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

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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
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platforms/common/include/px4_platform_common/i2c_spi_buses.h
+81 -18
View File
@@ -54,6 +54,37 @@ enum class I2CSPIBusOption : uint8_t {
SPIExternal,
};
class BusCLIArguments;
class BusInstanceIterator;
struct I2CSPIDriverConfig {
I2CSPIDriverConfig(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
const px4::wq_config_t &wq_config_);
const char *module_name;
uint16_t devid_driver_index;
I2CSPIBusOption bus_option;
board_bus_types bus_type;
int bus;
uint8_t i2c_address;
int bus_frequency;
spi_drdy_gpio_t drdy_gpio;
spi_mode_e spi_mode;
uint32_t spi_devid;
int bus_device_index;
Rotation rotation;
bool quiet_start;
bool keep_running;
int custom1;
int custom2;
void *custom_data;
const px4::wq_config_t &wq_config;
};
/**
* @class I2CSPIInstance
* I2C/SPI driver instance used by BusInstanceIterator to find running instances.
@@ -64,8 +95,10 @@ public:
virtual ~I2CSPIInstance() = default;
private:
I2CSPIInstance(const char *module_name, I2CSPIBusOption bus_option, int bus, uint8_t i2c_address, uint16_t type)
: _module_name(module_name), _bus_option(bus_option), _bus(bus), _type(type), _i2c_address(i2c_address) {}
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) {}
friend class BusInstanceIterator;
friend class I2CSPIDriverBase;
@@ -73,7 +106,8 @@ private:
const char *_module_name;
const I2CSPIBusOption _bus_option;
const int _bus;
const int16_t _type; ///< device type (driver-specific)
const uint16_t _devid_driver_index;
const int8_t _bus_device_index;
const int8_t _i2c_address; ///< I2C address (optional)
};
@@ -102,17 +136,15 @@ public:
I2CSPIBusOption bus_option{I2CSPIBusOption::All};
uint16_t type{0}; ///< device type (driver-specific)
int requested_bus{-1};
int chipselect_index{1};
Rotation rotation{ROTATION_NONE};
int bus_frequency{0};
spi_mode_e spi_mode{SPIDEV_MODE3};
uint8_t i2c_address{0}; ///< optional I2C address: a driver can set this to allow configuring the I2C address
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
bool keep_running{false}; ///< keep driver running even if no device is detected on startup
uint8_t orientation{0}; ///< distance_sensor_s::ROTATION_*
Rotation rotation{ROTATION_NONE}; ///< sensor rotation (MAV_SENSOR_ROTATION_* or distance_sensor_s::ROTATION_*)
int custom1{0}; ///< driver-specific custom argument
int custom2{0}; ///< driver-specific custom argument
@@ -158,15 +190,20 @@ public:
spi_drdy_gpio_t DRDYGPIO() const;
bool external() const;
int externalBusIndex() const;
int busDeviceIndex() const;
void addInstance(I2CSPIInstance *instance);
static I2CBusIterator::FilterType i2cFilter(I2CSPIBusOption bus_option);
static SPIBusIterator::FilterType spiFilter(I2CSPIBusOption bus_option);
const char *moduleName() const { return _module_name; }
uint16_t devidDriverIndex() const { return _devid_driver_index; }
private:
const char *_module_name;
const I2CSPIBusOption _bus_option;
const uint16_t _type;
const uint16_t _devid_driver_index;
const uint8_t _i2c_address;
SPIBusIterator _spi_bus_iterator;
I2CBusIterator _i2c_bus_iterator;
@@ -180,18 +217,16 @@ private:
class I2CSPIDriverBase : public px4::ScheduledWorkItem, public I2CSPIInstance
{
public:
I2CSPIDriverBase(const char *module_name, const px4::wq_config_t &config, I2CSPIBusOption bus_option, int bus,
uint8_t i2c_address, uint16_t type)
: ScheduledWorkItem(module_name, config),
I2CSPIInstance(module_name, bus_option, bus, i2c_address, type) {}
I2CSPIDriverBase(const I2CSPIDriverConfig &config)
: ScheduledWorkItem(config.module_name, config.wq_config),
I2CSPIInstance(config) {}
static int module_stop(BusInstanceIterator &iterator);
static int module_status(BusInstanceIterator &iterator);
static int module_custom_method(const BusCLIArguments &cli, BusInstanceIterator &iterator,
bool run_on_work_queue = true);
using instantiate_method = I2CSPIDriverBase * (*)(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
int runtime_instance);
using instantiate_method = I2CSPIDriverBase * (*)(const I2CSPIDriverConfig &config, int runtime_instance);
protected:
virtual ~I2CSPIDriverBase() = default;
@@ -230,13 +265,12 @@ class I2CSPIDriver : public I2CSPIDriverBase
public:
static int module_start(const BusCLIArguments &cli, BusInstanceIterator &iterator)
{
return I2CSPIDriverBase::module_start(cli, iterator, &T::print_usage, &T::instantiate);
return I2CSPIDriverBase::module_start(cli, iterator, &T::print_usage, InstantiateHelper<T>::m);
}
protected:
I2CSPIDriver(const char *module_name, const px4::wq_config_t &config, I2CSPIBusOption bus_option, int bus,
uint8_t i2c_address = 0, uint16_t type = 0)
: I2CSPIDriverBase(module_name, config, bus_option, bus, i2c_address, type) {}
I2CSPIDriver(const I2CSPIDriverConfig &config)
: I2CSPIDriverBase(config) {}
virtual ~I2CSPIDriver() = default;
@@ -251,4 +285,33 @@ protected:
}
// *INDENT-ON*
private:
// SFINAE to use R::instantiate if it exists, and R::instantiate_default otherwise
template <typename R>
class InstantiateHelper
{
template <typename C>
static constexpr I2CSPIDriverBase::instantiate_method get(decltype(&C::instantiate)) { return &C::instantiate; }
template <typename C>
static constexpr I2CSPIDriverBase::instantiate_method get(...) { return &C::instantiate_default; }
public:
static constexpr I2CSPIDriverBase::instantiate_method m = get<R>(0);
};
static I2CSPIDriverBase *instantiate_default(const I2CSPIDriverConfig &config, int runtime_instance)
{
T *instance = new T(config);
if (!instance) {
PX4_ERR("alloc failed");
return nullptr;
}
if (OK != instance->init()) {
delete instance;
return nullptr;
}
return instance;
}
};
platforms/common/include/px4_platform_common/spi.h
+5 -3
View File
@@ -158,11 +158,13 @@ public:
bool external() const { return px4_spi_bus_external(bus()); }
int busDeviceIndex() const { return _bus_device_index; }
private:
const FilterType _filter;
const uint16_t _devid_driver_index;
const int _bus;
int _index{-1};
int _external_bus_counter{0};
int _bus_device_index{0};
int _index{0};
int _external_bus_counter{1};
int _bus_device_index{-1};
};