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refactor dps310: use driver base class

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This commit is contained in:
Beat Küng 2020-02-26 17:55:41 +01:00 committed by Daniel Agar
parent 985bb2adc9
commit 83a3deb9da
5 changed files with 94 additions and 191 deletions
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18
src/drivers/barometer/dps310/DPS310.cpp
View File

@ -46,8 +46,9 @@ static void getTwosComplement(T &raw, uint8_t length)
}
}
DPS310::DPS310(device::Device *interface) :
ScheduledWorkItem(MODULE_NAME, px4::device_bus_to_wq(interface->get_device_id())),
DPS310::DPS310(I2CSPIBusOption bus_option, int bus, device::Device *interface) :
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(interface->get_device_id()), bus_option, bus,
interface->get_device_address()),
_px4_barometer(interface->get_device_id()),
_interface(interface),
_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": read")),
@ -58,8 +59,6 @@ DPS310::DPS310(device::Device *interface) :
DPS310::~DPS310()
{
stop();
perf_free(_sample_perf);
perf_free(_comms_errors);
@ -177,13 +176,7 @@ DPS310::start()
}
void
DPS310::stop()
{
ScheduleClear();
}
void
DPS310::Run()
DPS310::RunImpl()
{
perf_begin(_sample_perf);
@ -287,8 +280,9 @@ DPS310::RegisterClearBits(Register reg, uint8_t clearbits)
}
void
DPS310::print_info()
DPS310::print_status()
{
I2CSPIDriverBase::print_status();
perf_print_counter(_sample_perf);
perf_print_counter(_comms_errors);

17
src/drivers/barometer/dps310/DPS310.hpp
View File

@ -43,6 +43,7 @@
#include <lib/drivers/barometer/PX4Barometer.hpp>
#include <lib/perf/perf_counter.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include <px4_platform_common/i2c_spi_buses.h>
#include "Infineon_DPS310_Registers.hpp"
@ -52,22 +53,24 @@ namespace dps310
using Infineon_DPS310::CalibrationCoefficients;
using Infineon_DPS310::Register;
class DPS310 : public px4::ScheduledWorkItem
class DPS310 : public I2CSPIDriver<DPS310>
{
public:
DPS310(device::Device *interface);
DPS310(I2CSPIBusOption bus_option, int bus, device::Device *interface);
virtual ~DPS310();
static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
int runtime_instance);
static void print_usage();
int init();
void print_info();
void print_status();
void RunImpl();
private:
void Run() override;
void start();
void stop();
int reset();
uint8_t RegisterRead(Register reg);
@ -75,7 +78,7 @@ private:
void RegisterSetBits(Register reg, uint8_t setbits);
void RegisterClearBits(Register reg, uint8_t clearbits);
static constexpr uint32_t SAMPLE_RATE{32}; //
static constexpr uint32_t SAMPLE_RATE{32};
PX4Barometer _px4_barometer;

12
src/drivers/barometer/dps310/DPS310_I2C.cpp
View File

@ -42,12 +42,12 @@
namespace dps310
{
device::Device *DPS310_I2C_interface(uint8_t bus, uint32_t address);
device::Device *DPS310_I2C_interface(uint8_t bus, uint32_t address, int bus_frequency);
class DPS310_I2C : public device::I2C
{
public:
DPS310_I2C(uint8_t bus, uint32_t address);
DPS310_I2C(uint8_t bus, uint32_t address, int bus_frequency);
virtual ~DPS310_I2C() = default;
virtual int read(unsigned address, void *data, unsigned count);
@ -56,13 +56,13 @@ public:
};
device::Device *
DPS310_I2C_interface(uint8_t bus, uint32_t address)
DPS310_I2C_interface(uint8_t bus, uint32_t address, int bus_frequency)
{
return new DPS310_I2C(bus, address);
return new DPS310_I2C(bus, address, bus_frequency);
}
DPS310_I2C::DPS310_I2C(uint8_t bus, uint32_t address) :
I2C("DPS310_I2C", nullptr, bus, address, 400000)
DPS310_I2C::DPS310_I2C(uint8_t bus, uint32_t address, int bus_frequency) :
I2C("DPS310_I2C", nullptr, bus, address, bus_frequency)
{
}

