From f743585160a5b323d8b44788970f24e4eb4386b2 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Beat=20K=C3=BCng?= Date: Mon, 2 Mar 2020 13:55:55 +0100 Subject: [PATCH] refactor mb12xx: use driver base class --- ROMFS/px4fmu_common/init.d/rc.sensors | 2 +- src/drivers/distance_sensor/mb12xx/mb12xx.cpp | 323 ++++-------------- src/drivers/drv_sensor.h | 1 + 3 files changed, 67 insertions(+), 259 deletions(-) diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors index 57d5be523b..640e5a2dc8 100644 --- a/ROMFS/px4fmu_common/init.d/rc.sensors +++ b/ROMFS/px4fmu_common/init.d/rc.sensors @@ -79,7 +79,7 @@ fi # mb12xx sonar sensor if param greater -s SENS_EN_MB12XX 0 then - mb12xx start -a + mb12xx start -X fi # pga460 sonar sensor diff --git a/src/drivers/distance_sensor/mb12xx/mb12xx.cpp b/src/drivers/distance_sensor/mb12xx/mb12xx.cpp index b7ad82dc65..4b7a31bcb8 100644 --- a/src/drivers/distance_sensor/mb12xx/mb12xx.cpp +++ b/src/drivers/distance_sensor/mb12xx/mb12xx.cpp @@ -63,7 +63,8 @@ #include #include #include -#include +#include +#include #include #include @@ -72,7 +73,6 @@ using namespace time_literals; /* Configuration Constants */ #define MB12XX_BASE_ADDR 0x70 // 7-bit address is 0x70 = 112. 8-bit address is 0xE0 = 224. #define MB12XX_MIN_ADDR 0x5A // 7-bit address is 0x5A = 90. 8-bit address is 0xB4 = 180. -#define MB12XX_BUS_DEFAULT PX4_I2C_BUS_EXPANSION #define MB12XX_BUS_SPEED 100000 // 100kHz bus speed. #define MB12XX_DEVICE_PATH "/dev/mb12xx" @@ -88,18 +88,22 @@ using namespace time_literals; #define MB12XX_MEASURE_INTERVAL 100_ms // 60ms minimum for one sonar. #define MB12XX_INTERVAL_BETWEEN_SUCCESIVE_FIRES 100_ms // 30ms minimum between each sonar measurement (watch out for interference!). -class MB12XX : public device::I2C, public ModuleParams, public px4::ScheduledWorkItem +class MB12XX : public device::I2C, public ModuleParams, public I2CSPIDriver { public: - MB12XX(const int bus = MB12XX_BUS_DEFAULT); + MB12XX(I2CSPIBusOption bus_option, const int bus, int bus_frequency, int address); virtual ~MB12XX(); + static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator, + int runtime_instance); + static void print_usage(); + virtual int init() override; /** * Diagnostics - print some basic information about the driver. */ - void print_info(); + void print_status() override; /** * Sets a new device address. @@ -117,11 +121,13 @@ public: void start(); /** - * Stop the automatic measurement state machine. + * Perform a poll cycle; collect from the previous measurement + * and start a new one. */ - void stop(); + void RunImpl(); protected: + void custom_method(const BusCLIArguments &cli) override; private: @@ -140,12 +146,6 @@ private: */ int measure(); - /** - * Perform a poll cycle; collect from the previous measurement - * and start a new one. - */ - void Run() override; - px4::Array _sensor_addresses {}; px4::Array _sensor_rotations {}; @@ -178,18 +178,15 @@ private: ); }; -MB12XX::MB12XX(const int bus) : - I2C("MB12xx", MB12XX_DEVICE_PATH, bus, MB12XX_BASE_ADDR, MB12XX_BUS_SPEED), +MB12XX::MB12XX(I2CSPIBusOption bus_option, const int bus, int bus_frequency, int address) : + I2C("MB12xx", MB12XX_DEVICE_PATH, bus, address, bus_frequency), ModuleParams(nullptr), - ScheduledWorkItem(MODULE_NAME, px4::device_bus_to_wq(get_device_id())) + I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus, address) { } MB12XX::~MB12XX() { - // Ensure