance->_i2c_address == 0) {
PX4_ERR("Bug: driver %s does not pass the I2C address to I2CSPIDriverBase", instance->ItemName());
}
#endif // CONFIG_I2C
iterator.addInstance(instance);
started = true;
// print some info that we are running
switch (iterator.busType()) {
#if defined(CONFIG_I2C)
case BOARD_I2C_BUS:
PX4_INFO_RAW("%s #%i on I2C bus %d", instance->ItemName(), runtime_instance, iterator.bus());
@ -570,6 +671,8 @@ int I2CSPIDriverBase::module_start(const BusCLIArguments &cli, BusInstanceIterat
PX4_INFO_RAW("\n");
break;
#endif // CONFIG_I2C
#if defined(CONFIG_SPI)
case BOARD_SPI_BUS:
PX4_INFO_RAW("%s #%i on SPI bus %d", instance->ItemName(), runtime_instance, iterator.bus());
@ -585,6 +688,7 @@ int I2CSPIDriverBase::module_start(const BusCLIArguments &cli, BusInstanceIterat
PX4_INFO_RAW("\n");
break;
#endif // CONFIG_SPI
case BOARD_INVALID_BUS:
break;
@ -594,15 +698,18 @@ int I2CSPIDriverBase::module_start(const BusCLIArguments &cli, BusInstanceIterat
if (!started && !cli.quiet_start) {
PX4_WARN("%s: no instance started (no device on bus?)", px4_get_taskname());
#if defined(CONFIG_I2C)
if (iterator.busType() == BOARD_I2C_BUS && cli.i2c_address == 0) {
PX4_ERR("%s: driver does not set i2c address", px4_get_taskname());
}
#endif // CONFIG_I2C
}
return started ? 0 : -1;
}
int I2CSPIDriverBase::module_stop(BusInstanceIterator &iterator)
{
bool is_running = false;
@ -680,14 +787,23 @@ int I2CSPIDriverBase::module_custom_method(const BusCLIArguments &cli, BusInstan
void I2CSPIDriverBase::print_status()
{
bool is_i2c_bus = _bus_option == I2CSPIBusOption::I2CExternal || _bus_option == I2CSPIBusOption::I2CInternal;
#if defined(CONFIG_I2C)
if (is_i2c_bus) {
if (_bus_option == I2CSPIBusOption::I2CExternal || _bus_option == I2CSPIBusOption::I2CInternal) {
PX4_INFO("Running on I2C Bus %i, Address 0x%02X", _bus, get_i2c_address());
} else {
PX4_INFO("Running on SPI Bus %i", _bus);
return;
}
#endif // CONFIG_I2C
#if defined(CONFIG_SPI)
if (_bus_option == I2CSPIBusOption::SPIExternal || _bus_option == I2CSPIBusOption::SPIInternal) {
PX4_INFO("Running on SPI Bus %i", _bus);
return;
}
#endif // CONFIG_SPI
}
void I2CSPIDriverBase::request_stop_and_wait()
@ -705,5 +821,3 @@ void I2CSPIDriverBase::request_stop_and_wait()
PX4_ERR("Module did not respond to stop request");
}
}
#endif /* BOARD_DISABLE_I2C_SPI */

4
platforms/common/include/px4_platform_common/board_common.h
View File

@ -1015,8 +1015,12 @@ int board_register_power_state_notification_cb(power_button_state_notification_t
enum board_bus_types {
BOARD_INVALID_BUS = 0,
#if defined(CONFIG_SPI)
BOARD_SPI_BUS = 1,
#endif // CONFIG_SPI
#if defined(CONFIG_I2C)
BOARD_I2C_BUS = 2
#endif // CONFIG_I2C
};
#if defined(BOARD_HAS_BUS_MANIFEST)

4
platforms/common/include/px4_platform_common/i2c.h
View File

@ -35,6 +35,8 @@
#include <board_config.h>
#if defined(CONFIG_I2C)
#define I2C_BUS_MAX_BUS_ITEMS PX4_NUMBER_I2C_BUSES
struct px4_i2c_bus_t {
@ -99,3 +101,5 @@ private:
int _index{-1};
int _external_bus_counter{0};
};
#endif // CONFIG_I2C

