fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-18 04:03:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

i2c_spi_buses: add support for multiple instances of the same device on a bus

Browse Source 
This also simplifies the API a bit, since we anyway have to change the
drivers to pass additional information (the bus device index).

The orientation flag is merged with the rotation.
This commit is contained in:
Beat Küng
2021-07-08 12:59:35 -04:00
committed by Daniel Agar
parent e4983ab88c
commit c5aef9d512
19 changed files with 252 additions and 60 deletions
Download Patch File Download Diff File Expand all files Collapse all files
platforms/common/i2c_spi_buses.cpp
+49 -8
View File
@@ -49,6 +49,31 @@
static List<I2CSPIInstance *> i2c_spi_module_instances; ///< list of currently running instances
static pthread_mutex_t i2c_spi_module_instances_mutex = PTHREAD_MUTEX_INITIALIZER;
I2CSPIDriverConfig::I2CSPIDriverConfig(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
const px4::wq_config_t &wq_config_)
: module_name(iterator.moduleName()),
devid_driver_index(iterator.devidDriverIndex()),
bus_option(iterator.configuredBusOption()),
bus_type(iterator.busType()),
bus(iterator.bus()),
i2c_address(cli.i2c_address),
bus_frequency(cli.bus_frequency),
drdy_gpio(iterator.DRDYGPIO()),
spi_mode(cli.spi_mode),
spi_devid(iterator.devid()),
bus_device_index(iterator.busDeviceIndex()),
rotation(cli.rotation),
quiet_start(cli.quiet_start),
keep_running(cli.keep_running),
custom1(cli.custom1),
custom2(cli.custom2),
custom_data(cli.custom_data),
wq_config(wq_config_)
{
}
const char *BusCLIArguments::parseDefaultArguments(int argc, char *argv[])
{
if (getOpt(argc, argv, "") == EOF) {
@@ -223,7 +248,7 @@ 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), _type(cli_arguments.type),
: _module_name(module_name), _bus_option(cli_arguments.bus_option), _devid_driver_index(devid_driver_index),
_i2c_address(cli_arguments.i2c_address),
_spi_bus_iterator(spiFilter(cli_arguments.bus_option),
cli_arguments.bus_option == I2CSPIBusOption::SPIExternal ? cli_arguments.chipselect_index : devid_driver_index,
@@ -256,7 +281,7 @@ bool BusInstanceIterator::next()
while (_current_instance != i2c_spi_module_instances.end()) {
if (strcmp((*_current_instance)->_module_name, _module_name) == 0 &&
_type == (*_current_instance)->_type) {
_devid_driver_index == (*_current_instance)->_devid_driver_index) {
return true;
}
@@ -287,7 +312,8 @@ bool BusInstanceIterator::next()
}
if (_bus_option == (*_current_instance)->_bus_option && bus == (*_current_instance)->_bus &&
_type == (*_current_instance)->_type &&
_devid_driver_index == (*_current_instance)->_devid_driver_index &&
busDeviceIndex() == (*_current_instance)->_bus_device_index &&
(!is_i2c || _i2c_address == (*_current_instance)->_i2c_address)) {
break;
}
@@ -422,6 +448,15 @@ int BusInstanceIterator::externalBusIndex() const
}
}
int BusInstanceIterator::busDeviceIndex() const
{
if (busType() == BOARD_SPI_BUS) {
return _spi_bus_iterator.busDeviceIndex();
}
return -1;
}
I2CBusIterator::FilterType BusInstanceIterator::i2cFilter(I2CSPIBusOption bus_option)
{
switch (bus_option) {
@@ -451,8 +486,7 @@ SPIBusIterator::FilterType BusInstanceIterator::spiFilter(I2CSPIBusOption bus_op
}
struct I2CSPIDriverInitializing {
const BusCLIArguments &cli;
const BusInstanceIterator &iterator;
const I2CSPIDriverConfig &config;
I2CSPIDriverBase::instantiate_method instantiate;
int runtime_instance;
I2CSPIDriverBase *instance{nullptr};
@@ -461,7 +495,7 @@ struct I2CSPIDriverInitializing {
static void initializer_trampoline(void *argument)
{
I2CSPIDriverInitializing *data = (I2CSPIDriverInitializing *)argument;
data->instance = data->instantiate(data->cli, data->iterator, data->runtime_instance);
data->instance = data->instantiate(data->config, data->runtime_instance);
}
int I2CSPIDriverBase::module_start(const BusCLIArguments &cli, BusInstanceIterator &iterator,
@@ -493,10 +527,13 @@ int I2CSPIDriverBase::module_start(const BusCLIArguments &cli, BusInstanceIterat
case BOARD_INVALID_BUS: device_id.devid_s.bus_type = device::Device::DeviceBusType_UNKNOWN; break;
}
const px4::wq_config_t &wq_config = px4::device_bus_to_wq(device_id.devid);
I2CSPIDriverConfig driver_config{cli, iterator, wq_config};
const int runtime_instance = iterator.runningInstancesCount();
I2CSPIDriverInitializing initializer_data{cli, iterator, instantiate, runtime_instance};
I2CSPIDriverInitializing initializer_data{driver_config, instantiate, runtime_instance};
// initialize the object and bus on the work queue thread - this will also probe for the device
px4::WorkItemSingleShot initializer(px4::device_bus_to_wq(device_id.devid), initializer_trampoline, &initializer_data);
px4::WorkItemSingleShot initializer(wq_config, initializer_trampoline, &initializer_data);
initializer.ScheduleNow();
initializer.wait();
I2CSPIDriverBase *instance = initializer_data.instance;
@@ -556,6 +593,10 @@ 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 (iterator.busType() == BOARD_I2C_BUS && cli.i2c_address == 0) {
PX4_ERR("%s: driver does not set i2c address", px4_get_taskname());
}
}
return started ? 0 : -1;