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boardctl hacks

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This commit is contained in:
Daniel Agar
2022-10-09 11:31:33 -04:00
parent bb96343e8d
commit f82eae800d
13 changed files with 362 additions and 16 deletions
Download Patch File Download Diff File Expand all files Collapse all files
boards/px4/fmu-v5x/default.px4board
+1
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@@ -87,6 +87,7 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
CONFIG_SYSTEMCMDS_BL_UPDATE=y
CONFIG_SYSTEMCMDS_BOARDCTL=y
CONFIG_SYSTEMCMDS_DMESG=y
CONFIG_SYSTEMCMDS_DUMPFILE=y
CONFIG_SYSTEMCMDS_GPIO=y
platforms/common/i2c_spi_buses.cpp
+209 -6
View File
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2020, 2021 PX4 Development Team. All rights reserved.
* Copyright (C) 2020-2022 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -49,6 +49,185 @@ static List<I2CSPIInstance *> i2c_spi_module_instances; ///< list of currently r
static pthread_mutex_t i2c_spi_module_instances_mutex = PTHREAD_MUTEX_INITIALIZER;
void px4_print_all_instances()
{
pthread_mutex_lock(&i2c_spi_module_instances_mutex);
#if defined(CONFIG_I2C)
// I2C
{
PX4_INFO_RAW("\nI2C Type Address\n");
int num_i2c_buses = 0;
for (auto &i2c_bus : px4_i2c_buses) {
if (i2c_bus.bus != -1) {
num_i2c_buses++;
PX4_INFO_RAW("|__ I2C:%d \n", i2c_bus.bus); // TODO: internal/external
// TODO: print differently if last
for (I2CSPIInstance *instance : i2c_spi_module_instances) {
if (instance && (instance->bus() == i2c_bus.bus)
&& (instance->bus_option() == I2CSPIBusOption::I2CInternal || instance->bus_option() == I2CSPIBusOption::I2CExternal)
) {
//PX4_INFO_RAW("|__%2d) ", i);
//PX4_INFO_RAW("|__ I2C %d %s\n", px4_i2c_buses[i].bus, px4_i2c_buses[i].is_external ? "external" : "internal");
// Type: 0x%02X, I2C:%d 0x%02X
PX4_INFO_RAW("| |__ %s 0x%02X 0x%02X\n", instance->module_name(), instance->devid_driver_index(),
instance->get_i2c_address());
// TODO: if running?
// TOOD: if exiting?
// TODO: general status otherwise?
}
}
}
}
// int num_i2c_instances = 0;
// for (const I2CSPIInstance *instance : i2c_spi_module_instances) {
// if (instance) {
// if (instance->bus_option() == I2CSPIBusOption::I2CInternal || instance->bus_option() == I2CSPIBusOption::I2CExternal) {
// num_i2c_instances++;
// }
// }
// }
}
#endif // CONFIG_I2C
#if defined(CONFIG_SPI)
// SPI
{
PX4_INFO_RAW("\nSPI Type \n");
for (int i = 0; i < SPI_BUS_MAX_BUS_ITEMS; ++i) {
const auto &spi_bus = px4_spi_buses[i];
if (spi_bus.bus != -1) {
//num_i2c_buses++;
PX4_INFO_RAW("|__ SPI:%d (%s) %s %s \n",
spi_bus.bus,
px4_spi_buses[i].is_external ? "external" : "internal",
(px4_spi_buses[i].power_enable_gpio != 0) ? " Power Control " : "",
px4_spi_buses[i].requires_locking ? " requires locking " : ""
);
// TODO: print differently if last
// power_enable_gpio
// is_external
// requires_locking
// PX4_SPIDEVID_TYPE(bus_data.devices[j].devid
// PX4_SPIDEVID_TYPE(devid) == PX4_SPIDEVID_TYPE(bus_data.devices[j].devid)
// PX4_SPI_DEV_ID(devid) == bus_data.devices[j].devtype_driver
for (const auto &dev : spi_bus.devices) {
if (dev.cs_gpio || dev.devid || dev.devtype_driver) {
// cs_gpio
// drdy_gpio
// devid
// devtype_driver
PX4_INFO_RAW("| |__ %" PRIu32 ", devtype_driver: 0x%02X \n", dev.devid, dev.devtype_driver);
// match bus type, bus, devtype_driver
// _bus_device_index = -1;
// devtype_driver devid_driver_index()
//PX4_INFO_RAW("| |__ %s 0x%02X \n", instance->module_name(), instance->devid_driver_index());
}
// match bus
// match devtype_driver devid_driver_index()
}
for (I2CSPIInstance *instance : i2c_spi_module_instances) {
if (instance && (instance->bus() == spi_bus.bus)
&& (instance->bus_option() == I2CSPIBusOption::SPIInternal || instance->bus_option() == I2CSPIBusOption::SPIExternal)
) {
//PX4_INFO_RAW("|__%2d) ", i);
//PX4_INFO_RAW("|__ I2C %d %s\n", px4_i2c_buses[i].bus, px4_i2c_buses[i].is_external ? "external" : "internal");
// Type: 0x%02X, I2C:%d 0x%02X
PX4_INFO_RAW("| |__ %s 0x%02X \n", instance->module_name(), instance->devid_driver_index());
//instance->
// TODO: if running?
