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i2c_spi_buses: respect CONFIG_I2C and CONFIG_SPI

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- bmp280, dps310, and ms5611 barometers support boards without I2C
This commit is contained in:
Daniel Agar
2021-11-15 15:57:33 -05:00
parent eade2915c1
commit 7b7b7acd36
54 changed files with 529 additions and 282 deletions
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platforms/common/i2c_spi_buses.cpp
+188 -74
View File
@@ -32,7 +32,6 @@
****************************************************************************/
#include <board_config.h>
#ifndef BOARD_DISABLE_I2C_SPI
#ifndef MODULE_NAME
#define MODULE_NAME "SPI_I2C"
@@ -57,11 +56,15 @@ I2CSPIDriverConfig::I2CSPIDriverConfig(const BusCLIArguments &cli, const BusInst
bus_option(iterator.configuredBusOption()),
bus_type(iterator.busType()),
bus(iterator.bus()),
#if defined(CONFIG_I2C)
i2c_address(cli.i2c_address),
#endif // CONFIG_I2C
bus_frequency(cli.bus_frequency),
#if defined(CONFIG_SPI)
drdy_gpio(iterator.DRDYGPIO()),
spi_mode(cli.spi_mode),
spi_devid(iterator.devid()),
#endif // CONFIG_SPI
bus_device_index(iterator.busDeviceIndex()),
rotation(cli.rotation),
quiet_start(cli.quiet_start),
@@ -93,6 +96,8 @@ int BusCLIArguments::getOpt(int argc, char *argv[], const char *options)
char *p = (char *)&_options;
#if defined(CONFIG_I2C)
if (_i2c_support) {
*(p++) = 'X'; // external
*(p++) = 'I'; // internal
@@ -102,6 +107,9 @@ int BusCLIArguments::getOpt(int argc, char *argv[], const char *options)
}
}
#endif // CONFIG_I2C
#if defined(CONFIG_SPI)
if (_spi_support) {
*(p++) = 'S'; // external
*(p++) = 's'; // internal
@@ -109,6 +117,8 @@ int BusCLIArguments::getOpt(int argc, char *argv[], const char *options)
*(p++) = 'm'; *(p++) = ':'; // spi mode
}
#endif // CONFIG_SPI
if (support_keep_running) {
*(p++) = 'k';
}
@@ -148,6 +158,8 @@ int BusCLIArguments::getOpt(int argc, char *argv[], const char *options)
while ((ch = px4_getopt(argc, argv, _options, &_optind, &_optarg)) != EOF) {
switch (ch) {
#if defined(CONFIG_I2C)
case 'X':
bus_option = I2CSPIBusOption::I2CExternal;
break;
@@ -163,6 +175,8 @@ int BusCLIArguments::getOpt(int argc, char *argv[], const char *options)
i2c_address = (int)strtol(_optarg, nullptr, 0);
break;
#endif // CONFIG_I2C
#if defined(CONFIG_SPI)
case 'S':
bus_option = I2CSPIBusOption::SPIExternal;
@@ -175,6 +189,7 @@ int BusCLIArguments::getOpt(int argc, char *argv[], const char *options)
case 'c':
chipselect_index = atoi(_optarg);
break;
#endif // CONFIG_SPI
case 'b':
requested_bus = atoi(_optarg);
@@ -183,10 +198,12 @@ int BusCLIArguments::getOpt(int argc, char *argv[], const char *options)
case 'f':
bus_frequency = 1000 * atoi(_optarg);
break;
#if defined(CONFIG_SPI)
case 'm':
spi_mode = (spi_mode_e)atoi(_optarg);
break;
#endif // CONFIG_SPI
case 'q':
quiet_start = true;
@@ -216,12 +233,21 @@ int BusCLIArguments::getOpt(int argc, char *argv[], const char *options)
// apply defaults if not provided
if (bus_frequency == 0) {
#if defined(CONFIG_I2C)
if (bus_option == I2CSPIBusOption::I2CExternal || bus_option == I2CSPIBusOption::I2CInternal) {
bus_frequency = default_i2c_frequency;
