fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-20 07:43:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

i2c_spi_buses: respect CONFIG_I2C and CONFIG_SPI

Browse Source 
- 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
Download Patch File Download Diff File Expand all files Collapse all files
platforms/common/include/px4_platform_common/board_common.h
+4
View File
@@ -1015,8 +1015,12 @@ int board_register_power_state_notification_cb(power_button_state_notification_t
enum board_bus_types {
BOARD_INVALID_BUS = 0,
#if defined(CONFIG_SPI)
BOARD_SPI_BUS = 1,
#endif // CONFIG_SPI
#if defined(CONFIG_I2C)
BOARD_I2C_BUS = 2
#endif // CONFIG_I2C
};
#if defined(BOARD_HAS_BUS_MANIFEST)
platforms/common/include/px4_platform_common/i2c.h
+4
View File
@@ -35,6 +35,8 @@
#include <board_config.h>
#if defined(CONFIG_I2C)
#define I2C_BUS_MAX_BUS_ITEMS PX4_NUMBER_I2C_BUSES
struct px4_i2c_bus_t {
@@ -99,3 +101,5 @@ private:
int _index{-1};
int _external_bus_counter{0};
};
#endif // CONFIG_I2C
platforms/common/include/px4_platform_common/i2c_spi_buses.h
+74 -13
View File
@@ -33,8 +33,7 @@
#pragma once
#include "i2c.h"
#include "spi.h"
#include <board_config.h>
#include <stdint.h>
@@ -43,15 +42,29 @@
#include <px4_platform_common/atomic.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include <px4_platform_common/sem.h>
#include <board_config.h>
#include <drivers/device/spi.h>
#if defined(CONFIG_I2C)
# include "i2c.h"
#endif // CONFIG_I2C
#if defined(CONFIG_SPI)
# include "spi.h"
#endif // CONFIG_SPI
#if defined(CONFIG_SPI)
# include <drivers/device/spi.h>
#endif // CONFIG_SPI
enum class I2CSPIBusOption : uint8_t {
All = 0, ///< select all runnning instances
#if defined(CONFIG_I2C)
I2CInternal,
I2CExternal,
#endif // CONFIG_I2C
#if defined(CONFIG_SPI)
SPIInternal,
SPIExternal,
#endif // CONFIG_SPI
};
class BusCLIArguments;
@@ -66,11 +79,15 @@ struct I2CSPIDriverConfig {
I2CSPIBusOption bus_option;
board_bus_types bus_type;
int bus;
#if defined(CONFIG_I2C)
uint8_t i2c_address;
#endif // CONFIG_I2C
int bus_frequency;
#if defined(CONFIG_SPI)
spi_drdy_gpio_t drdy_gpio;
spi_mode_e spi_mode;
uint32_t spi_devid;
#endif // CONFIG_SPI
int bus_device_index;
Rotation rotation;
@@ -93,13 +110,17 @@ class I2CSPIInstance : public ListNode<I2CSPIInstance *>
{
public:
virtual ~I2CSPIInstance() = default;
#if defined(CONFIG_I2C)
virtual int8_t get_i2c_address() {return _i2c_address;}
#endif // CONFIG_I2C
private:
I2CSPIInstance(const I2CSPIDriverConfig &config)
: _module_name(config.module_name), _bus_option(config.bus_option), _bus(config.bus),
_devid_driver_index(config.devid_driver_index), _bus_device_index(config.bus_device_index),
_i2c_address(config.i2c_address) {}
_devid_driver_index(config.devid_driver_index), _bus_device_index(config.bus_device_index)
#if defined(CONFIG_I2C)
, _i2c_address(config.i2c_address)
#endif // CONFIG_I2C
{}
friend class BusInstanceIterator;
@@ -110,14 +131,28 @@ private:
const int _bus;
const uint16_t _devid_driver_index;
const int8_t _bus_device_index;
#if defined(CONFIG_I2C)
const int8_t _i2c_address; ///< I2C address (optional)
#endif // CONFIG_I2C
};
class BusCLIArguments
{
public:
BusCLIArguments(bool i2c_support, bool spi_support)
: _i2c_support(i2c_support), _spi_support(spi_support) {}
#if defined(CONFIG_I2C) || defined(CONFIG_SPI)
:
#endif // CONFIG_I2C || CONFIG_SPI
#if defined(CONFIG_I2C)
_i2c_support(i2c_support)
#endif // CONFIG_I2C
#if defined(CONFIG_I2C) && defined(CONFIG_SPI)
,