87
platforms/common/include/px4_platform_common/i2c_spi_buses.h
View File

@ -33,8 +33,7 @@
#pragma once
#include "i2c.h"
#include "spi.h"
#include <board_config.h>
#include <stdint.h>
@ -43,15 +42,29 @@
#include <px4_platform_common/atomic.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include <px4_platform_common/sem.h>
#include <board_config.h>
#include <drivers/device/spi.h>
#if defined(CONFIG_I2C)
# include "i2c.h"
#endif // CONFIG_I2C
#if defined(CONFIG_SPI)
# include "spi.h"
#endif // CONFIG_SPI
#if defined(CONFIG_SPI)
# include <drivers/device/spi.h>
#endif // CONFIG_SPI
enum class I2CSPIBusOption : uint8_t {
All = 0, ///< select all runnning instances
#if defined(CONFIG_I2C)
I2CInternal,
I2CExternal,
#endif // CONFIG_I2C
#if defined(CONFIG_SPI)
SPIInternal,
SPIExternal,
#endif // CONFIG_SPI
};
class BusCLIArguments;
@ -66,11 +79,15 @@ struct I2CSPIDriverConfig {
I2CSPIBusOption bus_option;
board_bus_types bus_type;
int bus;
#if defined(CONFIG_I2C)
uint8_t i2c_address;
#endif // CONFIG_I2C
int bus_frequency;
#if defined(CONFIG_SPI)
spi_drdy_gpio_t drdy_gpio;
spi_mode_e spi_mode;
uint32_t spi_devid;
#endif // CONFIG_SPI
int bus_device_index;
Rotation rotation;
@ -93,13 +110,17 @@ class I2CSPIInstance : public ListNode<I2CSPIInstance *>
{
public:
virtual ~I2CSPIInstance() = default;
#if defined(CONFIG_I2C)
virtual int8_t get_i2c_address() {return _i2c_address;}
#endif // CONFIG_I2C
private:
I2CSPIInstance(const I2CSPIDriverConfig &config)
: _module_name(config.module_name), _bus_option(config.bus_option), _bus(config.bus),
_devid_driver_index(config.devid_driver_index), _bus_device_index(config.bus_device_index),
_i2c_address(config.i2c_address) {}
_devid_driver_index(config.devid_driver_index), _bus_device_index(config.bus_device_index)
#if defined(CONFIG_I2C)
, _i2c_address(config.i2c_address)
#endif // CONFIG_I2C
{}
friend class BusInstanceIterator;
@ -110,14 +131,28 @@ private:
const int _bus;
const uint16_t _devid_driver_index;
const int8_t _bus_device_index;
#if defined(CONFIG_I2C)
const int8_t _i2c_address; ///< I2C address (optional)
#endif // CONFIG_I2C
};
class BusCLIArguments
{
public:
BusCLIArguments(bool i2c_support, bool spi_support)
: _i2c_support(i2c_support), _spi_support(spi_support) {}
#if defined(CONFIG_I2C) || defined(CONFIG_SPI)
:
#endif // CONFIG_I2C || CONFIG_SPI
#if defined(CONFIG_I2C)
_i2c_support(i2c_support)
#endif // CONFIG_I2C
#if defined(CONFIG_I2C) && defined(CONFIG_SPI)
,
#endif // CONFIG_I2C && CONFIG_SPI
#if defined(CONFIG_SPI)
_spi_support(spi_support)
#endif // CONFIG_SPI
{}
/**
* Parse CLI arguments (for drivers that don't need any custom arguments, otherwise getopt() should be used)
@ -139,11 +174,15 @@ public:
I2CSPIBusOption bus_option{I2CSPIBusOption::All};
int requested_bus{-1};
int chipselect_index{1};
int bus_frequency{0};
#if defined(CONFIG_SPI)
int chipselect_index {1};
spi_mode_e spi_mode{SPIDEV_MODE3};
uint8_t i2c_address{0}; ///< I2C address (a driver must set the default address)
bool quiet_start{false}; ///< do not print a message when startup fails
#endif // CONFIG_SPI
#if defined(CONFIG_I2C)
uint8_t i2c_address {0}; ///< I2C address (a driver must set the default address)
#endif // CONFIG_I2C
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
Rotation rotation{ROTATION_NONE}; ///< sensor rotation (MAV_SENSOR_ROTATION_* or distance_sensor_s::ROTATION_*)
@ -153,8 +192,12 @@ public:
void *custom_data{nullptr}; ///< driver-specific custom argument
// driver defaults, if not specified via CLI
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]
#if defined(CONFIG_SPI)
int default_spi_frequency {-1}; ///< default spi bus frequency (driver needs to set this) [Hz]
#endif // CONFIG_SPI
#if defined(CONFIG_I2C)
int default_i2c_frequency {-1}; ///< default i2c bus frequency (driver needs to set this) [Hz]
#endif // CONFIG_I2C
bool support_keep_running{false}; ///< true if keep_running (see above) is supported
@ -164,8 +207,12 @@ private:
char _options[32] {};
int _optind{1};
const char *_optarg{nullptr};
#if defined(CONFIG_I2C)
const bool _i2c_support;
#endif // CONFIG_I2C
#if defined(CONFIG_SPI)
const bool _spi_support;
#endif // CONFIG_SPI
};
/**
@ -189,15 +236,23 @@ public:
board_bus_types busType() const;
int bus() const;
uint32_t devid() const;
#if defined(CONFIG_SPI)
spi_drdy_gpio_t DRDYGPIO() const;
#endif // CONFIG_SPI
bool external() const;
int externalBusIndex() const;
int busDeviceIndex() const;
void addInstance(I2CSPIInstance *instance);
#if defined(CONFIG_I2C)
static I2CBusIterator::FilterType i2cFilter(I2CSPIBusOption bus_option);
#endif // CONFIG_I2C
#if defined(CONFIG_SPI)
static SPIBusIterator::FilterType spiFilter(I2CSPIBusOption bus_option);
#endif // CONFIG_SPI
const char *moduleName() const { return _module_name; }
uint16_t devidDriverIndex() const { return _devid_driver_index; }
@ -206,9 +261,15 @@ private:
const char *_module_name;
const I2CSPIBusOption _bus_option;
const uint16_t _devid_driver_index;
#if defined(CONFIG_I2C)
const uint8_t _i2c_address;
#endif // CONFIG_I2C
#if defined(CONFIG_SPI)
SPIBusIterator _spi_bus_iterator;
#endif // CONFIG_SPI
#if defined(CONFIG_I2C)
I2CBusIterator _i2c_bus_iterator;
#endif // CONFIG_I2C
List<I2CSPIInstance *>::Iterator _current_instance;
};

4
platforms/common/include/px4_platform_common/spi.h
View File

@ -36,6 +36,8 @@
#include <stdint.h>
#include <board_config.h>
#if defined(CONFIG_SPI)
/*
* Helper macros to handle device ID's. They are used to match drivers against SPI buses and chip-select signals.
* They match with corresponding definitions in NuttX.
@ -168,3 +170,5 @@ private:
int _external_bus_counter{1};
int _bus_device_index{-1};
};
#endif // CONFIG_SPI

