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bmp388: cleanup main and add to px4_fmu-v5x board_config.h

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This commit is contained in:
Daniel Agar
2019-11-20 13:12:03 -05:00
parent 3f05a7724d
commit 1af7af02db
7 changed files with 139 additions and 177 deletions
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src/drivers/barometer/bmp388/bmp388_main.cpp
+103 -114
View File
@@ -31,216 +31,205 @@
*
****************************************************************************/
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/getopt.h>
#include "bmp388.h"
enum BMP388_BUS {
BMP388_BUS_ALL = 0,
BMP388_BUS_I2C_INTERNAL,
BMP388_BUS_I2C_INTERNAL1,
BMP388_BUS_I2C_EXTERNAL,
BMP388_BUS_SPI_INTERNAL,
BMP388_BUS_SPI_EXTERNAL
enum class BMP388_BUS {
ALL = 0,
I2C_INTERNAL,
I2C_INTERNAL1,
I2C_EXTERNAL,
SPI_INTERNAL,
SPI_EXTERNAL
};
/**
* Local functions in support of the shell command.
*/
namespace bmp388
{
/*
* list of supported bus configurations
*/
// list of supported bus configurations
struct bmp388_bus_option {
enum BMP388_BUS busid;
const char *devpath;
BMP388_BUS busid;
BMP388_constructor interface_constructor;
uint8_t busnum;
uint32_t device;
bool external;
uint32_t address;
BMP388 *dev;
} bus_options[] = {
#if defined(PX4_SPIDEV_EXT_BARO) && defined(PX4_SPI_BUS_EXT)
{ BMP388_BUS_SPI_EXTERNAL, "/dev/bmp388_spi_ext", &bmp388_spi_interface, PX4_SPI_BUS_EXT, PX4_SPIDEV_EXT_BARO, true, NULL },
{ BMP388_BUS::SPI_EXTERNAL, &bmp388_spi_interface, PX4_SPI_BUS_EXT, PX4_SPIDEV_EXT_BARO, nullptr },
#endif
#if defined(PX4_SPIDEV_BARO)
# if defined(PX4_SPIDEV_BARO_BUS)
{ BMP388_BUS_SPI_INTERNAL, "/dev/bmp388_spi_int", &bmp388_spi_interface, PX4_SPIDEV_BARO_BUS, PX4_SPIDEV_BARO, false, NULL },
{ BMP388_BUS::SPI_INTERNAL, &bmp388_spi_interface, PX4_SPIDEV_BARO_BUS, PX4_SPIDEV_BARO, nullptr },
# else
{ BMP388_BUS_SPI_INTERNAL, "/dev/bmp388_spi_int", &bmp388_spi_interface, PX4_SPI_BUS_SENSORS, PX4_SPIDEV_BARO, false, NULL },
{ BMP388_BUS::SPI_INTERNAL, &bmp388_spi_interface, PX4_SPI_BUS_SENSORS, PX4_SPIDEV_BARO, nullptr },
# endif
#endif
#if defined(PX4_I2C_BUS_ONBOARD) && defined(PX4_I2C_OBDEV_BMP388)
{ BMP388_BUS_I2C_INTERNAL, "/dev/bmp388_i2c_int", &bmp388_i2c_interface, PX4_I2C_BUS_ONBOARD, PX4_I2C_OBDEV_BMP388, false, NULL },
{ BMP388_BUS::I2C_INTERNAL, &bmp388_i2c_interface, PX4_I2C_BUS_ONBOARD, PX4_I2C_OBDEV_BMP388, nullptr },
#endif
#if defined(PX4_I2C_BUS_ONBOARD) && defined(PX4_I2C_OBDEV1_BMP388)
{ BMP388_BUS_I2C_INTERNAL1, "/dev/bmp388_i2c_int1", &bmp388_i2c_interface, PX4_I2C_BUS_ONBOARD, PX4_I2C_OBDEV1_BMP388, false, NULL },
{ BMP388_BUS::I2C_INTERNAL1, &bmp388_i2c_interface, PX4_I2C_BUS_ONBOARD, PX4_I2C_OBDEV1_BMP388, nullptr },
#endif
#if defined(PX4_I2C_BUS_EXPANSION) && defined(PX4_I2C_OBDEV_BMP388)
{ BMP388_BUS_I2C_EXTERNAL, "/dev/bmp388_i2c_ext", &bmp388_i2c_interface, PX4_I2C_BUS_EXPANSION, PX4_I2C_OBDEV_BMP388, true, NULL },
{ BMP388_BUS::I2C_EXTERNAL, &bmp388_i2c_interface, PX4_I2C_BUS_EXPANSION, PX4_I2C_OBDEV_BMP388, nullptr },
#endif
};
#define NUM_BUS_OPTIONS (sizeof(bus_options)/sizeof(bus_options[0]))
/**
* Start the driver.