we are truly inactive. - stop(); - // Unadvertise the distance sensor topic. if (_distance_sensor_topic != nullptr) { orb_unadvertise(_distance_sensor_topic); @@ -344,8 +341,9 @@ MB12XX::measure() } void -MB12XX::print_info() +MB12XX::print_status() { + I2CSPIDriverBase::print_status(); perf_print_counter(_sample_perf); perf_print_counter(_comms_error); PX4_INFO("poll interval: %ums", _measure_interval / 1000); @@ -356,7 +354,7 @@ MB12XX::print_info() } void -MB12XX::Run() +MB12XX::RunImpl() { // Collect the sensor data. if (collect() != PX4_OK) { @@ -406,267 +404,76 @@ MB12XX::start() } void -MB12XX::stop() +MB12XX::custom_method(const BusCLIArguments &cli) { - ScheduleClear(); + set_address(cli.i2c_address); } -/** - * Local functions in support of the shell command. - */ -namespace mb12xx +I2CSPIDriverBase *MB12XX::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator, + int runtime_instance) { + MB12XX *instance = new MB12XX(iterator.configuredBusOption(), iterator.bus(), cli.bus_frequency, cli.i2c_address); -MB12XX *g_dev; + if (instance == nullptr) { + PX4_ERR("alloc failed"); + return nullptr; + } -int reset(); -int set_address(const uint8_t address = MB12XX_BASE_ADDR); -int start(); -int start_bus(const int i2c_bus = MB12XX_BUS_DEFAULT); -int status(); -int stop(); -int test(); -int usage(); + if (instance->init() != PX4_OK) { + delete instance; + return nullptr; + } -/** - * Reset the driver. - */ -int -reset() -{ - PX4_INFO("driver resetting"); - stop(); - start(); - return PX4_OK; + instance->start(); + return instance; } -int -set_address(const uint8_t address) -{ - if (g_dev != nullptr) { - if (g_dev->set_address(address) != PX4_OK) { - PX4_ERR("address not set"); - return PX4_ERROR; - } - } - reset(); - return PX4_OK; +void +MB12XX::print_usage() +{ + PRINT_MODULE_USAGE_NAME("mb12xx", "driver"); + PRINT_MODULE_USAGE_SUBCATEGORY("distance_sensor"); + PRINT_MODULE_USAGE_COMMAND("start"); + PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false); + PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x70); + PRINT_MODULE_USAGE_COMMAND("set_address"); + PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x70); + PRINT_MODULE_USAGE_DEFAULT_COMMANDS(); } -/** - * 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() -{ - if (g_dev != nullptr) { - PX4_ERR("already started"); - return PX4_ERROR; - } - - for (unsigned i = 0; i < NUM_I2C_BUS_OPTIONS; i++) { - if (start_bus(i2c_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_bus(const int i2c_bus) -{ - if (g_dev != nullptr) { - PX4_ERR("already started"); - return PX4_OK; - } - - // Instantiate the driver. - g_dev = new MB12XX(i2c_bus); - - if (g_dev == nullptr) { - delete g_dev; - return PX4_ERROR; - } - - // Initialize the sensor. - if (g_dev->init() != PX4_OK) { - delete g_dev; - g_dev = nullptr; - return PX4_ERROR; - } - - // Start the driver. - g_dev->start(); - - PX4_INFO("driver started"); - return PX4_OK; -} - -/** - * Print the driver status. - */ -int -status() -{ - if (g_dev == nullptr) { - PX4_ERR("driver not running"); - return PX4_ERROR; - } - - g_dev->print_info(); - - return PX4_OK; -} - -/** - * Stop the driver. - */ -int -stop() -{ - if (g_dev != nullptr) { - delete g_dev; - g_dev = nullptr; - } - - PX4_INFO("driver stopped"); - return PX4_OK; -} - -/** - * Perform some basic functional tests on the driver; - * make sure we can collect data from the