} else if (bus_option == I2CSPIBusOption::SPIExternal || bus_option == I2CSPIBusOption::SPIInternal) {
}
#endif // CONFIG_I2C
#if defined(CONFIG_SPI)
if (bus_option == I2CSPIBusOption::SPIExternal || bus_option == I2CSPIBusOption::SPIInternal) {
bus_frequency = default_spi_frequency;
}
#endif // CONFIG_SPI
}
}
@@ -232,16 +258,22 @@ bool BusCLIArguments::validateConfiguration()
{
bool success = true;
#if defined(CONFIG_I2C)
if (_i2c_support && default_i2c_frequency == -1) {
PX4_ERR("Bug: driver %s does not set default_i2c_frequency", px4_get_taskname());
success = false;
}
#endif // CONFIG_I2C
#if defined(CONFIG_SPI)
if (_spi_support && default_spi_frequency == -1) {
PX4_ERR("Bug: driver %s does not set default_spi_frequency", px4_get_taskname());
success = false;
}
#endif // CONFIG_SPI
return success;
}
@@ -249,11 +281,17 @@ bool BusCLIArguments::validateConfiguration()
BusInstanceIterator::BusInstanceIterator(const char *module_name,
const BusCLIArguments &cli_arguments, uint16_t devid_driver_index)
: _module_name(module_name), _bus_option(cli_arguments.bus_option), _devid_driver_index(devid_driver_index),
#if defined(CONFIG_I2C)
_i2c_address(cli_arguments.i2c_address),
#endif // CONFIG_I2C
#if defined(CONFIG_SPI)
_spi_bus_iterator(spiFilter(cli_arguments.bus_option),
cli_arguments.bus_option == I2CSPIBusOption::SPIExternal ? cli_arguments.chipselect_index : devid_driver_index,
cli_arguments.requested_bus),
#endif // CONFIG_SPI
#if defined(CONFIG_I2C)
_i2c_bus_iterator(i2cFilter(cli_arguments.bus_option), cli_arguments.requested_bus),
#endif // CONFIG_I2C
_current_instance(i2c_spi_module_instances.end())
{
// We lock the module instance list as long as this object is alive, since we iterate over the list.
@@ -290,20 +328,31 @@ bool BusInstanceIterator::next()
return false;
#if defined(CONFIG_SPI)
} else if (busType() == BOARD_SPI_BUS) {
if (_spi_bus_iterator.next()) {
bus = _spi_bus_iterator.bus().bus;
}
} else {
#endif // CONFIG_SPI
#if defined(CONFIG_I2C)
} else if (busType() == BOARD_I2C_BUS) {
if (_i2c_bus_iterator.next()) {
bus = _i2c_bus_iterator.bus().bus;
}
#endif // CONFIG_I2C
}
if (bus != -1) {
// find matching runtime instance
#if defined(CONFIG_I2C)
bool is_i2c = busType() == BOARD_I2C_BUS;
#else
bool is_i2c = false;
#endif
for (_current_instance = i2c_spi_module_instances.begin(); _current_instance != i2c_spi_module_instances.end();
++_current_instance) {
@@ -314,7 +363,12 @@ bool BusInstanceIterator::next()
if (_bus_option == (*_current_instance)->_bus_option && bus == (*_current_instance)->_bus &&
_devid_driver_index == (*_current_instance)->_devid_driver_index &&
busDeviceIndex() == (*_current_instance)->_bus_device_index &&
(!is_i2c || _i2c_address == (*_current_instance)->_i2c_address)) {
(!is_i2c
#if defined(CONFIG_I2C)
|| _i2c_address == (*_current_instance)->_i2c_address
#endif // CONFIG_I2C
)
) {
break;
}
}
@@ -371,13 +425,19 @@ board_bus_types BusInstanceIterator::busType() const
case I2CSPIBusOption::All:
return BOARD_INVALID_BUS;
#if defined(CONFIG_I2C)
case I2CSPIBusOption::I2CInternal:
case I2CSPIBusOption::I2CExternal:
return BOARD_I2C_BUS;
#endif // CONFIG_I2C
#if defined(CONFIG_SPI)
case I2CSPIBusOption::SPIInternal:
case I2CSPIBusOption::SPIExternal:
return BOARD_SPI_BUS;
#endif // CONFIG_SPI
}
return BOARD_INVALID_BUS;
@@ -385,78 +445,104 @@ board_bus_types BusInstanceIterator::busType() const
int BusInstanceIterator::bus() const
{
if (busType() == BOARD_INVALID_BUS) {
return -1;
#if defined(CONFIG_SPI)
} else if (busType() == BOARD_SPI_BUS) {
if (busType() == BOARD_SPI_BUS) {
return _spi_bus_iterator.bus().bus;
}
} else {
#endif // CONFIG_SPI
#if defined(CONFIG_I2C)
if (busType() == BOARD_I2C_BUS) {
return _i2c_bus_iterator.bus().bus;
}
}
uint32_t BusInstanceIterator::devid() const
{
if (busType() == BOARD_INVALID_BUS) {
return 0;
} else if (busType() == BOARD_SPI_BUS) {
return _spi_bus_iterator.devid();
} else {
return 0;
}
}
spi_drdy_gpio_t BusInstanceIterator::DRDYGPIO() const
{
if (busType() == BOARD_INVALID_BUS) {
return 0;
} else if (busType() == BOARD_SPI_BUS) {
return _spi_bus_iterator.DRDYGPIO();
} else {
return 0;
}
}
bool BusInstanceIterator::external() const
{
if (busType() == BOARD_INVALID_BUS) {
return false;
} else if (busType() == BOARD_SPI_BUS) {
return _spi_bus_iterator.external();
} else {
return _i2c_bus_iterator.external();
}
}
int BusInstanceIterator::externalBusIndex() const
{
if (busType() == BOARD_INVALID_BUS) {
return 0;
} else if (busType() == BOARD_SPI_BUS) {
return _spi_bus_iterator.externalBusIndex();
} else {
return _i2c_bus_iterator.externalBusIndex();
}
}
int BusInstanceIterator::busDeviceIndex() const
{
if (busType() == BOARD_SPI_BUS) {
return _spi_bus_iterator.busDeviceIndex();
}
#endif // CONFIG_I2C
return -1;
}
uint32_t BusInstanceIterator::devid() const
{
#if defined(CONFIG_SPI)
if (busType() == BOARD_SPI_BUS) {
return _spi_bus_iterator.devid();
}
#endif // CONFIG_SPI
return 0;
}
#if defined(CONFIG_SPI)
spi_drdy_gpio_t BusInstanceIterator::DRDYGPIO() const
{
if (busType() == BOARD_SPI_BUS) {
return _spi_bus_iterator.DRDYGPIO();
}
return 0;
}
#endif // CONFIG_SPI
bool BusInstanceIterator::external() const
{
#if defined(CONFIG_SPI)
if (busType() == BOARD_SPI_BUS) {
return _spi_bus_iterator.external();
}
#endif // CONFIG_SPI
#if defined(CONFIG_I2C)
if (busType() == BOARD_I2C_BUS) {
return _i2c_bus_iterator.external();
}
#endif // CONFIG_I2C
return false;
}
int BusInstanceIterator::externalBusIndex() const
{
#if defined(CONFIG_SPI)
if (busType() == BOARD_SPI_BUS) {
return _spi_bus_iterator.externalBusIndex();
}
#endif // CONFIG_SPI
#if defined(CONFIG_I2C)
if (busType() == BOARD_I2C_BUS) {
return _i2c_bus_iterator.externalBusIndex();
}
#endif // CONFIG_I2C
return 0;
}
int BusInstanceIterator::busDeviceIndex() const
{
#if defined(CONFIG_SPI)
if (busType() == BOARD_SPI_BUS) {
return _spi_bus_iterator.busDeviceIndex();
}
#endif // CONFIG_SPI
return -1;
}
#if defined(CONFIG_I2C)
I2CBusIterator::FilterType BusInstanceIterator::i2cFilter(I2CSPIBusOption bus_option)
{
switch (bus_option) {
@@ -471,7 +557,9 @@ I2CBusIterator::FilterType BusInstanceIterator::i2cFilter(I2CSPIBusOption bus_op
return I2CBusIterator::FilterType::All;
}
#endif // CONFIG_I2C
#if defined(CONFIG_SPI)
SPIBusIterator::FilterType BusInstanceIterator::spiFilter(I2CSPIBusOption bus_option)
{
switch (bus_option) {
@@ -484,6 +572,7 @@ SPIBusIterator::FilterType BusInstanceIterator::spiFilter(I2CSPIBusOption bus_op