5
platforms/common/spi.cpp
View File

@ -32,7 +32,8 @@
****************************************************************************/
#include <board_config.h>
#ifndef BOARD_DISABLE_I2C_SPI
#if defined(CONFIG_SPI)
#include <px4_platform_common/spi.h>
@ -163,4 +164,4 @@ bool SPIBusIterator::next()
return false;
}
#endif /* BOARD_DISABLE_I2C_SPI */
#endif // CONFIG_SPI

2
platforms/nuttx/src/px4/nxp/imxrt/include/px4_arch/i2c_hw_description.h
View File

@ -36,6 +36,7 @@
#include <px4_arch/hw_description.h>
#include <px4_platform_common/i2c.h>
#if defined(CONFIG_I2C)
static inline constexpr px4_i2c_bus_t initI2CBusInternal(int bus)
{
@ -52,3 +53,4 @@ static inline constexpr px4_i2c_bus_t initI2CBusExternal(int bus)
ret.is_external = true;
return ret;
}
#endif // CONFIG_I2C

3
platforms/nuttx/src/px4/nxp/imxrt/include/px4_arch/spi_hw_description.h
View File

@ -36,6 +36,8 @@
#include <px4_arch/hw_description.h>
#include <px4_platform_common/spi.h>
#if defined(CONFIG_SPI)
#include <imxrt_gpio.h>
#define CS_IOMUX (IOMUX_CMOS_OUTPUT | IOMUX_PULL_UP_100K | IOMUX_DRIVE_33OHM | IOMUX_SPEED_LOW | IOMUX_SLEW_FAST)
@ -135,3 +137,4 @@ static inline constexpr SPI::bus_device_external_cfg_t initSPIConfigExternal(SPI
ret.drdy_gpio = drdy_gpio;
return ret;
}
#endif // CONFIG_SPI

3
platforms/nuttx/src/px4/nxp/k66/include/px4_arch/spi_hw_description.h
View File

@ -32,9 +32,12 @@
****************************************************************************/
#pragma once
#if defined(CONFIG_SPI)
#include "../../../kinetis/include/px4_arch/spi_hw_description.h"
constexpr bool validateSPIConfig(const px4_spi_bus_t spi_busses_conf[SPI_BUS_MAX_BUS_ITEMS])
{
return true;
}
#endif // CONFIG_SPI

2
platforms/nuttx/src/px4/nxp/kinetis/include/px4_arch/i2c_hw_description.h
View File

@ -36,6 +36,7 @@
#include <px4_arch/hw_description.h>
#include <px4_platform_common/i2c.h>
#if defined(CONFIG_I2C)
static inline constexpr px4_i2c_bus_t initI2CBusInternal(int bus)
{
@ -52,3 +53,4 @@ static inline constexpr px4_i2c_bus_t initI2CBusExternal(int bus)
ret.is_external = true;
return ret;
}
#endif // CONFIG_I2C

4
platforms/nuttx/src/px4/nxp/kinetis/include/px4_arch/spi_hw_description.h
View File

@ -36,6 +36,8 @@
#include <px4_arch/hw_description.h>
#include <px4_platform_common/spi.h>
#if defined(CONFIG_SPI)
#include <kinetis.h>
static inline constexpr px4_spi_bus_device_t initSPIDevice(uint32_t devid, SPI::CS cs_gpio, SPI::DRDY drdy_gpio = {})
@ -129,3 +131,5 @@ static inline constexpr SPI::bus_device_external_cfg_t initSPIConfigExternal(SPI
ret.drdy_gpio = drdy_gpio;
return ret;
}
#endif // CONFIG_SPI

3
platforms/nuttx/src/px4/nxp/rt106x/include/px4_arch/spi_hw_description.h
View File

@ -32,9 +32,12 @@
****************************************************************************/
#pragma once
#if defined(CONFIG_SPI)
#include "../../../imxrt/include/px4_arch/spi_hw_description.h"
constexpr bool validateSPIConfig(const px4_spi_bus_t spi_busses_conf[SPI_BUS_MAX_BUS_ITEMS])
{
return true;
}
#endif // CONFIG_SPI

3
platforms/nuttx/src/px4/nxp/s32k14x/include/px4_arch/i2c_hw_description.h
View File

@ -35,6 +35,8 @@
#include <px4_arch/hw_description.h>
#include <px4_platform_common/i2c.h>
#if defined(CONFIG_I2C)
static inline constexpr px4_i2c_bus_t initI2CBusInternal(int bus)
{
px4_i2c_bus_t ret{};
@ -50,3 +52,4 @@ static inline constexpr px4_i2c_bus_t initI2CBusExternal(int bus)
ret.is_external = true;
return ret;
}
#endif // CONFIG_I2C

3
platforms/nuttx/src/px4/nxp/s32k1xx/include/px4_arch/i2c_hw_description.h
View File

@ -35,6 +35,8 @@
#include <px4_arch/hw_description.h>
#include <px4_platform_common/i2c.h>
#if defined(CONFIG_I2C)
static inline constexpr px4_i2c_bus_t initI2CBusInternal(int bus)
{
px4_i2c_bus_t ret{};
@ -50,3 +52,4 @@ static inline constexpr px4_i2c_bus_t initI2CBusExternal(int bus)
ret.is_external = true;
return ret;
}
#endif // CONFIG_I2C

2
platforms/nuttx/src/px4/stm/stm32_common/include/px4_arch/i2c_hw_description.h
View File

