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i2c spi: add type to I2CSPIInstance 

Needed to distinguish runtime instance types of the same driver (e.g.
bmi055 accel vs gyro).
This commit is contained in:
Beat Küng 2020-02-26 14:21:20 +01:00 committed by Daniel Agar
parent b70289c536
commit f851f65f8d
4 changed files with 28 additions and 17 deletions
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3
Tools/px4moduledoc/srcparser.py
View File

@ -15,7 +15,8 @@ class ModuleDocumentation(object):
# TOC in https://github.com/PX4/Devguide/blob/master/en/SUMMARY.md # TOC in https://github.com/PX4/Devguide/blob/master/en/SUMMARY.md
valid_categories = ['driver', 'estimator', 'controller', 'system', valid_categories = ['driver', 'estimator', 'controller', 'system',
'communication', 'command', 'template', 'simulation'] 'communication', 'command', 'template', 'simulation']
valid_subcategories = ['', 'distance_sensor'] valid_subcategories = ['', 'distance_sensor', 'imu', 'airspeed_sensor',
'magnetometer', 'baro']
max_line_length = 80 # wrap lines that are longer than this max_line_length = 80 # wrap lines that are longer than this

12
platforms/common/i2c_spi_buses.cpp
View File

@ -45,7 +45,7 @@
BusInstanceIterator::BusInstanceIterator(I2CSPIInstance **instances, int max_num_instances, BusInstanceIterator::BusInstanceIterator(I2CSPIInstance **instances, int max_num_instances,
const BusCLIArguments &cli_arguments, uint16_t devid_driver_index) const BusCLIArguments &cli_arguments, uint16_t devid_driver_index)
: _instances(instances), _max_num_instances(max_num_instances), : _instances(instances), _max_num_instances(max_num_instances),
_bus_option(cli_arguments.bus_option), _bus_option(cli_arguments.bus_option), _type(cli_arguments.type),
_spi_bus_iterator(spiFilter(cli_arguments.bus_option), _spi_bus_iterator(spiFilter(cli_arguments.bus_option),
cli_arguments.bus_option == I2CSPIBusOption::SPIExternal ? cli_arguments.chipselect_index : devid_driver_index, cli_arguments.bus_option == I2CSPIBusOption::SPIExternal ? cli_arguments.chipselect_index : devid_driver_index,
cli_arguments.requested_bus), cli_arguments.requested_bus),
@ -58,7 +58,8 @@ bool BusInstanceIterator::next()
int bus = -1; int bus = -1;
if (busType() == BOARD_INVALID_BUS) { if (busType() == BOARD_INVALID_BUS) {
while (++_current_instance < _max_num_instances && _instances[_current_instance] == nullptr) {} while (++_current_instance < _max_num_instances && (_instances[_current_instance] == nullptr
|| _type != _instances[_current_instance]->_type)) {}
return _current_instance < _max_num_instances; return _current_instance < _max_num_instances;
@ -82,7 +83,7 @@ bool BusInstanceIterator::next()
continue; continue;
} }
if (_bus_option == _instances[i]->_bus_option && bus == _instances[i]->_bus) { if (_bus_option == _instances[i]->_bus_option && bus == _instances[i]->_bus && _type == _instances[i]->_type) {
_current_instance = i; _current_instance = i;
} }
} }
@ -164,7 +165,7 @@ uint32_t BusInstanceIterator::devid() const
} }
} }
uint32_t BusInstanceIterator::DRDYGPIO() const spi_drdy_gpio_t BusInstanceIterator::DRDYGPIO() const
{ {
if (busType() == BOARD_INVALID_BUS) { if (busType() == BOARD_INVALID_BUS) {
return 0; return 0;
@ -233,7 +234,8 @@ int I2CSPIDriverBase::module_start(const BusCLIArguments &cli, BusInstanceIterat
while (iterator.next()) { while (iterator.next()) {
if (iterator.instance()) { if (iterator.instance()) {
continue; // already running PX4_WARN("Already running on bus %i", iterator.bus());
continue;
} }
const int free_index = iterator.nextFreeInstance(); const int free_index = iterator.nextFreeInstance();