return SPIBusIterator::FilterType::InternalBus;
}
#endif // CONFIG_SPI
struct I2CSPIDriverInitializing {
const I2CSPIDriverConfig &config;
@@ -520,9 +609,15 @@ int I2CSPIDriverBase::module_start(const BusCLIArguments &cli, BusInstanceIterat
device_id.devid_s.bus = iterator.bus();
switch (iterator.busType()) {
#if defined(CONFIG_I2C)
case BOARD_I2C_BUS: device_id.devid_s.bus_type = device::Device::DeviceBusType_I2C; break;
#endif // CONFIG_I2C
#if defined(CONFIG_SPI)
case BOARD_SPI_BUS: device_id.devid_s.bus_type = device::Device::DeviceBusType_SPI; break;
#endif // CONFIG_SPI
case BOARD_INVALID_BUS: device_id.devid_s.bus_type = device::Device::DeviceBusType_UNKNOWN; break;
}
@@ -543,15 +638,21 @@ int I2CSPIDriverBase::module_start(const BusCLIArguments &cli, BusInstanceIterat
continue;
}
#if defined(CONFIG_I2C)
if (cli.i2c_address != 0 && instance->_i2c_address == 0) {
PX4_ERR("Bug: driver %s does not pass the I2C address to I2CSPIDriverBase", instance->ItemName());
}
#endif // CONFIG_I2C
iterator.addInstance(instance);
started = true;
// print some info that we are running
switch (iterator.busType()) {
#if defined(CONFIG_I2C)
case BOARD_I2C_BUS:
PX4_INFO_RAW("%s #%i on I2C bus %d", instance->ItemName(), runtime_instance, iterator.bus());
@@ -570,6 +671,8 @@ int I2CSPIDriverBase::module_start(const BusCLIArguments &cli, BusInstanceIterat
PX4_INFO_RAW("\n");
break;
#endif // CONFIG_I2C
#if defined(CONFIG_SPI)
case BOARD_SPI_BUS:
PX4_INFO_RAW("%s #%i on SPI bus %d", instance->ItemName(), runtime_instance, iterator.bus());
@@ -585,6 +688,7 @@ int I2CSPIDriverBase::module_start(const BusCLIArguments &cli, BusInstanceIterat
PX4_INFO_RAW("\n");
break;
#endif // CONFIG_SPI
case BOARD_INVALID_BUS:
break;
@@ -594,15 +698,18 @@ int I2CSPIDriverBase::module_start(const BusCLIArguments &cli, BusInstanceIterat
if (!started && !cli.quiet_start) {
PX4_WARN("%s: no instance started (no device on bus?)", px4_get_taskname());
#if defined(CONFIG_I2C)
if (iterator.busType() == BOARD_I2C_BUS && cli.i2c_address == 0) {
PX4_ERR("%s: driver does not set i2c address", px4_get_taskname());
}
#endif // CONFIG_I2C
}
return started ? 0 : -1;
}
int I2CSPIDriverBase::module_stop(BusInstanceIterator &iterator)
{
bool is_running = false;
@@ -680,14 +787,23 @@ int I2CSPIDriverBase::module_custom_method(const BusCLIArguments &cli, BusInstan
void I2CSPIDriverBase::print_status()
{
bool is_i2c_bus = _bus_option == I2CSPIBusOption::I2CExternal || _bus_option == I2CSPIBusOption::I2CInternal;
#if defined(CONFIG_I2C)
if (is_i2c_bus) {
if (_bus_option == I2CSPIBusOption::I2CExternal || _bus_option == I2CSPIBusOption::I2CInternal) {
PX4_INFO("Running on I2C Bus %i, Address 0x%02X", _bus, get_i2c_address());
} else {
PX4_INFO("Running on SPI Bus %i", _bus);
return;
}
#endif // CONFIG_I2C
#if defined(CONFIG_SPI)
if (_bus_option == I2CSPIBusOption::SPIExternal || _bus_option == I2CSPIBusOption::SPIInternal) {
PX4_INFO("Running on SPI Bus %i", _bus);
return;
}
#endif // CONFIG_SPI
}
void I2CSPIDriverBase::request_stop_and_wait()
@@ -705,5 +821,3 @@ void I2CSPIDriverBase::request_stop_and_wait()
PX4_ERR("Module did not respond to stop request");
}
}
#endif /* BOARD_DISABLE_I2C_SPI */