@ -36,6 +36,7 @@
#include <px4_arch/hw_description.h>
#include <px4_platform_common/i2c.h>
#if defined(CONFIG_I2C)
static inline constexpr px4_i2c_bus_t initI2CBusInternal(int bus)
{
@ -52,3 +53,4 @@ static inline constexpr px4_i2c_bus_t initI2CBusExternal(int bus)
ret.is_external = true;
return ret;
}
#endif // CONFIG_I2C

3
platforms/nuttx/src/px4/stm/stm32_common/include/px4_arch/spi_hw_description.h
View File

@ -36,6 +36,7 @@
#include <px4_arch/hw_description.h>
#include <px4_platform_common/spi.h>
#if defined(CONFIG_SPI)
#include <stm32_gpio.h>
@ -168,3 +169,5 @@ constexpr bool validateSPIConfig(const px4_spi_bus_all_hw_t spi_buses_conf[BOARD
return false;
}
#endif // CONFIG_SPI

4
platforms/nuttx/src/px4/stm/stm32f4/include/px4_arch/spi_hw_description.h
View File

@ -34,6 +34,8 @@
#include "../../../stm32_common/include/px4_arch/spi_hw_description.h"
#if defined(CONFIG_SPI)
constexpr bool validateSPIConfig(const px4_spi_bus_t spi_busses_conf[SPI_BUS_MAX_BUS_ITEMS])
{
const bool nuttx_enabled_spi_buses[] = {
@ -84,3 +86,5 @@ constexpr bool validateSPIConfig(const px4_spi_bus_t spi_busses_conf[SPI_BUS_MAX
return false;
}
#endif // CONFIG_SPI

4
platforms/nuttx/src/px4/stm/stm32f7/include/px4_arch/spi_hw_description.h
View File

@ -32,6 +32,8 @@
****************************************************************************/
#pragma once
#if defined(CONFIG_SPI)
#include "../../../stm32_common/include/px4_arch/spi_hw_description.h"
constexpr bool validateSPIConfig(const px4_spi_bus_t spi_busses_conf[SPI_BUS_MAX_BUS_ITEMS])
@ -84,3 +86,5 @@ constexpr bool validateSPIConfig(const px4_spi_bus_t spi_busses_conf[SPI_BUS_MAX
return false;
}
#endif // CONFIG_SPI

4
platforms/nuttx/src/px4/stm/stm32h7/include/px4_arch/spi_hw_description.h
View File

@ -34,6 +34,8 @@
#include "../../../stm32_common/include/px4_arch/spi_hw_description.h"
#if defined(CONFIG_SPI)
constexpr bool validateSPIConfig(const px4_spi_bus_t spi_busses_conf[SPI_BUS_MAX_BUS_ITEMS])
{
const bool nuttx_enabled_spi_buses[] = {
@ -84,3 +86,5 @@ constexpr bool validateSPIConfig(const px4_spi_bus_t spi_busses_conf[SPI_BUS_MAX
return false;
}
#endif // CONFIG_SPI

2
platforms/posix/src/px4/generic/generic/include/px4_arch/i2c_hw_description.h
View File

@ -35,6 +35,7 @@
#include <px4_platform_common/i2c.h>
#if defined(CONFIG_I2C)
static inline constexpr px4_i2c_bus_t initI2CBusInternal(int bus)
{
@ -51,3 +52,4 @@ static inline constexpr px4_i2c_bus_t initI2CBusExternal(int bus)
ret.is_external = true;
return ret;
}
#endif // CONFIG_I2C

3
platforms/posix/src/px4/generic/generic/include/px4_arch/spi_hw_description.h
View File

@ -35,6 +35,8 @@
#include <px4_platform_common/spi.h>
#if defined(CONFIG_SPI)
static inline constexpr px4_spi_bus_device_t initSPIDevice(uint8_t devid_driver, uint8_t cs_index)
{
px4_spi_bus_device_t ret{};
@ -57,3 +59,4 @@ static inline constexpr px4_spi_bus_t initSPIBus(int bus, const px4_spi_bus_devi
ret.requires_locking = false;
return ret;
}
#endif // CONFIG_SPI

3
src/drivers/barometer/bmp280/BMP280_I2C.cpp
View File

@ -42,6 +42,7 @@
#include <px4_platform_common/px4_config.h>
#include <drivers/device/i2c.h>
#if defined(CONFIG_I2C)
class BMP280_I2C: public device::I2C, public bmp280::IBMP280
{
@ -116,3 +117,5 @@ BMP280_I2C::get_calibration(uint8_t addr)
return nullptr;
}
}
#endif // CONFIG_I2C

3
src/drivers/barometer/bmp280/BMP280_SPI.cpp
View File

@ -42,6 +42,8 @@
#include <px4_platform_common/px4_config.h>
#include <drivers/device/spi.h>
#if defined(CONFIG_SPI)
/* SPI protocol address bits */
#define DIR_READ (1<<7) //for set
#define DIR_WRITE ~(1<<7) //for clear
@ -132,3 +134,4 @@ BMP280_SPI::get_calibration(uint8_t addr)
return nullptr;
}
}
#endif // CONFIG_SPI