sensor in polled - * and automatic modes. - */ -int -test() -{ - int fd = px4_open(MB12XX_DEVICE_PATH, O_RDONLY); - - if (fd < 0) { - PX4_ERR("%s open failed (try 'mb12xx start' if the driver is not running)", MB12XX_DEVICE_PATH); - return PX4_ERROR; - } - - // Perform a simple demand read. - distance_sensor_s report {}; - ssize_t sz = read(fd, &report, sizeof(report)); - - if (sz != sizeof(report)) { - PX4_ERR("immediate read failed"); - return PX4_ERROR; - } - - print_message(report); - - PX4_INFO("PASS"); - return PX4_OK; -} - -/** - * Print information about the driver usage. - */ -int -usage() -{ - PX4_INFO("usage: mb12xx [options]"); - PX4_INFO("options:"); - PX4_INFO("\t-a --all available busses"); - PX4_INFO("\t-b --bus i2cbus (%d)", MB12XX_BUS_DEFAULT); - PX4_INFO("\t-A --set device address (0-112, 0x00-0x70)"); - PX4_INFO("command:"); - PX4_INFO("\treset|set_address|start|status|stop|test|usage"); - return PX4_OK; -} - -} // namespace mb12xx - -/** - * Driver 'main' command. - */ extern "C" __EXPORT int mb12xx_main(int argc, char *argv[]) { - const char *myoptarg = nullptr; + using ThisDriver = MB12XX; + BusCLIArguments cli{true, false}; + cli.i2c_address = MB12XX_BASE_ADDR; + cli.default_i2c_frequency = MB12XX_BUS_SPEED; - int ch = 0; - int i2c_bus = MB12XX_BUS_DEFAULT; - int myoptind = 1; + const char *verb = cli.parseDefaultArguments(argc, argv); - uint8_t address = MB12XX_BASE_ADDR; - - bool start_all = false; - - while ((ch = px4_getopt(argc, argv, "abs:", &myoptind, &myoptarg)) != EOF) { - switch (ch) { - case 'a': - start_all = true; - break; - - case 'b': - i2c_bus = atoi(myoptarg); - break; - - case 's': - address = (uint8_t)atoi(myoptarg); - break; - - default: - PX4_WARN("Unknown option!"); - return mb12xx::usage(); - } + if (!verb) { + ThisDriver::print_usage(); + return -1; } - if (myoptind >= argc) { - return mb12xx::usage(); + BusInstanceIterator iterator(MODULE_NAME, cli, DRV_DIST_DEVTYPE_MB12XX); + + if (!strcmp(verb, "start")) { + return ThisDriver::module_start(cli, iterator); } - // Reset the driver. - if (!strcmp(argv[myoptind], "reset")) { - return mb12xx::reset(); + if (!strcmp(verb, "stop")) { + return ThisDriver::module_stop(iterator); } - // Set the device I2C address. - if (!strcmp(argv[myoptind], "set_address")) { - return mb12xx::set_address(address); + if (!strcmp(verb, "status")) { + return ThisDriver::module_status(iterator); } - // Start/load the driver. - if (!strcmp(argv[myoptind], "start")) { - if (start_all) { - return mb12xx::start(); - - } else { - return mb12xx::start_bus(i2c_bus); - } + if (!strcmp(verb, "set_address")) { + return ThisDriver::module_custom_method(cli, iterator); } - // Print the driver status. - if (!strcmp(argv[myoptind], "status")) { - return mb12xx::status(); - } - - // Stop the driver. - if (!strcmp(argv[myoptind], "stop")) { - return mb12xx::stop(); - } - - // Test the driver/device. - if (!strcmp(argv[myoptind], "test")) { - return mb12xx::test(); - } - - // Print driver usage information. - return mb12xx::usage(); + ThisDriver::print_usage(); + return -1; } diff --git a/src/drivers/drv_sensor.h b/src/drivers/drv_sensor.h index f81efe7f7c..80c28b0574 100644 --- a/src/drivers/drv_sensor.h +++ b/src/drivers/drv_sensor.h @@ -131,6 +131,7 @@ #define DRV_DIST_DEVTYPE_LL40LS 0x70 #define DRV_DIST_DEVTYPE_MAPPYDOT 0x71 +#define DRV_DIST_DEVTYPE_MB12XX 0x72 #define DRV_DEVTYPE_UNUSED 0xff