#endif // CONFIG_I2C && CONFIG_SPI
#if defined(CONFIG_SPI)
_spi_support(spi_support)
#endif // CONFIG_SPI
{}
/**
* Parse CLI arguments (for drivers that don't need any custom arguments, otherwise getopt() should be used)
@@ -139,11 +174,15 @@ public:
I2CSPIBusOption bus_option{I2CSPIBusOption::All};
int requested_bus{-1};
int chipselect_index{1};
int bus_frequency{0};
#if defined(CONFIG_SPI)
int chipselect_index {1};
spi_mode_e spi_mode{SPIDEV_MODE3};
uint8_t i2c_address{0}; ///< I2C address (a driver must set the default address)
bool quiet_start{false}; ///< do not print a message when startup fails
#endif // CONFIG_SPI
#if defined(CONFIG_I2C)
uint8_t i2c_address {0}; ///< I2C address (a driver must set the default address)
#endif // CONFIG_I2C
bool quiet_start {false}; ///< do not print a message when startup fails
bool keep_running{false}; ///< keep driver running even if no device is detected on startup
Rotation rotation{ROTATION_NONE}; ///< sensor rotation (MAV_SENSOR_ROTATION_* or distance_sensor_s::ROTATION_*)
@@ -153,8 +192,12 @@ public:
void *custom_data{nullptr}; ///< driver-specific custom argument
// driver defaults, if not specified via CLI
int default_spi_frequency{-1}; ///< default spi bus frequency (driver needs to set this) [Hz]
int default_i2c_frequency{-1}; ///< default i2c bus frequency (driver needs to set this) [Hz]
#if defined(CONFIG_SPI)
int default_spi_frequency {-1}; ///< default spi bus frequency (driver needs to set this) [Hz]
#endif // CONFIG_SPI
#if defined(CONFIG_I2C)
int default_i2c_frequency {-1}; ///< default i2c bus frequency (driver needs to set this) [Hz]
#endif // CONFIG_I2C
bool support_keep_running{false}; ///< true if keep_running (see above) is supported
@@ -164,8 +207,12 @@ private:
char _options[32] {};
int _optind{1};
const char *_optarg{nullptr};
#if defined(CONFIG_I2C)
const bool _i2c_support;
#endif // CONFIG_I2C
#if defined(CONFIG_SPI)
const bool _spi_support;
#endif // CONFIG_SPI
};
/**
@@ -189,15 +236,23 @@ public:
board_bus_types busType() const;
int bus() const;
uint32_t devid() const;
#if defined(CONFIG_SPI)
spi_drdy_gpio_t DRDYGPIO() const;
#endif // CONFIG_SPI
bool external() const;
int externalBusIndex() const;
int busDeviceIndex() const;
void addInstance(I2CSPIInstance *instance);
#if defined(CONFIG_I2C)
static I2CBusIterator::FilterType i2cFilter(I2CSPIBusOption bus_option);
#endif // CONFIG_I2C
#if defined(CONFIG_SPI)
static SPIBusIterator::FilterType spiFilter(I2CSPIBusOption bus_option);
#endif // CONFIG_SPI
const char *moduleName() const { return _module_name; }
uint16_t devidDriverIndex() const { return _devid_driver_index; }
@@ -206,9 +261,15 @@ private:
const char *_module_name;
const I2CSPIBusOption _bus_option;
const uint16_t _devid_driver_index;
#if defined(CONFIG_I2C)
const uint8_t _i2c_address;
#endif // CONFIG_I2C
#if defined(CONFIG_SPI)
SPIBusIterator _spi_bus_iterator;
#endif // CONFIG_SPI
#if defined(CONFIG_I2C)
I2CBusIterator _i2c_bus_iterator;
#endif // CONFIG_I2C
List<I2CSPIInstance *>::Iterator _current_instance;
};
platforms/common/include/px4_platform_common/spi.h
+4
View File
@@ -36,6 +36,8 @@
#include <stdint.h>
#include <board_config.h>
#if defined(CONFIG_SPI)
/*
* Helper macros to handle device ID's. They are used to match drivers against SPI buses and chip-select signals.
* They match with corresponding definitions in NuttX.
@@ -168,3 +170,5 @@ private:
int _external_bus_counter{1};
int _bus_device_index{-1};
};
#endif // CONFIG_SPI