6
src/drivers/barometer/bmp280/bmp280.h
View File

@ -38,7 +38,7 @@
*/
#pragma once
#include <drivers/device/spi.h>
#include <px4_platform_common/i2c_spi_buses.h>
#define BMP280_ADDR_CAL 0x88 /* address of 12x 2 bytes calibration data */
#define BMP280_ADDR_DATA 0xF7 /* address of 2x 3 bytes p-t data */
@ -158,5 +158,9 @@ public:
/* interface factories */
#if defined(CONFIG_SPI)
extern bmp280::IBMP280 *bmp280_spi_interface(uint8_t busnum, uint32_t device, int bus_frequency, spi_mode_e spi_mode);
#endif // CONFIG_SPI
#if defined(CONFIG_I2C)
extern bmp280::IBMP280 *bmp280_i2c_interface(uint8_t busnum, uint32_t device, int bus_frequency);
#endif // CONFIG_I2C

25
src/drivers/barometer/bmp280/bmp280_main.cpp
View File

@ -37,6 +37,8 @@
#include "BMP280.hpp"
#include <drivers/drv_sensor.h>
extern "C" { __EXPORT int bmp280_main(int argc, char *argv[]); }
void
@ -45,8 +47,12 @@ BMP280::print_usage()
PRINT_MODULE_USAGE_NAME("bmp280", "driver");
PRINT_MODULE_USAGE_SUBCATEGORY("baro");
PRINT_MODULE_USAGE_COMMAND("start");
#if defined(CONFIG_I2C)
PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, true);
PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x76);
#else
PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(false, true);
#endif
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
}
@ -54,21 +60,30 @@ I2CSPIDriverBase *BMP280::instantiate(const I2CSPIDriverConfig &config, int runt
{
bmp280::IBMP280 *interface = nullptr;
#if defined(CONFIG_I2C)
if (config.bus_type == BOARD_I2C_BUS) {
interface = bmp280_i2c_interface(config.bus, config.i2c_address, config.bus_frequency);
} else if (config.bus_type == BOARD_SPI_BUS) {
}
#endif // CONFIG_I2C
#if defined(CONFIG_SPI)
if (config.bus_type == BOARD_SPI_BUS) {
interface = bmp280_spi_interface(config.bus, config.spi_devid, config.bus_frequency, config.spi_mode);
}
#endif // CONFIG_SPI
if (interface == nullptr) {
PX4_ERR("failed creating interface for bus %i (devid 0x%" PRIx32 ")", config.bus, config.spi_devid);
PX4_ERR("failed creating interface for bus %i", config.bus);
return nullptr;
}
if (interface->init() != OK) {
delete interface;
PX4_DEBUG("no device on bus %i (devid 0x%" PRIx32 ")", config.bus, config.spi_devid);
PX4_DEBUG("no device on bus %i", config.bus);
return nullptr;
}
@ -92,9 +107,13 @@ bmp280_main(int argc, char *argv[])
{
using ThisDriver = BMP280;
BusCLIArguments cli{true, true};
#if defined(CONFIG_I2C)
cli.i2c_address = 0x76;
cli.default_i2c_frequency = 100 * 1000;
#endif // CONFIG_I2C
#if defined(CONFIG_SPI)
cli.default_spi_frequency = 10 * 1000 * 1000;
#endif // CONFIG_SPI
const char *verb = cli.parseDefaultArguments(argc, argv);

4
src/drivers/barometer/dps310/DPS310_I2C.cpp
View File

@ -39,6 +39,8 @@
#include <lib/drivers/device/i2c.h>
#if defined(CONFIG_I2C)
namespace dps310
{
@ -89,3 +91,5 @@ DPS310_I2C::write(unsigned address, void *data, unsigned count)
}
} // namespace dps310
#endif // CONFIG_I2C

24
src/drivers/barometer/dps310/dps310_main.cpp
View File

@ -36,7 +36,9 @@
namespace dps310
{
extern device::Device *DPS310_SPI_interface(uint8_t bus, uint32_t device, int bus_frequency, spi_mode_e spi_mode);
#if defined(CONFIG_I2C)
extern device::Device *DPS310_I2C_interface(uint8_t bus, uint32_t device, int bus_frequency);
#endif // CONFIG_I2C
}
#include <px4_platform_common/getopt.h>
@ -50,8 +52,12 @@ DPS310::print_usage()
PRINT_MODULE_USAGE_NAME("dps310", "driver");
PRINT_MODULE_USAGE_SUBCATEGORY("baro");
PRINT_MODULE_USAGE_COMMAND("start");
#if defined(CONFIG_I2C)
PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, true);
PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x77);
#else
PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(false, true);
#endif
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
}
@ -59,12 +65,16 @@ I2CSPIDriverBase *DPS310::instantiate(const I2CSPIDriverConfig &config, int runt
{
device::Device *interface = nullptr;
#if defined(CONFIG_I2C)
if (config.bus_type == BOARD_I2C_BUS) {
interface = DPS310_I2C_interface(config.bus, config.i2c_address, config.bus_frequency);
} else if (config.bus_type == BOARD_SPI_BUS) {
interface = DPS310_SPI_interface(config.bus, config.spi_devid, config.bus_frequency, config.spi_mode);
}
} else
#endif // CONFIG_I2C
if (config.bus_type == BOARD_SPI_BUS) {
interface = DPS310_SPI_interface(config.bus, config.spi_devid, config.bus_frequency, config.spi_mode);
}
if (interface == nullptr) {
PX4_ERR("failed creating interface for bus %i (devid 0x%" PRIx32 ")", config.bus, config.spi_devid);
@ -95,9 +105,15 @@ I2CSPIDriverBase *DPS310::instantiate(const I2CSPIDriverConfig &config, int runt
extern "C" int dps310_main(int argc, char *argv[])
{
using ThisDriver = DPS310;
BusCLIArguments cli{true, true};
#if defined(CONFIG_I2C)
BusCLIArguments cli {true, true};
cli.i2c_address = 0x77;
cli.default_i2c_frequency = 400000;
#else
BusCLIArguments cli {false, true};
#endif // CONFIG_I2C
cli.default_spi_frequency = 10 * 1000 * 1000;
const char *verb = cli.parseDefaultArguments(argc, argv);

