mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-26 08:53:33 +08:00
refactor bmp388: use driver base class
This commit is contained in:
Beat Küng
@@ -33,208 +33,88 @@
|
||||
|
||||
#include <px4_platform_common/px4_config.h>
|
||||
#include <px4_platform_common/getopt.h>
|
||||
#include <px4_platform_common/module.h>
|
||||
|
||||
#include "bmp388.h"
|
||||
|
||||
enum class BMP388_BUS {
|
||||
ALL = 0,
|
||||
I2C_INTERNAL,
|
||||
I2C_INTERNAL1,
|
||||
I2C_EXTERNAL,
|
||||
SPI_INTERNAL,
|
||||
SPI_EXTERNAL
|
||||
};
|
||||
|
||||
namespace bmp388
|
||||
void
|
||||
BMP388::print_usage()
|
||||
{
|
||||
|
||||
// list of supported bus configurations
|
||||
struct bmp388_bus_option {
|
||||
BMP388_BUS busid;
|
||||
BMP388_constructor interface_constructor;
|
||||
uint8_t busnum;
|
||||
uint32_t address;
|
||||
BMP388 *dev;
|
||||
} bus_options[] = {
|
||||
#if defined(PX4_SPIDEV_EXT_BARO) && defined(PX4_SPI_BUS_EXT)
|
||||
{ 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, &bmp388_spi_interface, PX4_SPIDEV_BARO_BUS, PX4_SPIDEV_BARO, nullptr },
|
||||
# else
|
||||
{ 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, &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, &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, &bmp388_i2c_interface, PX4_I2C_BUS_EXPANSION, PX4_I2C_OBDEV_BMP388, nullptr },
|
||||
#endif
|
||||
};
|
||||
|
||||
// find a bus structure for a busid
|
||||
static struct bmp388_bus_option *find_bus(BMP388_BUS busid)
|
||||
{
|
||||
for (bmp388_bus_option &bus_option : bus_options) {
|
||||
if ((busid == BMP388_BUS::ALL ||
|
||||
busid == bus_option.busid) && bus_option.dev != nullptr) {
|
||||
|
||||
return &bus_option;
|
||||
}
|
||||
}
|
||||
|
||||
return nullptr;
|
||||
PRINT_MODULE_USAGE_NAME("bmp388", "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(0x76);
|
||||
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
|
||||
}
|
||||
|
||||
static bool start_bus(bmp388_bus_option &bus)
|
||||
I2CSPIDriverBase *BMP388::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
|
||||
int runtime_instance)
|
||||
{
|
||||
IBMP388 *interface = bus.interface_constructor(bus.busnum, bus.address);
|
||||
IBMP388 *interface = nullptr;
|
||||
|
||||
if ((interface == nullptr) || (interface->init() != PX4_OK)) {
|
||||
PX4_WARN("no device on bus %u", (unsigned)bus.busid);
|
||||
delete interface;
|
||||
return false;
|
||||
if (iterator.busType() == BOARD_I2C_BUS) {
|
||||
interface = bmp388_i2c_interface(iterator.bus(), cli.i2c_address, cli.bus_frequency);
|
||||
|
||||
} else if (iterator.busType() == BOARD_SPI_BUS) {
|
||||
interface = bmp388_spi_interface(iterator.bus(), iterator.devid(), cli.bus_frequency, cli.spi_mode);
|
||||
}
|
||||
|
||||
BMP388 *dev = new BMP388(interface);
|
||||
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;
|
||||
PX4_DEBUG("no device on bus %i (devid 0x%x)", iterator.bus(), iterator.devid());
|
||||
return nullptr;
|
||||
}
|
||||
|
||||
BMP388 *dev = new BMP388(iterator.configuredBusOption(), iterator.bus(), interface);
|
||||
|
||||
if (dev == nullptr) {
|
||||
PX4_ERR("alloc failed");
|
||||
delete interface;
|
||||
return false;
|
||||
return nullptr;
|
||||
}
|
||||
|
||||
if (dev->init() != PX4_OK) {
|
||||
PX4_ERR("driver start failed");
|
||||
if (OK != dev->init()) {
|
||||
delete dev;
|
||||
return false;
|
||||
return nullptr;
|
||||
}
|
||||
|
||||
bus.dev = dev;
|
||||
|
||||
return true;
|
||||
return dev;
|
||||
}
|
||||
|
||||
static int start(BMP388_BUS busid)
|
||||
{
|
||||
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_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(BMP388_BUS busid)
|
||||
{
|
||||
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" int bmp388_main(int argc, char *argv[])
|
||||
{
|
||||
int myoptind = 1;
|
||||
int ch;
|
||||
const char *myoptarg = nullptr;
|
||||
BMP388_BUS busid = BMP388_BUS::ALL;
|
||||
using ThisDriver = BMP388;
|
||||
BusCLIArguments cli{true, true};
|
||||
cli.i2c_address = 0x76;
|
||||
cli.default_i2c_frequency = 100 * 1000;
|
||||
cli.default_spi_frequency = 10 * 1000 * 1000;
|
||||
|
||||
while ((ch = px4_getopt(argc, argv, "XIJSs", &myoptind, &myoptarg)) != EOF) {
|
||||
switch (ch) {
|
||||
case 'X':
|
||||
busid = BMP388_BUS::I2C_EXTERNAL;
|
||||
break;
|
||||
const char *verb = cli.parseDefaultArguments(argc, argv);
|
||||
|
||||
case 'I':
|
||||
busid = BMP388_BUS::I2C_INTERNAL;
|
||||
break;
|
||||
|
||||
case 'J':
|
||||
busid = BMP388_BUS::I2C_INTERNAL1;
|
||||
break;
|
||||
|
||||
case 'S':
|
||||
busid = BMP388_BUS::SPI_EXTERNAL;
|
||||
break;
|
||||
|
||||
case 's':
|
||||
busid = BMP388_BUS::SPI_INTERNAL;
|
||||
break;
|
||||
|
||||
default:
|
||||
return bmp388::usage();
|
||||
}
|
||||
if (!verb) {
|
||||
ThisDriver::print_usage();
|
||||
return -1;
|
||||
}
|
||||
|
||||
if (myoptind >= argc) {
|
||||
return bmp388::usage();
|
||||
}
|
||||
|
||||
const char *verb = argv[myoptind];
|
||||
BusInstanceIterator iterator(MODULE_NAME, cli, DRV_BARO_DEVTYPE_BMP388);
|
||||
|
||||
if (!strcmp(verb, "start")) {
|
||||
return bmp388::start(busid);
|
||||
|
||||
} else if (!strcmp(verb, "stop")) {
|
||||
return bmp388::stop(busid);
|
||||
|
||||
} else if (!strcmp(verb, "status")) {
|
||||
return bmp388::status(busid);
|
||||
return ThisDriver::module_start(cli, iterator);
|
||||
}
|
||||
|
||||
return bmp388::usage();
|
||||
if (!strcmp(verb, "stop")) {
|
||||
return ThisDriver::module_stop(iterator);
|
||||
}
|
||||
|
||||
if (!strcmp(verb, "status")) {
|
||||
return ThisDriver::module_status(iterator);
|
||||
}
|
||||
|
||||
ThisDriver::print_usage();
|
||||
return -1;
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user