// TOOD: if exiting?
// TODO: general status otherwise?
}
}
}
}
}
#endif // CONFIG_SPI
#if defined(CONFIG_I2C) && 0
for (int i = 0; i < I2C_BUS_MAX_BUS_ITEMS; ++i) {
if ((px4_i2c_buses[i].bus != -1)) {
PX4_INFO_RAW("I2C %d %s\n", px4_i2c_buses[i].bus, px4_i2c_buses[i].is_external ? "external" : "internal");
}
}
#endif // CONFIG_I2C
#if defined(CONFIG_SPI) && 0
for (int i = 0; i < SPI_BUS_MAX_BUS_ITEMS; ++i) {
if ((px4_spi_buses[i].bus != -1)) {
PX4_INFO_RAW("SPI %d %s\n", px4_spi_buses[i].bus, px4_spi_buses[i].is_external ? "external" : "internal");
for (const auto &dev : px4_spi_buses[i].devices) {
if (dev.devid || dev.devtype_driver) {
PX4_INFO_RAW("-->devid: %" PRIu32 ", devtype_driver: %" PRIu16 "\n", dev.devid, dev.devtype_driver);
}
}
// SPI_BUS_MAX_DEVICES
// devid
// devtype_driver
// for (px4_spi_buses[i].devices) {
// }
}
}
#endif // CONFIG_SPI
// TODO: decode device id
// // Device ID
// uint32_t device_id = *(uint32_t *)(data_ptr + previous_data_offset);
// char device_id_buffer[80];
// device::Device::device_id_print_buffer(device_id_buffer, sizeof(device_id_buffer), device_id);
// PX4_INFO_RAW(" (%s)", device_id_buffer);
// for (const I2CSPIInstance *instance : i2c_spi_module_instances) {
// if (instance) {
// // TODO: I2CSPIBusOption
// // I2C address
// PX4_INFO_RAW("name: %s, bus: %d, devid_driver_index: %d, bus_device_index: %d\n", instance->module_name(),
// instance->bus(), instance->devid_driver_index(), instance->bus_device_index());
// }
// }
pthread_mutex_unlock(&i2c_spi_module_instances_mutex);
}
I2CSPIDriverConfig::I2CSPIDriverConfig(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
const px4::wq_config_t &wq_config_)
: module_name(iterator.moduleName()),
@@ -237,7 +416,6 @@ int BusCLIArguments::getOpt(int argc, char *argv[], const char *options)
if (bus_option == I2CSPIBusOption::I2CExternal || bus_option == I2CSPIBusOption::I2CInternal) {
bus_frequency = default_i2c_frequency;
}
#endif // CONFIG_I2C
@@ -332,7 +510,7 @@ bool BusInstanceIterator::next()
} else if (busType() == BOARD_SPI_BUS) {
if (_spi_bus_iterator.next()) {
bus = _spi_bus_iterator.bus().bus;
bus = _spi_bus_iterator.bus();
}
#endif // CONFIG_SPI
@@ -340,7 +518,7 @@ bool BusInstanceIterator::next()
} else if (busType() == BOARD_I2C_BUS) {
if (_i2c_bus_iterator.next()) {
bus = _i2c_bus_iterator.bus().bus;
bus = _i2c_bus_iterator.bus();
}
#endif // CONFIG_I2C
@@ -448,14 +626,14 @@ int BusInstanceIterator::bus() const
#if defined(CONFIG_SPI)
if (busType() == BOARD_SPI_BUS) {
return _spi_bus_iterator.bus().bus;
return _spi_bus_iterator.bus();
}
#endif // CONFIG_SPI
#if defined(CONFIG_I2C)
if (busType() == BOARD_I2C_BUS) {
return _i2c_bus_iterator.bus().bus;
return _i2c_bus_iterator.bus();
}
#endif // CONFIG_I2C
@@ -813,6 +991,31 @@ void I2CSPIDriverBase::print_status()
#endif // CONFIG_SPI
}
void I2CSPIDriverBase::print_run_status()
{
// specialized ScheduledWorkItem::print_run_status() with additional I2C or SPI info
char name_description[34] {};
#if defined(CONFIG_SPI)
if (_bus_option == I2CSPIBusOption::SPIInternal || _bus_option == I2CSPIBusOption::SPIExternal) {