13
src/drivers/barometer/ms5611/ms5611.h
View File

@ -39,17 +39,19 @@
#pragma once
#include "board_config.h"
#include <string.h>
#include <drivers/device/i2c.h>
#if defined(CONFIG_I2C)
# include <drivers/device/i2c.h>
#endif // CONFIG_I2C
#include <drivers/device/device.h>
#include <drivers/device/spi.h>
#include <lib/cdev/CDev.hpp>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include <systemlib/err.h>
#include <uORB/uORB.h>
#include "board_config.h"
#define ADDR_RESET_CMD 0x1E /* write to this address to reset chip */
#define ADDR_PROM_SETUP 0xA0 /* address of 8x 2 bytes factory and calibration data */
@ -96,7 +98,10 @@ extern bool crc4(uint16_t *n_prom);
/* interface factories */
extern device::Device *MS5611_spi_interface(ms5611::prom_u &prom_buf, uint32_t devid, uint8_t busnum, int bus_frequency,
spi_mode_e spi_mode);
#if defined(CONFIG_I2C)
extern device::Device *MS5611_i2c_interface(ms5611::prom_u &prom_buf, uint32_t devid, uint8_t busnum,
int bus_frequency);
#endif // CONFIG_I2C
typedef device::Device *(*MS5611_constructor)(ms5611::prom_u &prom_buf, uint32_t devid, uint8_t busnum);

4
src/drivers/barometer/ms5611/ms5611_i2c.cpp
View File

@ -39,6 +39,8 @@
#include <drivers/device/i2c.h>
#if defined(CONFIG_I2C)
#include "ms5611.h"
class MS5611_I2C : public device::I2C
@ -238,3 +240,5 @@ MS5611_I2C::_read_prom()
/* calculate CRC and return success/failure accordingly */
return (ms5611::crc4(&_prom.c[0]) && !bits_stuck) ? PX4_OK : -EIO;
}
#endif // CONFIG_I2C

23
src/drivers/barometer/ms5611/ms5611_main.cpp
View File

@ -45,12 +45,16 @@ I2CSPIDriverBase *MS5611::instantiate(const I2CSPIDriverConfig &config, int runt
ms5611::prom_u prom_buf;
device::Device *interface = nullptr;
#if defined(CONFIG_I2C)
if (config.bus_type == BOARD_I2C_BUS) {
interface = MS5611_i2c_interface(prom_buf, config.spi_devid, config.bus, config.bus_frequency);
} else if (config.bus_type == BOARD_SPI_BUS) {
interface = MS5611_spi_interface(prom_buf, config.spi_devid, config.bus, config.bus_frequency, config.spi_mode);
}
} else
#endif // CONFIG_I2C
if (config.bus_type == BOARD_SPI_BUS) {
interface = MS5611_spi_interface(prom_buf, config.spi_devid, config.bus, config.bus_frequency, config.spi_mode);
}
if (interface == nullptr) {
PX4_ERR("alloc failed");
@ -83,7 +87,11 @@ void MS5611::print_usage()
PRINT_MODULE_USAGE_NAME("ms5611", "driver");
PRINT_MODULE_USAGE_SUBCATEGORY("baro");
PRINT_MODULE_USAGE_COMMAND("start");
#if defined(CONFIG_I2C)
PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, true);
#else
PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(false, true);
#endif
PRINT_MODULE_USAGE_PARAM_STRING('T', "5611", "5607|5611", "Device type", true);
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
}
@ -92,8 +100,13 @@ extern "C" int ms5611_main(int argc, char *argv[])
{
using ThisDriver = MS5611;
int ch;
BusCLIArguments cli{true, true};
#if defined(CONFIG_I2C)
BusCLIArguments cli {true, true};
cli.default_i2c_frequency = 400000;
cli.i2c_address = MS5611_ADDRESS_1;
#else
BusCLIArguments cli {false, true};
#endif
cli.default_spi_frequency = 20 * 1000 * 1000;
uint16_t dev_type_driver = DRV_BARO_DEVTYPE_MS5611;
@ -120,8 +133,6 @@ extern "C" int ms5611_main(int argc, char *argv[])
return -1;
}
cli.i2c_address = MS5611_ADDRESS_1;
BusInstanceIterator iterator(MODULE_NAME, cli, dev_type_driver);
if (!strcmp(verb, "start")) {

4
src/lib/drivers/device/nuttx/I2C.cpp
View File

@ -42,6 +42,8 @@
#include "I2C.hpp"
#if defined(CONFIG_I2C)
#include <px4_platform_common/i2c_spi_buses.h>
#include <nuttx/i2c/i2c_master.h>
@ -236,3 +238,5 @@ I2C::transfer(const uint8_t *send, const unsigned send_len, uint8_t *recv, const
}
} // namespace device
#endif // CONFIG_I2C

17
src/lib/drivers/device/nuttx/I2C.hpp
View File

@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Copyright (C) 2012-2021 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
@ -31,26 +31,23 @@
*
****************************************************************************/
#pragma once
/**
* @file i2c.h
* @file I2C.hpp
*
* Base class for devices connected via I2C.
*/
#ifndef _DEVICE_I2C_H
#define _DEVICE_I2C_H
#include "../CDev.hpp"
#include <px4_platform_common/i2c.h>
#if defined(CONFIG_I2C)
#include <nuttx/i2c/i2c_master.h>
struct I2CSPIDriverConfig;
#if !defined(CONFIG_I2C)
# error I2C support requires CONFIG_I2C
#endif
namespace device __EXPORT
{
@ -123,4 +120,4 @@ private:
} // namespace device
#endif /* _DEVICE_I2C_H */
#endif // CONFIG_I2C

