forked from Archive/PX4-Autopilot
refactor mpl3115a2: use driver base class
This commit is contained in:
Beat Küng
Daniel Agar
parent
d81fedfcfa
commit
dc5ffb43a3
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@ -54,9 +54,9 @@
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#define MPL3115A2_OSR 2 /* Over Sample rate of 4 18MS Minimum time between data samples */
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#define MPL3115A2_CTRL_TRIGGER (CTRL_REG1_OST | CTRL_REG1_OS(MPL3115A2_OSR))
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MPL3115A2::MPL3115A2(const int bus) :
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I2C("MPL3115A2", nullptr, bus, MPL3115A2_ADDRESS, 400000),
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ScheduledWorkItem(MODULE_NAME, px4::device_bus_to_wq(get_device_id())),
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MPL3115A2::MPL3115A2(I2CSPIBusOption bus_option, const int bus, int bus_frequency) :
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I2C("MPL3115A2", nullptr, bus, MPL3115A2_ADDRESS, bus_frequency),
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I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
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_px4_barometer(get_device_id()),
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_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": read")),
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_measure_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": measure")),
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@ -68,8 +68,6 @@ MPL3115A2::MPL3115A2(const int bus) :
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MPL3115A2::~MPL3115A2()
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{
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stop();
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perf_free(_sample_perf);
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perf_free(_measure_perf);
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perf_free(_comms_errors);
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@ -129,11 +127,6 @@ void MPL3115A2::start()
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ScheduleNow();
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}
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void MPL3115A2::stop()
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{
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ScheduleClear();
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}
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int MPL3115A2::reset()
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{
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int max = 10;
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@ -149,7 +142,7 @@ int MPL3115A2::reset()
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return ret == 1 ? PX4_OK : ret;
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}
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void MPL3115A2::Run()
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void MPL3115A2::RunImpl()
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{
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int ret = PX4_ERROR;
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@ -243,7 +236,6 @@ int MPL3115A2::collect()
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}
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/* read the most recent measurement
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* 3 Pressure and 2 temprtture
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*/
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@ -289,8 +281,9 @@ int MPL3115A2::collect()
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return PX4_OK;
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}
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void MPL3115A2::print_info()
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void MPL3115A2::print_status()
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{
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I2CSPIDriverBase::print_status();
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perf_print_counter(_sample_perf);
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perf_print_counter(_comms_errors);
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@ -46,27 +46,30 @@
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#include <px4_platform_common/px4_config.h>
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#include <px4_platform_common/defines.h>
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#include <px4_platform_common/log.h>
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#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
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#include <px4_platform_common/i2c_spi_buses.h>
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class MPL3115A2 : public device::I2C, public px4::ScheduledWorkItem
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class MPL3115A2 : public device::I2C, public I2CSPIDriver<MPL3115A2>
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{
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public:
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MPL3115A2(const int bus);
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MPL3115A2(I2CSPIBusOption bus_option, const int bus, int bus_frequency);
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~MPL3115A2() override;
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static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
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int runtime_instance);
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static void print_usage();
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int init() override;
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int probe() override;
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void print_info();
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void print_status();
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void RunImpl();
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private:
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void start();
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void stop();
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int reset();
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void Run() override;
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int measure();
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int collect();
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@ -34,165 +34,61 @@
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#include "MPL3115A2.hpp"
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#include <px4_platform_common/getopt.h>
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#include <px4_platform_common/module.h>
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enum class MPL3115A2_BUS {
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ALL = 0,
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I2C_INTERNAL,
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I2C_EXTERNAL,
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};
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namespace mpl3115a2
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void
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MPL3115A2::print_usage()
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{
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PRINT_MODULE_USAGE_NAME("mpl3115a2", "driver");
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PRINT_MODULE_USAGE_SUBCATEGORY("baro");
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PRINT_MODULE_USAGE_COMMAND("start");
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PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false);
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PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
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}
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struct mpl3115a2_bus_option {
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MPL3115A2_BUS busid;
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uint8_t busnum;
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MPL3115A2 *dev;
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} bus_options[] = {
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#if defined(PX4_I2C_BUS_ONBOARD)
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{ MPL3115A2_BUS::I2C_INTERNAL, PX4_I2C_BUS_ONBOARD, nullptr },
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#endif
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#if defined(PX4_I2C_BUS_EXPANSION)
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{ MPL3115A2_BUS::I2C_EXTERNAL, PX4_I2C_BUS_EXPANSION, nullptr },
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#endif
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#if defined(PX4_I2C_BUS_EXPANSION1)
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{ MPL3115A2_BUS::I2C_EXTERNAL, PX4_I2C_BUS_EXPANSION1, nullptr },
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#endif
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#if defined(PX4_I2C_BUS_EXPANSION2)
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{ MPL3115A2_BUS::I2C_EXTERNAL, PX4_I2C_BUS_EXPANSION2, nullptr },
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#endif
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};
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// find a bus structure for a busid
