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refactor bmp388: use driver base class

This commit is contained in:
Beat Küng 2020-02-26 16:51:35 +01:00 committed by Daniel Agar
parent aeadf54a74
commit 985bb2adc9
8 changed files with 88 additions and 225 deletions
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1
boards/modalai/fc-v1/src/board_config.h
View File

@ -208,7 +208,6 @@
*
* Note that these are unshifted addresses.
*/
#define PX4_I2C_OBDEV_BMP388 0x76
#define PX4_I2C_OBDEV_A71CH 0x49
#define BOARD_NUMBER_I2C_BUSES 4

2
boards/px4/fmu-v5x/init/rc.board_sensors
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@ -31,7 +31,7 @@ bmm150 start
# Possible internal Baro
bmp388 -I start
bmp388 -J start
bmp388 -I -a 0x77 start
# Baro on I2C3
ms5611 -X start

2
boards/px4/fmu-v5x/src/board_config.h
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@ -258,8 +258,6 @@
*
* Note that these are unshifted addresses.
*/
#define PX4_I2C_OBDEV_BMP388 0x76 // On IMU
#define PX4_I2C_OBDEV1_BMP388 0x77 // On FMUM
#define PX4_I2C_OBDEV_A71CH 0x49
#define BOARD_NUMBER_I2C_BUSES 4

28
src/drivers/barometer/bmp388/bmp388.cpp
View File

@ -34,16 +34,16 @@
/**
* @file bmp388.cpp
*
* Driver for the BMP388 barometric pressure sensor connected via I2C
* (SPI still TODO/test).
* Driver for the BMP388 barometric pressure sensor connected via SPI or I2C
*
* Refer to: https://github.com/BoschSensortec/BMP3-Sensor-API
*/
#include "bmp388.h"
BMP388::BMP388(IBMP388 *interface) :
ScheduledWorkItem(MODULE_NAME, px4::device_bus_to_wq(interface->get_device_id())),
BMP388::BMP388(I2CSPIBusOption bus_option, int bus, IBMP388 *interface) :
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(interface->get_device_id()), bus_option, bus,
interface->get_device_address()),
_px4_baro(interface->get_device_id()),
_interface(interface),
_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": read")),
@ -55,9 +55,6 @@ BMP388::BMP388(IBMP388 *interface) :
BMP388::~BMP388()
{
/* make sure we are truly inactive */
stop();
/* free perf counters */
perf_free(_sample_perf);
perf_free(_measure_perf);
@ -116,8 +113,9 @@ BMP388::init()
}
void
BMP388::print_info()
BMP388::print_status()
{
I2CSPIDriverBase::print_status();
perf_print_counter(_sample_perf);
perf_print_counter(_measure_perf);
perf_print_counter(_comms_errors);
@ -131,23 +129,11 @@ BMP388::start()
{
_collect_phase = false;
/* make sure we are stopped first */
stop();
ScheduleOnInterval(_measure_interval, 1000);
}
void
BMP388::stop()
{
ScheduleClear();
}
/*
* ScheduledWorkItem override
*/
void
BMP388::Run()
BMP388::RunImpl()
{
if (_collect_phase) {
collect();

21
src/drivers/barometer/bmp388/bmp388.h
View File

@ -43,6 +43,7 @@
#include <drivers/drv_hrt.h>
#include <lib/cdev/CDev.hpp>
#include <perf/perf_counter.h>
#include <px4_platform_common/i2c_spi_buses.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include <lib/drivers/barometer/PX4Barometer.hpp>
@ -301,18 +302,25 @@ public:
virtual calibration_s *get_calibration(uint8_t addr) = 0;
virtual uint32_t get_device_id() const = 0;
virtual uint8_t get_device_address() const = 0;
};
class BMP388 : public px4::ScheduledWorkItem
class BMP388 : public I2CSPIDriver<BMP388>
{
public:
BMP388(IBMP388 *interface);
BMP388(I2CSPIBusOption bus_option, int bus, IBMP388 *interface);
virtual ~BMP388();
static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
int runtime_instance);
static void print_usage();
virtual int init();
void print_info();
void print_status();
void RunImpl();
private:
PX4Barometer _px4_baro;
IBMP388 *_interface{nullptr};
@ -331,9 +339,7 @@ private:
bool _collect_phase{false};
void Run() override;
void start();
void stop();
int measure();
int collect(); //get results and publish
uint32_t get_measurement_time(uint8_t osr_t, uint8_t osr_p);
@ -350,6 +356,5 @@ private:
/* interface factories */
extern IBMP388 *bmp388_spi_interface(uint8_t busnum, uint32_t device);
extern IBMP388 *bmp388_i2c_interface(uint8_t busnum, uint32_t device);
typedef IBMP388 *(*BMP388_constructor)(uint8_t, uint32_t);
extern IBMP388 *bmp388_spi_interface(uint8_t busnum, uint32_t device, int bus_frequency, spi_mode_e spi_mode);
extern IBMP388 *bmp388_i2c_interface(uint8_t busnum, uint32_t device, int bus_frequency);