*/
bool
start_bus(struct bmp388_bus_option &bus)
// find a bus structure for a busid
static struct bmp388_bus_option *find_bus(BMP388_BUS busid)
{
if (bus.dev != nullptr) {
PX4_ERR("bus option already started");
exit(1);
for (bmp388_bus_option &bus_option : bus_options) {
if ((busid == BMP388_BUS::ALL ||
busid == bus_option.busid) && bus_option.dev != nullptr) {
return &bus_option;
}
}
IBMP388 *interface = bus.interface_constructor(bus.busnum, bus.device, bus.external);
return nullptr;
}
if (interface->init() != OK) {
delete interface;
static bool start_bus(bmp388_bus_option &bus)
{
IBMP388 *interface = bus.interface_constructor(bus.busnum, bus.address);
if ((interface == nullptr) || (interface->init() != PX4_OK)) {
PX4_WARN("no device on bus %u", (unsigned)bus.busid);
delete interface;
return false;
}
bus.dev = new BMP388(interface, bus.devpath);
BMP388 *dev = new BMP388(interface);
if (bus.dev == nullptr) {
if (dev == nullptr || (dev->init() != PX4_OK)) {
PX4_ERR("driver start failed");
delete dev;
delete interface;
return false;
}
if (OK != bus.dev->init()) {
delete bus.dev;
bus.dev = nullptr;
return false;
}
bus.dev = dev;
return true;
}
/**
* Start the driver.
*
* This function call only returns once the driver
* is either successfully up and running or failed to start.
*/
void
start(enum BMP388_BUS busid)
static int start(BMP388_BUS busid)
{
uint8_t i;
bool started = false;
for (i = 0; i < NUM_BUS_OPTIONS; i++) {
if (busid == BMP388_BUS_ALL && bus_options[i].dev != NULL) {
for (bmp388_bus_option &bus_option : bus_options) {
if (bus_option.dev != nullptr) {
// this device is already started
PX4_WARN("already started");
continue;
}
if (busid != BMP388_BUS_ALL && bus_options[i].busid != busid) {
if (busid != BMP388_BUS::ALL && bus_option.busid != busid) {
// not the one that is asked for
continue;
}
started |= start_bus(bus_options[i]);
}
if (!started) {
PX4_WARN("bus option number is %d", i);
PX4_ERR("driver start failed");
exit(1);
}
// one or more drivers started OK
exit(0);
}
/**
* Print a little info about the driver.
*/
void
info()
{
for (uint8_t i = 0; i < NUM_BUS_OPTIONS; i++) {
struct bmp388_bus_option &bus = bus_options[i];
if (bus.dev != nullptr) {
PX4_WARN("%s", bus.devpath);
bus.dev->print_info();
if (start_bus(bus_option)) {
return PX4_OK;
}
}
exit(0);
return PX4_ERROR;
}
void
usage()
static int stop(BMP388_BUS busid)
{
PX4_WARN("missing command: try 'start', 'info'");
PX4_WARN("options:");
PX4_WARN(" -X (external I2C bus TODO)");
PX4_WARN(" -I (internal I2C bus TODO)");
PX4_WARN(" -S (external SPI bus)");
PX4_WARN(" -s (internal SPI bus)");
bmp388_bus_option *bus = find_bus(busid);
if (bus != nullptr && bus->dev != nullptr) {
delete bus->dev;
bus->dev = nullptr;
} else {
PX4_WARN("driver not running");
return PX4_ERROR;
}
return PX4_OK;
}
static int status(BMP388_BUS busid)
{
bmp388_bus_option *bus = find_bus(busid);
if (bus != nullptr && bus->dev != nullptr) {
bus->dev->print_info();
return PX4_OK;
}
PX4_WARN("driver not running");
return PX4_ERROR;
}
static int usage()
{
PX4_INFO("missing command: try 'start', 'stop', 'status'");
PX4_INFO("options:");
PX4_INFO(" -X (i2c external bus)");
PX4_INFO(" -I (i2c internal bus)");
PX4_INFO(" -J (i2c internal bus 2)");
PX4_INFO(" -s (spi internal bus)");
PX4_INFO(" -S (spi external bus)");
return 0;
}
} // namespace
extern "C" __EXPORT int bmp388_main(int argc, char *argv[])
extern "C" int bmp388_main(int argc, char *argv[])
{
int myoptind = 1;
int ch;
const char *myoptarg = nullptr;
enum BMP388_BUS busid = BMP388_BUS_ALL;
BMP388_BUS busid = BMP388_BUS::ALL;
while ((ch = px4_getopt(argc, argv, "XIJSs", &myoptind, &myoptarg)) != EOF) {
switch (ch) {
case 'X':
busid = BMP388_BUS_I2C_EXTERNAL;
busid = BMP388_BUS::I2C_EXTERNAL;
break;
case 'I':
busid = BMP388_BUS_I2C_INTERNAL;
busid = BMP388_BUS::I2C_INTERNAL;
break;
case 'J':
busid = BMP388_BUS_I2C_INTERNAL1;
busid = BMP388_BUS::I2C_INTERNAL1;
break;
case 'S':
busid = BMP388_BUS_SPI_EXTERNAL;
busid = BMP388_BUS::SPI_EXTERNAL;
break;
case 's':
busid = BMP388_BUS_SPI_INTERNAL;
busid = BMP388_BUS::SPI_INTERNAL;
break;
default:
bmp388::usage();
return 0;
return bmp388::usage();
}
}
if (myoptind >= argc) {
bmp388::usage();
return -1;
return bmp388::usage();
}
const char *verb = argv[myoptind];
/*
* Start/load the driver.
*/
if (!strcmp(verb, "start")) {
bmp388::start(busid);
return bmp388::start(busid);
} else if (!strcmp(verb, "stop")) {
return bmp388::stop(busid);
} else if (!strcmp(verb, "status")) {
return bmp388::status(busid);
}
/*
* Print driver information.
*/
if (!strcmp(verb, "info")) {
bmp388::info();
}
PX4_ERR("unrecognized command, try 'start' or 'info'");
return -1;
return bmp388::usage();
}