Add I2C driver launcher

This is just a first draft of the launcher part.

Signed-off-by: Julian Oes <julian@oes.ch>

boards/px4/fmu-v6x/default.px4board

@@ -84,6 +84,7 @@ CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
+CONFIG_SYSTEMCMDS_I2C_LAUNCHER=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MFT=y
 CONFIG_SYSTEMCMDS_MTD=y

boards/px4/fmu-v6x/init/rc.board_sensors

@@ -51,6 +51,13 @@ fi
 if ver hwtypecmp V6X009010 V6X010010
 then
 	pm_selector_auterion start
+else
+	# INA226, INA228, INA238 auto-start
+	i2c_launcher start -b 1
+	if [ $HAVE_PM2 = yes ]
+	then
+		i2c_launcher start -b 2
+	fi
 fi
 
 if ver hwtypecmp V6X000006 V6X004006 V6X005006

src/systemcmds/i2c_launcher/CMakeLists.txt

@@ -0,0 +1,40 @@
+############################################################################
+#
+#   Copyright (c) 2023 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+px4_add_module(
+	MODULE systemcmds__i2c_launcher
+	MAIN i2c_launcher
+	COMPILE_FLAGS
+	SRCS
+		i2c_launcher.cpp
+	DEPENDS
+	)

src/systemcmds/i2c_launcher/Kconfig

@@ -0,0 +1,10 @@
+menuconfig SYSTEMCMDS_I2C_LAUNCHER
+	bool "i2c_launcher"
+	default n
+	---help---
+		Daemon that starts drivers based on found I2C devices.
+
+menuconfig USER_I2C_LAUNCHER
+	bool
+	default n
+	depends on SYSTEMCMDS_I2C_LAUNCHER