16
src/drivers/barometer/bmp388/bmp388_i2c.cpp
View File

@ -41,12 +41,10 @@
#include "bmp388.h"
#if defined(PX4_I2C_OBDEV_BMP388) || defined(PX4_I2C_EXT_OBDEV_BMP388)
class BMP388_I2C: public device::I2C, public IBMP388
{
public:
BMP388_I2C(uint8_t bus, uint32_t device);
BMP388_I2C(uint8_t bus, uint32_t device, int bus_frequency);
virtual ~BMP388_I2C() = default;
int init();
@ -58,17 +56,19 @@ public:
uint32_t get_device_id() const override { return device::I2C::get_device_id(); }
uint8_t get_device_address() const override { return device::I2C::get_device_address(); }
private:
struct calibration_s _cal;
};
IBMP388 *bmp388_i2c_interface(uint8_t busnum, uint32_t device)
IBMP388 *bmp388_i2c_interface(uint8_t busnum, uint32_t device, int bus_frequency)
{
return new BMP388_I2C(busnum, device);
return new BMP388_I2C(busnum, device, bus_frequency);
}
BMP388_I2C::BMP388_I2C(uint8_t bus, uint32_t device) :
I2C("BMP388_I2C", nullptr, bus, device, 100 * 1000)
BMP388_I2C::BMP388_I2C(uint8_t bus, uint32_t device, int bus_frequency) :
I2C("BMP388_I2C", nullptr, bus, device, bus_frequency)
{
}
@ -108,5 +108,3 @@ calibration_s *BMP388_I2C::get_calibration(uint8_t addr)
return nullptr;
}
}
#endif /* PX4_I2C_OBDEV_BMP388 || PX4_I2C_EXT_OBDEV_BMP388 */