14
src/lib/drivers/device/nuttx/SPI.cpp
View File

@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2012-2019, 2021 PX4 Development Team. All rights reserved.
* Copyright (C) 2012-2021 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
@ -32,21 +32,16 @@
****************************************************************************/
/**
* @file spi.cpp
* @file SPI.cpp
*
* Base class for devices connected via SPI.
*
* @todo Work out if caching the mode/frequency would save any time.
*
* @todo A separate bus/device abstraction would allow for mixed interrupt-mode
* and non-interrupt-mode clients to arbitrate for the bus. As things stand,
* a bus shared between clients of both kinds is vulnerable to races between
* the two, where an interrupt-mode client will ignore the lock held by the
* non-interrupt-mode client.
*/
#include "SPI.hpp"
#if defined(CONFIG_SPI)
#include <px4_platform_common/i2c_spi_buses.h>
#include <px4_platform_common/px4_config.h>
#include <nuttx/arch.h>
@ -237,3 +232,4 @@ SPI::_transferhword(uint16_t *send, uint16_t *recv, unsigned len)
}
} // namespace device
#endif // CONFIG_SPI

12
src/lib/drivers/device/nuttx/SPI.hpp
View File

@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Copyright (C) 2012-2021 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
@ -31,16 +31,18 @@
*
****************************************************************************/
#pragma once
/**
* @file SPI.hpp
*
* Base class for devices connected via SPI.
*/
#ifndef _DEVICE_SPI_H
#define _DEVICE_SPI_H
#include "../CDev.hpp"
#include <px4_platform_common/spi.h>
#if defined(CONFIG_SPI)
#include <nuttx/spi/spi.h>
#include <px4_platform_common/spi.h>
@ -178,4 +180,4 @@ protected:
} // namespace device
#endif /* _DEVICE_SPI_H */
#endif // CONFIG_SPI

6
src/lib/drivers/device/posix/I2C.cpp
View File

@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2016-2020 PX4 Development Team. All rights reserved.
* Copyright (c) 2016-2021 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
@ -42,6 +42,8 @@
#include "I2C.hpp"
#if defined(CONFIG_I2C)
#ifdef __PX4_LINUX
#include <linux/i2c.h>
@ -181,3 +183,5 @@ I2C::transfer(const uint8_t *send, const unsigned send_len, uint8_t *recv, const
} // namespace device
#endif // __PX4_LINUX
#endif // CONFIG_I2C

11
src/lib/drivers/device/posix/I2C.hpp
View File

@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2016-2020 PX4 Development Team. All rights reserved.
* Copyright (C) 2016-2021 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
@ -31,18 +31,19 @@
*
****************************************************************************/
#pragma once
/**
* @file I2C.hpp
*
* Base class for devices connected via I2C.
*/
#ifndef _DEVICE_I2C_H
#define _DEVICE_I2C_H
#include "../CDev.hpp"
#include <px4_platform_common/i2c.h>
#if defined(CONFIG_I2C)
struct I2CSPIDriverConfig;
namespace device __EXPORT
@ -112,4 +113,4 @@ private:
} // namespace device
#endif /* _DEVICE_I2C_H */
#endif // CONFIG_I2C

6
src/lib/drivers/device/posix/SPI.cpp
View File

@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2019 PX4 Development Team. All rights reserved.
* Copyright (C) 2019-2021 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
@ -40,6 +40,8 @@
#include "SPI.hpp"
#if defined(CONFIG_SPI)
#ifdef __PX4_LINUX
#include <fcntl.h>
@ -73,7 +75,6 @@ SPI::SPI(const I2CSPIDriverConfig &config)
{
}
SPI::~SPI()
{
if (_fd >= 0) {
@ -197,3 +198,4 @@ SPI::transferhword(uint16_t *send, uint16_t *recv, unsigned len)
} // namespace device
#endif // __PX4_LINUX
#endif // CONFIG_SPI

11
src/lib/drivers/device/posix/SPI.hpp
View File

@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2019 PX4 Development Team. All rights reserved.
* Copyright (C) 2019-2021 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
@ -31,18 +31,19 @@
*
****************************************************************************/
#pragma once
/**
* @file SPI.hpp
*
* Base class for devices connected via SPI.
*/
#ifndef _DEVICE_SPI_H
#define _DEVICE_SPI_H
#include "../CDev.hpp"
#include <px4_platform_common/spi.h>
#if defined(CONFIG_SPI)
#ifdef __PX4_LINUX
#include <fcntl.h>
@ -201,4 +202,4 @@ enum spi_mode_e {
};
#endif // __PX4_LINUX
#endif /* _DEVICE_SPI_H */
#endif // CONFIG_SPI