src/systemcmds/i2c_launcher/i2c_launcher.cpp

@@ -0,0 +1,272 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2023 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <stdlib.h>
+#include "i2c_launcher.hpp"
+#include <px4_platform_common/time.h>
+#include <px4_platform_common/log.h>
+#include <px4_platform_common/getopt.h>
+#include <px4_arch/i2c_hw_description.h>
+
+constexpr I2CLauncher::I2CDevice I2CLauncher::_devices[];
+
+I2CLauncher::I2CLauncher(int bus) :
+	ModuleParams(nullptr),
+	ScheduledWorkItem(MODULE_NAME, px4::device_bus_to_wq(bus)),
+	_bus(bus)
+{
+}
+
+I2CLauncher::~I2CLauncher()
+{
+}
+
+bool I2CLauncher::init()
+{
+	ScheduleOnInterval(1_s);
+
+	return true;
+}
+
+void I2CLauncher::Run()
+{
+	if (should_exit()) {
+		ScheduleClear();
+		exit_and_cleanup();
+		return;
+	}
+
+	if (_parameter_update_sub.updated()) {
+		parameter_update_s param_update;
+		_parameter_update_sub.copy(&param_update);
+		updateParams();
+	}
+
+
+	if (_vehicle_status_sub.updated()) {
+		vehicle_status_s vehicle_status;
+
+		if (_vehicle_status_sub.copy(&vehicle_status)) {
+
+			_armed = (vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED);
+		}
+	}
+
+	if (_armed) {
+		// Don't try to configure devices when armed.
+		return;
+	}
+
+	scan_i2c_bus(_bus);
+}
+
+void I2CLauncher::scan_i2c_bus(int bus)
+{
+	struct i2c_master_s *i2c_dev = px4_i2cbus_initialize(bus);
+
+	if (i2c_dev == nullptr) {
+		PX4_ERR("invalid bus %d", bus);
+		return;
+	}
+
+	for (unsigned i = 0; i < sizeof(_devices) / sizeof(_devices[0]); ++i) {
+
+		bool running = false;
+		{
+			// We need to check whether any of the devices with the same I2C address are already running,
+			// because even if they are not running, we could not address them.
+			for (unsigned j = 0; j < sizeof(_devices) / sizeof(_devices[0]); ++j) {
+
+				if (_devices[i].i2c_addr != _devices[j].i2c_addr) {
+					continue;
+				}
+
+				BusCLIArguments bus_cli_arguments{true, false};
+				bus_cli_arguments.bus_option = I2CSPIBusOption::I2CExternal;
+				bus_cli_arguments.requested_bus = bus;
+
+				BusInstanceIterator i2c_bus_instance_iterator {
+					_devices[j].cmd, bus_cli_arguments, _devices[j].devid_driver_index};
+
+				while (i2c_bus_instance_iterator.next()) {
+					if (i2c_bus_instance_iterator.runningInstancesOnBusCount() > 0) {
+						running = true;
+						break;
+					}
+				}
+			}
+		}
+
+		if (running) {
+			continue;
+		}
+
+		const unsigned retries = 1;
+
+		bool found = false;
+
+		for (unsigned retry_count = 0; retry_count < retries; ++retry_count) {
+
+			uint8_t send_data = 0;
+			uint8_t recv_data = 0;
+			i2c_msg_s msgv[2] {};
+
+			// Send
+			msgv[0].frequency = 100000;
+			msgv[0].addr = _devices[i].i2c_addr;
+			msgv[0].flags = 0;
+			msgv[0].buffer = &send_data;
+			msgv[0].length = sizeof(send_data);
+
+			// Receive
+			msgv[1].frequency = 100000;
+			msgv[1].addr = _devices[i].i2c_addr;
+			msgv[1].flags = I2C_M_READ;
+			msgv[1].buffer = &recv_data;;
+			msgv[1].length = sizeof(recv_data);
+
+			if (I2C_TRANSFER(i2c_dev, &msgv[0], 2) == PX4_OK) {
+				found = true;
+				break;
+			}
+		}
+
+		if (found) {
+			char buf[32];
+			snprintf(buf, sizeof(buf), "%s -X -b %d -t %d start", _devices[i].cmd, bus, bus);
+
+			PX4_INFO("Found address 0x%x, running '%s'\n", _devices[i].i2c_addr, buf);
+
+			// Try starting, if it succeeds we assume it's started and we no longer have to
+			// check this device.
+			const int ret = system(buf);
+
+			if (ret == 0) {
+				PX4_INFO("Started 0x%x successfully", _devices[i].i2c_addr);
+
+			} else {
+				PX4_INFO("Could not start 0x%x, returned %d", _devices[i].i2c_addr, ret);
+			}
+		}
+	}
+
+	px4_i2cbus_uninitialize(i2c_dev);
+}
+
+int I2CLauncher::custom_command(int argc, char *argv[])
+{
+	return print_usage("unknown command");
+}
+
+int I2CLauncher::print_usage(const char *reason)
+{
+	if (reason) {
+		PX4_WARN("%s\n", reason);
+	}
+
+	PRINT_MODULE_DESCRIPTION(
+		R"DESCR_STR(
+### Description
+Daemon that starts drivers based on found I2C devices.
+
+)DESCR_STR");
+
+	PRINT_MODULE_USAGE_NAME("i2c_launcher", "system");
+	PRINT_MODULE_USAGE_COMMAND("start");
+	PRINT_MODULE_USAGE_PARAM_INT('b', 0, 1, 4, "Bus number", false);
+	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
+
+	return 0;
+}
+
+extern "C" __EXPORT int i2c_launcher_main(int argc, char *argv[])
+{
+	using ThisDriver = I2CLauncher;
+
+	static I2CLauncher* instances[I2C_BUS_MAX_BUS_ITEMS];
+	int bus = -1;
+	int myoptind = 1;
+	int ch;
+	const char *myoptarg = nullptr;
+
+	const char *verb = argv[1];
+
+	while ((ch = px4_getopt(argc, argv, "b:", &myoptind, &myoptarg)) != EOF) {
+		switch (ch) {
+		case 'b':
+			bus = strtol(myoptarg, nullptr, 10);
+			break;
+
+		default:
+			return ThisDriver::print_usage("unrecognized flag");
+		}
+	}
+
+	if (bus == -1) {
+		PX4_ERR("bus not set");
+		return PX4_ERROR;
+	}
+
+	if (bus > I2C_BUS_MAX_BUS_ITEMS) {
+		PX4_ERR("bus out of bound");
+		return PX4_ERROR;
+	}
+
+
+	if (!verb) {
+		ThisDriver::print_usage();
+		return -1;
+	}
+
+	if (strcmp(verb, "start") == 0) {
+
+		instances[bus] = new I2CLauncher(bus);
+
+		if (instances[bus]) {
+
+			if (instances[bus]->init()) {
+				return PX4_OK;
+			}
+
+		} else {
+			PX4_ERR("alloc failed");
+		}
+
+		delete instances[bus];
+
+		return PX4_ERROR;
+	}
+
+	ThisDriver::print_usage();
+	return -1;
+}

src/systemcmds/i2c_launcher/i2c_launcher.hpp

@@ -0,0 +1,88 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2023 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include <stdint.h>
+#include <px4_platform_common/app.h>
+#include <px4_platform_common/module.h>
+#include <px4_platform_common/module_params.h>
+#include <px4_platform_common/i2c_spi_buses.h>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
+
+#include <px4_arch/i2c_hw_description.h>
+#include <uORB/Subscription.hpp>
+#include <uORB/topics/parameter_update.h>
+#include <uORB/topics/vehicle_status.h>
+#include <drivers/drv_sensor.h>
+
+using namespace time_literals;
+
+class I2CLauncher : public ModuleBase<I2CLauncher>, public ModuleParams, public px4::ScheduledWorkItem
+{
+public:
+	I2CLauncher(int bus);
+
+	~I2CLauncher() override;
+
+	static int task_spawn(int argc, char *argv[]);
+
+	static int custom_command(int argc, char *argv[]);
+
+	static int print_usage(const char *reason = nullptr);
+
+	bool init();
+
+private:
+	struct I2CDevice {
+		const char *cmd;
+		uint8_t i2c_addr;
+		uint8_t devid_driver_index;
+	};
+
+	static constexpr I2CDevice _devices[] = {
+		{"ina226", 0x41, DRV_POWER_DEVTYPE_INA226},
+		{"ina228", 0x45, DRV_POWER_DEVTYPE_INA228},
+		{"ina238", 0x45, DRV_POWER_DEVTYPE_INA238},
+	};
+
+	void Run() override;
+
+	static void scan_i2c_bus(int bus);
+
+	uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
+	uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};          // regular subscription for additional data
+
+	int _bus;
+	bool _armed {false};
+};