aerofc_adc: Add support to use others I2C besides PX4_I2C_BUS_EXPANSION

src/drivers/aerofc_adc/aerofc_adc.cpp

@@ -54,6 +54,27 @@
 // 10Hz
 #define CYCLE_TICKS_DELAY MSEC2TICK(100)
 
+enum AEROFC_ADC_BUS {
+	AEROFC_ADC_BUS_ALL = 0,
+	AEROFC_ADC_BUS_I2C_INTERNAL,
+	AEROFC_ADC_BUS_I2C_EXTERNAL
+};
+
+static struct aerofc_adc_bus_option {
+	enum AEROFC_ADC_BUS busid;
+	uint8_t busnum;
+} bus_options[] = {
+#ifdef PX4_I2C_BUS_EXPANSION
+	{ AEROFC_ADC_BUS_I2C_EXTERNAL, PX4_I2C_BUS_EXPANSION },
+#endif
+#ifdef PX4_I2C_BUS_EXPANSION1
+	{ AEROFC_ADC_BUS_I2C_EXTERNAL, PX4_I2C_BUS_EXPANSION1 },
+#endif
+#ifdef PX4_I2C_BUS_ONBOARD
+	{ AEROFC_ADC_BUS_I2C_INTERNAL, PX4_I2C_BUS_ONBOARD },
+#endif
+};
+
 extern "C" { __EXPORT int aerofc_adc_main(int argc, char *argv[]); }
 
 class AEROFC_ADC : public device::I2C
@@ -105,38 +126,80 @@ static void test()
 	exit(0);
 }
 
+static void help()
+{
+	printf("missing command: try 'start' or 'test'\n");
+	printf("options:\n");
+	printf("    -I only internal I2C bus\n");
+	printf("    -X only external I2C bus\n");
+}
+
 int aerofc_adc_main(int argc, char *argv[])
 {
-	if (argc < 2) {
-		warn("Missing action <start>");
+	int ch;
+	enum AEROFC_ADC_BUS busid = AEROFC_ADC_BUS_ALL;
+
+	while ((ch = getopt(argc, argv, "XI")) != EOF) {
+		switch (ch) {
+		case 'X':
+			busid = AEROFC_ADC_BUS_I2C_EXTERNAL;
+			break;
+
+		case 'I':
+			busid = AEROFC_ADC_BUS_I2C_INTERNAL;
+			break;
+
+		default:
+			help();
+			return -1;
+		}
+	}
+
+	if (optind >= argc) {
+		help();
 		return PX4_ERROR;
 	}
 
-	if (!strcmp(argv[1], "start")) {
+	const char *verb = argv[optind];
+
+	if (!strcmp(verb, "start")) {
 		if (instance) {
 			warn("AEROFC_ADC was already started");
 			return PX4_OK;
 		}
 
-		instance = new AEROFC_ADC(PX4_I2C_BUS_EXPANSION);
+		for (uint8_t i = 0; i < (sizeof(bus_options) / sizeof(bus_options[0])); i++) {
+			if (busid != AEROFC_ADC_BUS_ALL && busid != bus_options[i].busid) {
+				continue;
+			}
 
-		if (!instance) {
-			warn("No memory to instance AEROFC_ADC");
-			return PX4_ERROR;
-		}
+			instance = new AEROFC_ADC(bus_options[i].busnum);
 
-		if (instance->init() != PX4_OK) {
+			if (!instance) {
+				warn("No memory to instance AEROFC_ADC");
+				return PX4_ERROR;
+			}
+
+			if (instance->init() == PX4_OK) {
+				break;
+			}
+
+			warn("AEROFC_ADC not found on busnum=%u", bus_options[i].busnum);
 			delete instance;
 			instance = nullptr;
-			warn("AEROFC_ADC failed to init");
+		}
+
+		if (!instance) {
+			warn("AEROFC_ADC not found");
 			return PX4_ERROR;
 		}
 
-	} else if (!strcmp(argv[1], "test")) {
+	} else if (!strcmp(verb, "test")) {
 		test();
 
 	} else {
 		warn("Action not supported");
+		help();
 		return PX4_ERROR;
 	}
 
@@ -199,7 +262,6 @@ int AEROFC_ADC::probe()
 	return PX4_OK;
 
 error:
-	warn("AEROFC_ADC not found");
 	return -EIO;
 }