12
src/drivers/barometer/dps310/DPS310_SPI.cpp
View File

@ -46,12 +46,12 @@ namespace dps310
#define DIR_READ (1<<7)
#define DIR_WRITE (0<<7)
device::Device *DPS310_SPI_interface(uint8_t bus, uint32_t device);
device::Device *DPS310_SPI_interface(uint8_t bus, uint32_t device, int bus_frequency, spi_mode_e spi_mode);
class DPS310_SPI : public device::SPI
{
public:
DPS310_SPI(uint8_t bus, uint32_t device);
DPS310_SPI(uint8_t bus, uint32_t device, int bus_frequency, spi_mode_e spi_mode);
virtual ~DPS310_SPI() = default;
virtual int read(unsigned address, void *data, unsigned count);
@ -60,13 +60,13 @@ public:
};
device::Device *
DPS310_SPI_interface(uint8_t bus, uint32_t device)
DPS310_SPI_interface(uint8_t bus, uint32_t device, int bus_frequency, spi_mode_e spi_mode)
{
return new DPS310_SPI(bus, device);
return new DPS310_SPI(bus, device, bus_frequency, spi_mode);
}
DPS310_SPI::DPS310_SPI(uint8_t bus, uint32_t device) :
SPI("DPS310_SPI", nullptr, bus, device, SPIDEV_MODE3, 10 * 1000 * 1000)
DPS310_SPI::DPS310_SPI(uint8_t bus, uint32_t device, int bus_frequency, spi_mode_e spi_mode) :
SPI("DPS310_SPI", nullptr, bus, device, spi_mode, bus_frequency)
{
}

