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i2c spi: extend BusCLIArguments to handle common driver arguments

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This commit is contained in:
Beat Küng
2020-03-17 23:31:17 -04:00
committed by Daniel Agar
parent d1f5b23a5a
commit 134413233a
3 changed files with 201 additions and 14 deletions
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platforms/common/include/px4_platform_common/i2c_spi_buses.h
+53 -12
View File
@@ -43,6 +43,7 @@
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include <px4_platform_common/sem.h>
#include <board_config.h>
#include <drivers/device/spi.h>
enum class I2CSPIBusOption : uint8_t {
All = 0, ///< select all runnning instances
@@ -59,31 +60,68 @@ enum class I2CSPIBusOption : uint8_t {
class I2CSPIInstance
{
public:
I2CSPIInstance(I2CSPIBusOption bus_option, int bus, int type)
: _bus_option(bus_option), _bus(bus), _type(type) {}
virtual ~I2CSPIInstance() = default;
private:
I2CSPIInstance(I2CSPIBusOption bus_option, int bus, uint8_t i2c_address, uint16_t type)
: _bus_option(bus_option), _bus(bus), _type(type), _i2c_address(i2c_address) {}
friend class BusInstanceIterator;
friend class I2CSPIDriverBase;
const I2CSPIBusOption _bus_option;
const int _bus;
const int _type; ///< device type (driver-specific)
const int16_t _type; ///< device type (driver-specific)
const int8_t _i2c_address; ///< I2C address (optional)
};
struct BusCLIArguments {
class BusCLIArguments
{
public:
BusCLIArguments(bool i2c_support, bool spi_support)
: _i2c_support(i2c_support), _spi_support(spi_support) {}
/**
* Parse CLI arguments (for drivers that don't need any custom arguments, otherwise getopt() should be used)
* @return command (e.g. "start") or nullptr on error or unknown argument
*/
const char *parseDefaultArguments(int argc, char *argv[]);
/**
* Like px4_getopt(), but adds and handles i2c/spi driver-specific arguments
*/
int getopt(int argc, char *argv[], const char *options);
/**
* returns the current optional argument (for options like 'T:'), or the command (e.g. "start")
* @return nullptr or argument/command
*/
const char *optarg() const { return _optarg; }
I2CSPIBusOption bus_option{I2CSPIBusOption::All};
int type{0}; ///< device type (driver-specific)
uint16_t type{0}; ///< device type (driver-specific)
int requested_bus{-1};
int chipselect_index{1};
Rotation rotation{ROTATION_NONE};
int bus_frequency{0};
int spi_mode{-1};
spi_mode_e spi_mode{SPIDEV_MODE3};
uint8_t i2c_address{0}; ///< optional I2C address: a driver can set this to allow configuring the I2C address
int custom1{0}; ///< driver-specific custom argument
int custom2{0}; ///< driver-specific custom argument
void *custom_data{nullptr}; ///< driver-specific custom argument
// driver defaults, if not specified via CLI
int default_spi_frequency{20 * 1000 * 1000}; ///< default spi bus frequency [Hz]
int default_i2c_frequency{400 * 1000}; ///< default i2c bus frequency [Hz]
private:
char _options[32] {};
int _optind{1};
const char *_optarg{nullptr};
const bool _i2c_support;
const bool _spi_support;
};
/**
@@ -117,7 +155,8 @@ private:
I2CSPIInstance **_instances;
const int _max_num_instances;
const I2CSPIBusOption _bus_option;
const int _type;
const uint16_t _type;
const uint8_t _i2c_address;
SPIBusIterator _spi_bus_iterator;
I2CBusIterator _i2c_bus_iterator;
int _current_instance{-1};
@@ -130,9 +169,10 @@ private:
class I2CSPIDriverBase : public px4::ScheduledWorkItem, public I2CSPIInstance
{
public:
I2CSPIDriverBase(const char *module_name, const px4::wq_config_t &config, I2CSPIBusOption bus_option, int bus, int type)
I2CSPIDriverBase(const char *module_name, const px4::wq_config_t &config, I2CSPIBusOption bus_option, int bus,
uint8_t i2c_address, uint16_t type)
: ScheduledWorkItem(module_name, config),
I2CSPIInstance(bus_option, bus, type) {}
I2CSPIInstance(bus_option, bus, i2c_address, type) {}
static int module_stop(BusInstanceIterator &iterator);
static int module_status(BusInstanceIterator &iterator);
@@ -184,8 +224,9 @@ public:
static I2CSPIInstance **instances() { return _instances; }
protected:
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, type) {}
I2CSPIDriver(const char *module_name, const px4::wq_config_t &config, I2CSPIBusOption bus_option, int bus,
uint8_t i2c_address = 0, uint16_t type = 0)
: I2CSPIDriverBase(module_name, config, bus_option, bus, i2c_address, type) {}
virtual ~I2CSPIDriver() = default;