228
src/drivers/barometer/bmp388/bmp388_main.cpp
View File

@ -33,208 +33,88 @@
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/getopt.h>
#include <px4_platform_common/module.h>
#include "bmp388.h"
enum class BMP388_BUS {
ALL = 0,
I2C_INTERNAL,
I2C_INTERNAL1,
I2C_EXTERNAL,
SPI_INTERNAL,
SPI_EXTERNAL
};
namespace bmp388
void
BMP388::print_usage()
{
// list of supported bus configurations
struct bmp388_bus_option {
BMP388_BUS busid;
BMP388_constructor interface_constructor;
uint8_t busnum;
uint32_t address;
BMP388 *dev;
} bus_options[] = {
#if defined(PX4_SPIDEV_EXT_BARO) && defined(PX4_SPI_BUS_EXT)
{ BMP388_BUS::SPI_EXTERNAL, &bmp388_spi_interface, PX4_SPI_BUS_EXT, PX4_SPIDEV_EXT_BARO, nullptr },
#endif
#if defined(PX4_SPIDEV_BARO)
# if defined(PX4_SPIDEV_BARO_BUS)
{ BMP388_BUS::SPI_INTERNAL, &bmp388_spi_interface, PX4_SPIDEV_BARO_BUS, PX4_SPIDEV_BARO, nullptr },
# else
{ BMP388_BUS::SPI_INTERNAL, &bmp388_spi_interface, PX4_SPI_BUS_SENSORS, PX4_SPIDEV_BARO, nullptr },
# endif
#endif
#if defined(PX4_I2C_BUS_ONBOARD) && defined(PX4_I2C_OBDEV_BMP388)
{ BMP388_BUS::I2C_INTERNAL, &bmp388_i2c_interface, PX4_I2C_BUS_ONBOARD, PX4_I2C_OBDEV_BMP388, nullptr },
#endif
#if defined(PX4_I2C_BUS_ONBOARD) && defined(PX4_I2C_OBDEV1_BMP388)
{ BMP388_BUS::I2C_INTERNAL1, &bmp388_i2c_interface, PX4_I2C_BUS_ONBOARD, PX4_I2C_OBDEV1_BMP388, nullptr },
#endif
#if defined(PX4_I2C_BUS_EXPANSION) && defined(PX4_I2C_OBDEV_BMP388)
{ BMP388_BUS::I2C_EXTERNAL, &bmp388_i2c_interface, PX4_I2C_BUS_EXPANSION, PX4_I2C_OBDEV_BMP388, nullptr },
#endif
};
// find a bus structure for a busid
static struct bmp388_bus_option *find_bus(BMP388_BUS busid)
{
for (bmp388_bus_option &bus_option : bus_options) {
if ((busid == BMP388_BUS::ALL ||
busid == bus_option.busid) && bus_option.dev != nullptr) {
return &bus_option;
}
}
return nullptr;
PRINT_MODULE_USAGE_NAME("bmp388", "driver");
PRINT_MODULE_USAGE_SUBCATEGORY("baro");
PRINT_MODULE_USAGE_COMMAND("start");
PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, true);
PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x76);
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
}
static bool start_bus(bmp388_bus_option &bus)
I2CSPIDriverBase *BMP388::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
int runtime_instance)
{
IBMP388 *interface = bus.interface_constructor(bus.busnum, bus.address);
IBMP388 *interface = nullptr;
if ((interface == nullptr) || (interface->init() != PX4_OK)) {
PX4_WARN("no device on bus %u", (unsigned)bus.busid);
delete interface;
return false;
if (iterator.busType() == BOARD_I2C_BUS) {
interface = bmp388_i2c_interface(iterator.bus(), cli.i2c_address, cli.bus_frequency);
} else if (iterator.busType() == BOARD_SPI_BUS) {
interface = bmp388_spi_interface(iterator.bus(), iterator.devid(), cli.bus_frequency, cli.spi_mode);
}
BMP388 *dev = new BMP388(interface);
if (interface == nullptr) {
PX4_ERR("failed creating interface for bus %i (devid 0x%x)", iterator.bus(), iterator.devid());
return nullptr;
}
if (interface->init() != OK) {
delete interface;
PX4_DEBUG("no device on bus %i (devid 0x%x)", iterator.bus(), iterator.devid());
return nullptr;
}
BMP388 *dev = new BMP388(iterator.configuredBusOption(), iterator.bus(), interface);
if (dev == nullptr) {
PX4_ERR("alloc failed");
delete interface;
return false;
return nullptr;
}
if (dev->init() != PX4_OK) {
PX4_ERR("driver start failed");
if (OK != dev->init()) {
delete dev;
return false;
return nullptr;
}
bus.dev = dev;
return true;
return dev;
}
static int start(BMP388_BUS busid)
{
for (bmp388_bus_option &bus_option : bus_options) {
if (bus_option.dev != nullptr) {
// this device is already started
PX4_WARN("already started");
continue;
}
if (busid != BMP388_BUS::ALL && bus_option.busid != busid) {
// not the one that is asked for
continue;
}
if (start_bus(bus_option)) {
return PX4_OK;
}
}
return PX4_ERROR;
}
static int stop(BMP388_BUS busid)
{
bmp388_bus_option *bus = find_bus(busid);
if (bus != nullptr && bus->dev != nullptr) {
delete bus->dev;
bus->dev = nullptr;
} else {
PX4_WARN("driver not running");
return PX4_ERROR;
}
return PX4_OK;
}
static int status(BMP388_BUS busid)
{
bmp388_bus_option *bus = find_bus(busid);
if (bus != nullptr && bus->dev != nullptr) {
bus->dev->print_info();
return PX4_OK;
}
PX4_WARN("driver not running");
return PX4_ERROR;
}
static int usage()
{
PX4_INFO("missing command: try 'start', 'stop', 'status'");
PX4_INFO("options:");
PX4_INFO(" -X (i2c external bus)");
PX4_INFO(" -I (i2c internal bus)");
PX4_INFO(" -J (i2c internal bus 2)");
PX4_INFO(" -s (spi internal bus)");
PX4_INFO(" -S (spi external bus)");
return 0;
}
} // namespace
extern "C" int bmp388_main(int argc, char *argv[])
{
int myoptind = 1;
int ch;
const char *myoptarg = nullptr;
BMP388_BUS busid = BMP388_BUS::ALL;
using ThisDriver = BMP388;
BusCLIArguments cli{true, true};
cli.i2c_address = 0x76;
cli.default_i2c_frequency = 100 * 1000;
cli.default_spi_frequency = 10 * 1000 * 1000;
while ((ch = px4_getopt(argc, argv, "XIJSs", &myoptind, &myoptarg)) != EOF) {
switch (ch) {
case 'X':
busid = BMP388_BUS::I2C_EXTERNAL;
break;
const char *verb = cli.parseDefaultArguments(argc, argv);
case 'I':
busid = BMP388_BUS::I2C_INTERNAL;
break;
case 'J':
busid = BMP388_BUS::I2C_INTERNAL1;
break;
case 'S':
busid = BMP388_BUS::SPI_EXTERNAL;
break;
case 's':
busid = BMP388_BUS::SPI_INTERNAL;
break;
default:
return bmp388::usage();
}
if (!verb) {
ThisDriver::print_usage();
return -1;
}
if (myoptind >= argc) {
return bmp388::usage();
}
const char *verb = argv[myoptind];
BusInstanceIterator iterator(MODULE_NAME, cli, DRV_BARO_DEVTYPE_BMP388);
if (!strcmp(verb, "start")) {
return bmp388::start(busid);
} else if (!strcmp(verb, "stop")) {
return bmp388::stop(busid);
} else if (!strcmp(verb, "status")) {
return bmp388::status(busid);
return ThisDriver::module_start(cli, iterator);
}
return bmp388::usage();
if (!strcmp(verb, "stop")) {
return ThisDriver::module_stop(iterator);
}
if (!strcmp(verb, "status")) {
return ThisDriver::module_status(iterator);
}
ThisDriver::print_usage();
return -1;
}