226
src/drivers/barometer/dps310/dps310_main.cpp
View File

@ -33,188 +33,94 @@
#include "DPS310.hpp"
#include <px4_platform_common/getopt.h>
namespace dps310
{
enum class DPS310_BUS {
ALL = 0,
I2C_INTERNAL,
I2C_EXTERNAL,
SPI_INTERNAL,
SPI_EXTERNAL
};
extern device::Device *DPS310_SPI_interface(uint8_t bus, uint32_t device);
extern device::Device *DPS310_I2C_interface(uint8_t bus, uint32_t device);
typedef device::Device *(*DPS310_constructor)(uint8_t, uint32_t);
struct dps310_bus_option {
DPS310_BUS busid;
DPS310_constructor interface_constructor;
uint8_t busnum;
uint32_t address;
DPS310 *dev;
} bus_options[] = {
#if defined(PX4_SPI_BUS_2) && defined(PX4_SPIDEV_BARO)
{ DPS310_BUS::SPI_INTERNAL, &DPS310_SPI_interface, PX4_SPI_BUS_2, PX4_SPIDEV_BARO, nullptr },
#endif
#if defined(PX4_I2C_BUS_EXPANSION) && defined(PX4_I2C_OBDEV_DPS310)
{ DPS310_BUS::I2C_EXTERNAL, &DPS310_I2C_interface, PX4_I2C_BUS_EXPANSION, PX4_I2C_OBDEV_DPS310, nullptr },
#endif
};
// find a bus structure for a busid
static dps310_bus_option *find_bus(DPS310_BUS busid)
{
for (dps310_bus_option &bus_option : bus_options) {
if ((busid == DPS310_BUS::ALL ||
busid == bus_option.busid) && bus_option.dev != nullptr) {
return &bus_option;
}
}
return nullptr;
extern device::Device *DPS310_SPI_interface(uint8_t bus, uint32_t device, int bus_frequency, spi_mode_e spi_mode);
extern device::Device *DPS310_I2C_interface(uint8_t bus, uint32_t device, int bus_frequency);
}
static bool start_bus(dps310_bus_option &bus)
{
device::Device *interface = bus.interface_constructor(bus.busnum, bus.address);
#include <px4_platform_common/getopt.h>
#include <px4_platform_common/module.h>
if ((interface == nullptr) || (interface->init() != PX4_OK)) {
PX4_WARN("no device on bus %u", (unsigned)bus.busid);
using namespace dps310;
void
DPS310::print_usage()
{
PRINT_MODULE_USAGE_NAME("dps310", "driver");
PRINT_MODULE_USAGE_SUBCATEGORY("baro");
PRINT_MODULE_USAGE_COMMAND("start");
PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, true);
PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x77);
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
}
I2CSPIDriverBase *DPS310::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
int runtime_instance)
{
device::Device *interface = nullptr;
if (iterator.busType() == BOARD_I2C_BUS) {
interface = DPS310_I2C_interface(iterator.bus(), cli.i2c_address, cli.bus_frequency);
} else if (iterator.busType() == BOARD_SPI_BUS) {
interface = DPS310_SPI_interface(iterator.bus(), iterator.devid(), cli.bus_frequency, cli.spi_mode);
}
if (interface == nullptr) {
PX4_ERR("failed creating interface for bus %i (devid 0x%x)", iterator.bus(), iterator.devid());
return nullptr;
}
if (interface->init() != OK) {
delete interface;
return false;
PX4_DEBUG("no device on bus %i (devid 0x%x)", iterator.bus(), iterator.devid());
return nullptr;
}
DPS310 *dev = new DPS310(interface);
DPS310 *dev = new DPS310(iterator.configuredBusOption(), iterator.bus(), interface);
if (dev == nullptr || dev->init() != PX4_OK) {
PX4_ERR("driver start failed");
if (dev == nullptr) {
delete interface;
return nullptr;
}
if (OK != dev->init()) {
delete dev;
return false;
return nullptr;
}
bus.dev = dev;
return true;
return dev;
}
static int start(DPS310_BUS busid)
{
for (dps310_bus_option &bus_option : bus_options) {
if (bus_option.dev != nullptr) {
// this device is already started
PX4_WARN("already started");
continue;
}
if (busid != DPS310_BUS::ALL && bus_option.busid != busid) {
// not the one that is asked for
continue;
}
if (start_bus(bus_option)) {
return PX4_OK;
}
}
return PX4_ERROR;
}
static int stop(DPS310_BUS busid)
{
dps310_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(DPS310_BUS busid)
{
dps310_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(" -s (spi internal bus)");
PX4_INFO(" -S (spi external bus)");
return 0;
}
} // namespace dsp310
extern "C" int dps310_main(int argc, char *argv[])
{
int myoptind = 1;
int ch;
const char *myoptarg = nullptr;
using ThisDriver = DPS310;
BusCLIArguments cli{true, true};
cli.i2c_address = 0x77;
cli.default_spi_frequency = 10 * 1000 * 1000;
using namespace dps310;
const char *verb = cli.parseDefaultArguments(argc, argv);
DPS310_BUS busid = DPS310_BUS::ALL;
while ((ch = px4_getopt(argc, argv, "XISs", &myoptind, &myoptarg)) != EOF) {
switch (ch) {
case 'X':
busid = DPS310_BUS::I2C_EXTERNAL;
break;
case 'I':
busid = DPS310_BUS::I2C_INTERNAL;
break;
case 'S':
busid = DPS310_BUS::SPI_EXTERNAL;
break;
case 's':
busid = DPS310_BUS::SPI_INTERNAL;
break;
default:
return usage();
}
if (!verb) {
ThisDriver::print_usage();
return -1;
}
if (myoptind >= argc) {
return usage();
}
const char *verb = argv[myoptind];
BusInstanceIterator iterator(MODULE_NAME, cli, DRV_BARO_DEVTYPE_DPS310);
if (!strcmp(verb, "start")) {
return start(busid);
} else if (!strcmp(verb, "stop")) {
return stop(busid);
} else if (!strcmp(verb, "status")) {
return status(busid);
return ThisDriver::module_start(cli, iterator);
}
return usage();
if (!strcmp(verb, "stop")) {
return ThisDriver::module_stop(iterator);
}
if (!strcmp(verb, "status")) {
return ThisDriver::module_status(iterator);
}
ThisDriver::print_usage();
return -1;
}