24
platforms/common/include/px4_platform_common/i2c_spi_buses.h
View File

@ -59,8 +59,8 @@ enum class I2CSPIBusOption : uint8_t {
class I2CSPIInstance class I2CSPIInstance
{ {
public: public:
I2CSPIInstance(I2CSPIBusOption bus_option, int bus) I2CSPIInstance(I2CSPIBusOption bus_option, int bus, int type)
: _bus_option(bus_option), _bus(bus) {} : _bus_option(bus_option), _bus(bus), _type(type) {}
virtual ~I2CSPIInstance() = default; virtual ~I2CSPIInstance() = default;
@ -70,15 +70,20 @@ private:
const I2CSPIBusOption _bus_option; const I2CSPIBusOption _bus_option;
const int _bus; const int _bus;
const int _type; ///< device type (driver-specific)
}; };
struct BusCLIArguments { struct BusCLIArguments {
I2CSPIBusOption bus_option{I2CSPIBusOption::All}; I2CSPIBusOption bus_option{I2CSPIBusOption::All};
int type{0}; ///< device type (driver-specific)
int requested_bus{-1}; int requested_bus{-1};
int chipselect_index{1}; int chipselect_index{1};
Rotation rotation{ROTATION_NONE}; Rotation rotation{ROTATION_NONE};
int custom1; ///< driver-specific custom argument int bus_frequency{0};
int custom2; ///< driver-specific custom argument int spi_mode{-1};
int custom1{0}; ///< driver-specific custom argument
int custom2{0}; ///< driver-specific custom argument
void *custom_data{nullptr}; ///< driver-specific custom argument
}; };
/** /**
@ -103,7 +108,7 @@ public:
board_bus_types busType() const; board_bus_types busType() const;
int bus() const; int bus() const;
uint32_t devid() const; uint32_t devid() const;
uint32_t DRDYGPIO() const; spi_drdy_gpio_t DRDYGPIO() const;
bool external() const; bool external() const;
static I2CBusIterator::FilterType i2cFilter(I2CSPIBusOption bus_option); static I2CBusIterator::FilterType i2cFilter(I2CSPIBusOption bus_option);
@ -112,6 +117,7 @@ private:
I2CSPIInstance **_instances; I2CSPIInstance **_instances;
const int _max_num_instances; const int _max_num_instances;
const I2CSPIBusOption _bus_option; const I2CSPIBusOption _bus_option;
const int _type;
SPIBusIterator _spi_bus_iterator; SPIBusIterator _spi_bus_iterator;
I2CBusIterator _i2c_bus_iterator; I2CBusIterator _i2c_bus_iterator;
int _current_instance{-1}; int _current_instance{-1};
@ -124,9 +130,9 @@ private:
class I2CSPIDriverBase : public px4::ScheduledWorkItem, public I2CSPIInstance class I2CSPIDriverBase : public px4::ScheduledWorkItem, public I2CSPIInstance
{ {
public: public:
I2CSPIDriverBase(const char *module_name, const px4::wq_config_t &config, I2CSPIBusOption bus_option, int bus) I2CSPIDriverBase(const char *module_name, const px4::wq_config_t &config, I2CSPIBusOption bus_option, int bus, int type)
: ScheduledWorkItem(module_name, config), : ScheduledWorkItem(module_name, config),
I2CSPIInstance(bus_option, bus) {} I2CSPIInstance(bus_option, bus, type) {}
static int module_stop(BusInstanceIterator &iterator); static int module_stop(BusInstanceIterator &iterator);
static int module_status(BusInstanceIterator &iterator); static int module_status(BusInstanceIterator &iterator);
@ -178,8 +184,8 @@ public:
static I2CSPIInstance **instances() { return _instances; } static I2CSPIInstance **instances() { return _instances; }
protected: protected:
I2CSPIDriver(const char *module_name, const px4::wq_config_t &config, I2CSPIBusOption bus_option, int bus) I2CSPIDriver(const char *module_name, const px4::wq_config_t &config, I2CSPIBusOption bus_option, int bus, int type = 0)
: I2CSPIDriverBase(module_name, config, bus_option, bus) {} : I2CSPIDriverBase(module_name, config, bus_option, bus, type) {}
virtual ~I2CSPIDriver() = default; virtual ~I2CSPIDriver() = default;

6
platforms/common/include/px4_platform_common/spi.h
View File

@ -46,10 +46,12 @@
//#define PX4_SPI_DEV_ID(devid) ((devid) & 0xffff) //#define PX4_SPI_DEV_ID(devid) ((devid) & 0xffff)
#define PX4_SPIDEVID_TYPE(devid) (((uint32_t)(devid) >> 16) & 0xffff) #define PX4_SPIDEVID_TYPE(devid) (((uint32_t)(devid) >> 16) & 0xffff)
typedef uint32_t spi_drdy_gpio_t;
#define SPI_BUS_MAX_DEVICES 5 #define SPI_BUS_MAX_DEVICES 5
struct px4_spi_bus_device_t { struct px4_spi_bus_device_t {
uint32_t cs_gpio; ///< chip-select GPIO (0 if this device is not used) uint32_t cs_gpio; ///< chip-select GPIO (0 if this device is not used)
uint32_t drdy_gpio; ///< data ready GPIO (0 if not set) spi_drdy_gpio_t drdy_gpio; ///< data ready GPIO (0 if not set)
uint32_t devid; ///< SPIDEV_ID(type,index). For PX4 devices on NuttX: index is the device type, and for external buses the CS index uint32_t devid; ///< SPIDEV_ID(type,index). For PX4 devices on NuttX: index is the device type, and for external buses the CS index
uint16_t devtype_driver; ///< driver device type, e.g. DRV_IMU_DEVTYPE_ICM20689 (on NuttX: PX4_SPI_DEV_ID(devid) == devtype_driver) uint16_t devtype_driver; ///< driver device type, e.g. DRV_IMU_DEVTYPE_ICM20689 (on NuttX: PX4_SPI_DEV_ID(devid) == devtype_driver)
}; };
@ -148,7 +150,7 @@ public:
bool next(); bool next();
const px4_spi_bus_t &bus() const { return px4_spi_buses[_index]; } const px4_spi_bus_t &bus() const { return px4_spi_buses[_index]; }
uint32_t DRDYGPIO() const { return px4_spi_buses[_index].devices[_bus_device_index].drdy_gpio; } spi_drdy_gpio_t DRDYGPIO() const { return px4_spi_buses[_index].devices[_bus_device_index].drdy_gpio; }
uint32_t devid() const { return px4_spi_buses[_index].devices[_bus_device_index].devid; } uint32_t devid() const { return px4_spi_buses[_index].devices[_bus_device_index].devid; }