45
src/systemcmds/tests/test_i2c_spi_cli.cpp
View File

@ -84,55 +84,80 @@ bool I2CSPICLITest::test_basic()
{
BusCLIArguments cli{true, true};
#if defined(CONFIG_I2C)
cli.default_i2c_frequency = 1234;
#endif // CONFIG_I2C
#if defined(CONFIG_SPI)
cli.default_spi_frequency = 12345;
#endif // CONFIG_SPI
const char *argv[] = { "start", "-I" };
CLIArgsHelper cli_args(argv, 2);
const char *verb = cli.parseDefaultArguments(cli_args.argc, cli_args.argv);
ut_assert_true(verb != nullptr);
ut_assert_true(strcmp(verb, "start") == 0);
#if defined(CONFIG_I2C)
ut_assert_true(cli.bus_option == I2CSPIBusOption::I2CInternal);
ut_assert_true(cli.bus_frequency == cli.default_i2c_frequency);
#endif // CONFIG_I2C
}
{
BusCLIArguments cli{true, true};
#if defined(CONFIG_I2C)
cli.default_i2c_frequency = 1234;
#endif // CONFIG_I2C
#if defined(CONFIG_SPI)
cli.default_spi_frequency = 12345;
#endif // CONFIG_SPI
const char *argv[] = { "start", "-s", "-f", "10"};
CLIArgsHelper cli_args(argv, 4);
const char *verb = cli.parseDefaultArguments(cli_args.argc, cli_args.argv);
ut_assert_true(verb != nullptr);
ut_assert_true(strcmp(verb, "start") == 0);
#if defined(CONFIG_SPI)
ut_assert_true(cli.bus_option == I2CSPIBusOption::SPIInternal);
#endif // CONFIG_SPI
ut_assert_true(cli.bus_frequency == 10000);
}
{
BusCLIArguments cli{true, true};
#if defined(CONFIG_I2C)
cli.default_i2c_frequency = 11111;
#endif // CONFIG_I2C
#if defined(CONFIG_SPI)
cli.default_spi_frequency = 22222;
#endif // CONFIG_SPI
const char *argv[] = { "-S", "-b", "3", "stop"};
CLIArgsHelper cli_args(argv, 4);
const char *verb = cli.parseDefaultArguments(cli_args.argc, cli_args.argv);
ut_assert_true(verb != nullptr);
ut_assert_true(strcmp(verb, "stop") == 0);
#if defined(CONFIG_SPI)
ut_assert_true(cli.bus_option == I2CSPIBusOption::SPIExternal);
#endif // CONFIG_SPI
ut_assert_true(cli.requested_bus == 3);
}
{
BusCLIArguments cli{true, true};
#if defined(CONFIG_I2C)
cli.default_i2c_frequency = 11111;
cli.default_spi_frequency = 22222;
cli.i2c_address = 0xab;
#endif // CONFIG_I2C
#if defined(CONFIG_SPI)
cli.default_spi_frequency = 22222;
#endif // CONFIG_SPI
const char *argv[] = { "start", "-X", "-a", "0x14"};
CLIArgsHelper cli_args(argv, 4);
const char *verb = cli.parseDefaultArguments(cli_args.argc, cli_args.argv);
ut_assert_true(verb != nullptr);
ut_assert_true(strcmp(verb, "start") == 0);
#if defined(CONFIG_I2C)
ut_assert_true(cli.bus_option == I2CSPIBusOption::I2CExternal);
ut_assert_true(cli.i2c_address == 0x14);
#endif // CONFIG_I2C
}
return true;
@ -143,7 +168,9 @@ bool I2CSPICLITest::test_invalid()
{
// SPI disabled, but SPI option provided
BusCLIArguments cli{true, false};
#if defined(CONFIG_I2C)
cli.default_i2c_frequency = 11111;
#endif // CONFIG_I2C
const char *argv[] = { "start", "-S"};
CLIArgsHelper cli_args(argv, 2);
const char *verb = cli.parseDefaultArguments(cli_args.argc, cli_args.argv);
@ -153,8 +180,12 @@ bool I2CSPICLITest::test_invalid()
{
// Unknown argument
BusCLIArguments cli{true, true};
#if defined(CONFIG_I2C)
cli.default_i2c_frequency = 11111;
#endif // CONFIG_I2C
#if defined(CONFIG_SPI)
cli.default_spi_frequency = 22222;
#endif // CONFIG_SPI
const char *argv[] = { "start", "-I", "-x", "3"};
CLIArgsHelper cli_args(argv, 3);
const char *verb = cli.parseDefaultArguments(cli_args.argc, cli_args.argv);
@ -173,8 +204,12 @@ bool I2CSPICLITest::test_invalid()
{
// Another unknown argument
BusCLIArguments cli{true, true};
#if defined(CONFIG_I2C)
cli.default_i2c_frequency = 11111;
#endif // CONFIG_I2C
#if defined(CONFIG_SPI)
cli.default_spi_frequency = 22222;
#endif // CONFIG_SPI
const char *argv[] = { "-x", "start" };
CLIArgsHelper cli_args(argv, 2);
const char *verb = cli.parseDefaultArguments(cli_args.argc, cli_args.argv);
@ -188,8 +223,12 @@ bool I2CSPICLITest::test_custom()
{
// custom argument
BusCLIArguments cli{true, true};
#if defined(CONFIG_I2C)
cli.default_i2c_frequency = 11111;
#endif // CONFIG_I2C
#if defined(CONFIG_SPI)
cli.default_spi_frequency = 22222;
#endif // CONFIG_SPI
const char *argv[] = { "start", "-T", "432", "-a", "12"};
CLIArgsHelper cli_args(argv, 5);
int ch;
@ -216,8 +255,12 @@ bool I2CSPICLITest::test_custom()
{
// duplicate argument
BusCLIArguments cli{true, true};
#if defined(CONFIG_I2C)
cli.default_i2c_frequency = 11111;
#endif // CONFIG_I2C
#if defined(CONFIG_SPI)
cli.default_spi_frequency = 22222;
#endif // CONFIG_SPI
const char *argv[] = { "start"};
CLIArgsHelper cli_args(argv, 1);
int ch;