module docs: add PRINT_MODULE_USAGE_PARAMS_I2C_{SPI_DRIVER,ADDRESS}

For SPI/I2C driver default options

Tools/px4moduledoc/srcparser.py

@@ -33,9 +33,12 @@ class ModuleDocumentation(object):
         self._scope = scope
 
         self._options = '' # all option chars
+        self._explicit_options = '' # all option chars (explicit in the module)
         self._all_values = [] # list of all values
         self._all_commands = []
 
+        self._paring_implicit_options = False
+
         for func_name, args in function_calls:
             attribute_name = '_handle_'+func_name.lower()
             try:
@@ -99,7 +102,7 @@ class ModuleDocumentation(object):
     def _handle_usage_param_int(self, args):
         assert(len(args) == 6) # option_char, default_val, min_val, max_val, description, is_optional
         option_char = self._get_option_char(args[0])
-        default_val = int(args[1])
+        default_val = int(args[1], 0)
         description = self._get_string(args[4])
         if self._is_bool_true(args[5]):
             self._usage_string += "     [-%s <val>]  %s\n" % (option_char, description)
@@ -120,6 +123,33 @@ class ModuleDocumentation(object):
         else:
             self._usage_string += "     -%s <val>    %s\n" % (option_char, description)
 
+    def _handle_usage_params_i2c_spi_driver(self, args):
+        assert(len(args) == 2) # i2c_support, spi_support
+        self._paring_implicit_options = True
+        if self._is_bool_true(args[0]):
+            self._handle_usage_param_flag(['\'I\'', "\"Internal I2C bus(es)\"", 'true'])
+            self._handle_usage_param_flag(['\'X\'', "\"External I2C bus(es\")", 'true'])
+        if self._is_bool_true(args[1]):
+            self._handle_usage_param_flag(['\'s\'', "\"Internal SPI bus(es)\"", 'true'])
+            self._handle_usage_param_flag(['\'S\'', "\"External SPI bus(es)\"", 'true'])
+
+        self._handle_usage_param_int(['\'b\'', '-1', '0', '16',
+            "\"bus (board-specific internal (default=all) or n-th external (default=1))\"", 'true'])
+
+        if self._is_bool_true(args[1]):
+            self._handle_usage_param_int(['\'c\'', '1', '1', '10',
+                "\"chip-select index (for external SPI)\"", 'true'])
+            self._handle_usage_param_int(['\'m\'', '-1', '0', '3', "\"SPI mode\"", 'true'])
+
+        self._handle_usage_param_int(['\'f\'', '-1', '0', '1000000', "\"bus frequency in kHz\"", 'true'])
+        self._paring_implicit_options = False
+
+    def _handle_usage_params_i2c_address(self, args):
+        assert(len(args) == 1) # i2c_address
+        self._paring_implicit_options = True
+        self._handle_usage_param_int(['\'a\'', args[0], '0', '0xff', "\"I2C address\"", '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])
@@ -187,6 +217,8 @@ class ModuleDocumentation(object):
         assert(len(argument) == 3) # must have the form: 'p' (assume there's no escaping)
         option_char = argument[1]
         self._options += option_char
+        if not self._paring_implicit_options:
+            self._explicit_options += option_char
         return option_char
 
 
@@ -234,9 +266,10 @@ class ModuleDocumentation(object):
 
     def options(self):
         """
-        get all the -p options as string of chars
+        get all the -p options as string of chars, that are explicitly set in
+        the module
         """
-        return self._options
+        return self._explicit_options
 
     def all_values(self):
         """
@@ -257,7 +290,7 @@ class SourceParser(object):
     """
 
     # Regex to extract module doc function calls, starting with PRINT_MODULE_
-    re_doc_definition = re.compile(r'PRINT_MODULE_([A-Z_]*)\s*\(')
+    re_doc_definition = re.compile(r'PRINT_MODULE_([A-Z0-9_]*)\s*\(')
 
     def __init__(self):
         self._modules = {} # all found modules: key is the module name

platforms/common/include/px4_platform_common/module.h

@@ -499,6 +499,17 @@ __EXPORT void PRINT_MODULE_USAGE_COMMAND_DESCR(const char *name, const char *des
 	PRINT_MODULE_USAGE_COMMAND("stop"); \
 	PRINT_MODULE_USAGE_COMMAND_DESCR("status", "print status info");
 
+/**
+ * Print default params for I2C or SPI drivers
+ * @param i2c_support true if the driver supports I2C
+ * @param spi_support true if the driver supports SPI
+ */
+__EXPORT void PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(bool i2c_support, bool spi_support);
+
+/**
+ * Configurable I2C address (via -a <address>)
+ */
+__EXPORT void PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(uint8_t default_address);
 
 /** @note Each of the PRINT_MODULE_USAGE_PARAM_* methods apply to the previous PRINT_MODULE_USAGE_COMMAND_DESCR(). */
 

platforms/common/module.cpp

@@ -89,6 +89,35 @@ void PRINT_MODULE_USAGE_PARAM_COMMENT(const char *comment)
 	PX4_INFO_RAW("\n %s\n", comment);
 }
 
+void PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(bool i2c_support, bool spi_support)
+{
+	// Note: this must be kept in sync with Tools/px4moduledoc/srcparser.py
+	if (i2c_support) {
+		PRINT_MODULE_USAGE_PARAM_FLAG('I', "Internal I2C bus(es)", true);
+		PRINT_MODULE_USAGE_PARAM_FLAG('X', "External I2C bus(es)", true);
+	}
+
+	if (spi_support) {
+		PRINT_MODULE_USAGE_PARAM_FLAG('s', "Internal SPI bus(es)", true);
+		PRINT_MODULE_USAGE_PARAM_FLAG('S', "External SPI bus", true);
+	}
+
+	PRINT_MODULE_USAGE_PARAM_INT('b', -1, 0, 16, "bus (board-specific internal (default=all) or n-th external (default=1))",
+				     true);
+
+	if (spi_support) {
+		PRINT_MODULE_USAGE_PARAM_INT('c', 1, 1, 10, "chip-select index (for external SPI)", true);
+		PRINT_MODULE_USAGE_PARAM_INT('m', -1, 0, 3, "SPI mode", true);
+	}
+
+	PRINT_MODULE_USAGE_PARAM_INT('f', -1, 0, 100000, "bus frequency in kHz", true);
+}
+
+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_PARAM_INT(char option_char, int default_val, int min_val, int max_val,
 				  const char *description, bool is_optional)
 {