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static mpl3115a2_bus_option *find_bus(MPL3115A2_BUS busid)
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I2CSPIDriverBase *MPL3115A2::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
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int runtime_instance)
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{
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for (mpl3115a2_bus_option &bus_option : bus_options) {
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if ((busid == MPL3115A2_BUS::ALL ||
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busid == bus_option.busid) && bus_option.dev != nullptr) {
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return &bus_option;
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}
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}
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MPL3115A2 *dev = new MPL3115A2(iterator.configuredBusOption(), iterator.bus(), cli.bus_frequency);
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if (dev == nullptr) {
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return nullptr;
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}
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}
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static bool start_bus(mpl3115a2_bus_option &bus)
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{
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MPL3115A2 *dev = new MPL3115A2(bus.busnum);
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if (dev == nullptr || (dev->init() != PX4_OK)) {
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PX4_ERR("driver start failed");
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if (OK != dev->init()) {
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delete dev;
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return false;
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return nullptr;
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}
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bus.dev = dev;
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return true;
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return dev;
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}
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static int start(MPL3115A2_BUS busid)
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{
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for (mpl3115a2_bus_option &bus_option : bus_options) {
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if (bus_option.dev != nullptr) {
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// this device is already started
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PX4_WARN("already started");
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continue;
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}
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if (busid != MPL3115A2_BUS::ALL && bus_option.busid != busid) {
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// not the one that is asked for
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continue;
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}
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if (start_bus(bus_option)) {
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return PX4_OK;
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}
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}
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return PX4_ERROR;
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}
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static int stop(MPL3115A2_BUS busid)
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{
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mpl3115a2_bus_option *bus = find_bus(busid);
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if (bus != nullptr && bus->dev != nullptr) {
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delete bus->dev;
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bus->dev = nullptr;
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} else {
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PX4_WARN("driver not running");
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return PX4_ERROR;
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}
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return PX4_OK;
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}
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static int status(MPL3115A2_BUS busid)
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{
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mpl3115a2_bus_option *bus = find_bus(busid);
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if (bus != nullptr && bus->dev != nullptr) {
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bus->dev->print_info();
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return PX4_OK;
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}
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PX4_WARN("driver not running");
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return PX4_ERROR;
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}
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static int usage()
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{
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PX4_INFO("missing command: try 'start', 'stop', 'status'");
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PX4_INFO("options:");
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PX4_INFO(" -X (i2c external bus)");
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PX4_INFO(" -I (i2c internal bus)");
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return 0;
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}
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} // namespace
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extern "C" int mpl3115a2_main(int argc, char *argv[])
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{
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int myoptind = 1;
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int ch;
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const char *myoptarg = nullptr;
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using ThisDriver = MPL3115A2;
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BusCLIArguments cli{true, false};
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const char *verb = cli.parseDefaultArguments(argc, argv);
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MPL3115A2_BUS busid = MPL3115A2_BUS::ALL;
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while ((ch = px4_getopt(argc, argv, "XI", &myoptind, &myoptarg)) != EOF) {
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switch (ch) {
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case 'X':
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busid = MPL3115A2_BUS::I2C_EXTERNAL;
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break;
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case 'I':
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busid = MPL3115A2_BUS::I2C_INTERNAL;
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break;
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default:
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return mpl3115a2::usage();
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}
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if (!verb) {
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ThisDriver::print_usage();
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return -1;
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}
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if (myoptind >= argc) {
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return mpl3115a2::usage();
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}
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const char *verb = argv[myoptind];
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BusInstanceIterator iterator(MODULE_NAME, cli, DRV_BARO_DEVTYPE_MPL3115A2);
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if (!strcmp(verb, "start")) {
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return mpl3115a2::start(busid);
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} else if (!strcmp(verb, "stop")) {
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return mpl3115a2::stop(busid);
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} else if (!strcmp(verb, "status")) {
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return mpl3115a2::status(busid);
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return ThisDriver::module_start(cli, iterator);
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}
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return mpl3115a2::usage();
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if (!strcmp(verb, "stop")) {
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return ThisDriver::module_stop(iterator);
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}
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if (!strcmp(verb, "status")) {
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return ThisDriver::module_status(iterator);
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}
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ThisDriver::print_usage();
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return -1;
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}
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