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ets_airspeed: add -a flag to scan all i2c busses during start

This commit is contained in:
DanielePettenuzzo 2018-06-17 15:29:14 +02:00 committed by Lorenz Meier
parent 649d4be185
commit 9d878c719d
1 changed files with 52 additions and 5 deletions
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57
src/drivers/differential_pressure/ets/ets_airspeed.cpp
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@ -239,19 +239,55 @@ namespace ets_airspeed
ETSAirspeed *g_dev;
int start(int i2c_bus);
int bus_options[] = {
#ifdef PX4_I2C_BUS_EXPANSION
PX4_I2C_BUS_EXPANSION,
#endif
#ifdef PX4_I2C_BUS_EXPANSION1
PX4_I2C_BUS_EXPANSION1,
#endif
#ifdef PX4_I2C_BUS_EXPANSION2
PX4_I2C_BUS_EXPANSION2,
#endif
};
#define NUM_BUS_OPTIONS (sizeof(bus_options)/sizeof(bus_options[0]))
int start();
int start_bus(int i2c_bus);
int stop();
int reset();
int info();
/**
* Start the driver.
* Attempt to start driver on all available I2C busses.
*
* This function will return as soon as the first sensor
* is detected on one of the available busses or if no
* sensors are detected.
*
*/
int
start()
{
for (unsigned i = 0; i < NUM_BUS_OPTIONS; i++) {
if (start_bus(bus_options[i]) == PX4_OK) {
return PX4_OK;
}
}
return PX4_ERROR;
}
/**
* Start the driver on a specific bus.
*
* This function only returns if the sensor is up and running
* or could not be detected successfully.
*/
int
start(int i2c_bus)
start_bus(int i2c_bus)
{
int fd;
@ -349,6 +385,7 @@ ets_airspeed_usage()
PX4_INFO("usage: ets_airspeed command [options]");
PX4_INFO("options:");
PX4_INFO("\t-b --bus i2cbus (%d)", PX4_I2C_BUS_DEFAULT);
PX4_INFO("\t-a --all");
PX4_INFO("command:");
PX4_INFO("\tstart|stop|reset|info");
}
@ -361,13 +398,18 @@ ets_airspeed_main(int argc, char *argv[])
int myoptind = 1;
int ch;
const char *myoptarg = nullptr;
bool start_all = false;
while ((ch = px4_getopt(argc, argv, "b:", &myoptind, &myoptarg)) != EOF) {
while ((ch = px4_getopt(argc, argv, "ab:", &myoptind, &myoptarg)) != EOF) {
switch (ch) {
case 'b':
i2c_bus = atoi(myoptarg);
break;
case 'a':
start_all = true;
break;
default:
ets_airspeed_usage();
return 0;
@ -383,7 +425,12 @@ ets_airspeed_main(int argc, char *argv[])
* Start/load the driver.
*/
if (!strcmp(argv[myoptind], "start")) {
return ets_airspeed::start(i2c_bus);
if (start_all) {
return ets_airspeed::start();
} else {
return ets_airspeed::start_bus(i2c_bus);
}
}
/*