15
src/drivers/barometer/bmp388/bmp388_spi.cpp
View File

@ -46,8 +46,6 @@
#define DIR_READ (1<<7) //for set
#define DIR_WRITE ~(1<<7) //for clear
#if defined(PX4_SPIDEV_BARO) || defined(PX4_SPIDEV_EXT_BARO)
#pragma pack(push,1)
struct spi_data_s {
uint8_t addr;
@ -63,7 +61,7 @@ struct spi_calibration_s {
class BMP388_SPI: public device::SPI, public IBMP388
{
public:
BMP388_SPI(uint8_t bus, uint32_t device);
BMP388_SPI(uint8_t bus, uint32_t device, int bus_frequency, spi_mode_e spi_mode);
virtual ~BMP388_SPI() = default;
int init();
@ -75,17 +73,18 @@ public:
uint32_t get_device_id() const override { return device::SPI::get_device_id(); }
uint8_t get_device_address() const override { return device::SPI::get_device_address(); }
private:
spi_calibration_s _cal;
};
IBMP388 *bmp388_spi_interface(uint8_t busnum, uint32_t device)
IBMP388 *bmp388_spi_interface(uint8_t busnum, uint32_t device, int bus_frequency, spi_mode_e spi_mode)
{
return new BMP388_SPI(busnum, device);
return new BMP388_SPI(busnum, device, bus_frequency, spi_mode);
}
BMP388_SPI::BMP388_SPI(uint8_t bus, uint32_t device) :
SPI("BMP388_SPI", nullptr, bus, device, SPIDEV_MODE3, 10 * 1000 * 1000)
BMP388_SPI::BMP388_SPI(uint8_t bus, uint32_t device, int bus_frequency, spi_mode_e spi_mode) :
SPI("BMP388_SPI", nullptr, bus, device, spi_mode, bus_frequency)
{
}
@ -125,5 +124,3 @@ calibration_s *BMP388_SPI::get_calibration(uint8_t addr)
return nullptr;
}
}
#endif /* PX4_SPIDEV_BARO || PX4_SPIDEV_EXT_BARO */