snprintf(name_description, sizeof(name_description), "%s (Type: 0x%02X)", _item_name, _devid_driver_index);
}
#endif // CONFIG_SPI
#if defined(CONFIG_I2C)
if (_bus_option == I2CSPIBusOption::I2CExternal || _bus_option == I2CSPIBusOption::I2CInternal) {
snprintf(name_description, sizeof(name_description), "%s (Type: 0x%02X, I2C:%d 0x%02X)", _item_name,
_devid_driver_index, _bus, _i2c_address);
}
#endif // CONFIG_I2C
PX4_INFO_RAW("%-34s %8.1f Hz %12.0f us (%" PRId64 " us)\n", name_description, (double)average_rate(),
(double)average_interval(), 0ULL);
}
void I2CSPIDriverBase::request_stop_and_wait()
{
_task_should_exit.store(true);
platforms/common/include/px4_platform_common/i2c.h
+1 -1
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@@ -86,7 +86,7 @@ public:
bool next();
const px4_i2c_bus_t &bus() const { return px4_i2c_buses[_index]; }
int bus() const { return px4_i2c_buses[_index].bus; }
int externalBusIndex() const { return _external_bus_counter; }
platforms/common/include/px4_platform_common/i2c_spi_buses.h
+14
View File
@@ -56,6 +56,9 @@
# include <drivers/device/spi.h>
#endif // CONFIG_SPI
__EXPORT void px4_print_all_instances();
enum class I2CSPIBusOption : uint8_t {
All = 0, ///< select all runnning instances
#if defined(CONFIG_I2C)
@@ -114,6 +117,15 @@ public:
#if defined(CONFIG_I2C)
virtual int8_t get_i2c_address() {return _i2c_address;}
#endif // CONFIG_I2C
const char *module_name() const { return _module_name; }
const int &bus() const { return _bus; }
const I2CSPIBusOption &bus_option() const { return _bus_option; }
const uint16_t &devid_driver_index() const { return _devid_driver_index; }
const int8_t &bus_device_index() const { return _bus_device_index; }
// I2C address?
private:
I2CSPIInstance(const I2CSPIDriverConfig &config)
: _module_name(config.module_name), _bus_option(config.bus_option), _bus(config.bus),
@@ -295,6 +307,7 @@ protected:
virtual ~I2CSPIDriverBase() = default;
virtual void print_status();
virtual void print_run_status();
virtual void custom_method(const BusCLIArguments &cli) {}
@@ -356,6 +369,7 @@ private:
{
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:
platforms/common/include/px4_platform_common/spi.h
+3 -2
View File
@@ -153,14 +153,15 @@ public:
bool next();
const px4_spi_bus_t &bus() const { return px4_spi_buses[_index]; }
//const px4_spi_bus_t &bus() const { return px4_spi_buses[_index]; }
int bus() const { return px4_spi_buses[_index].bus; }
spi_drdy_gpio_t DRDYGPIO() const { return px4_spi_buses[_index].devices[_bus_device_index].drdy_gpio; }
uint32_t devid() const { return px4_spi_buses[_index].devices[_bus_device_index].devid; }
int externalBusIndex() const { return _external_bus_counter; }
bool external() const { return px4_spi_bus_external(bus()); }
bool external() const { return px4_spi_bus_external(px4_spi_buses[_index]); }
int busDeviceIndex() const { return _bus_device_index; }
platforms/common/px4_work_queue/ScheduledWorkItem.cpp
+1 -1
View File
@@ -75,7 +75,7 @@ void ScheduledWorkItem::ScheduleClear()
void ScheduledWorkItem::print_run_status()
{
if (_call.period > 0) {
PX4_INFO_RAW("%-29s %8.1f Hz %12.0f us (%" PRId64 " us)\n", _item_name, (double)average_rate(),
PX4_INFO_RAW("%-34s %8.1f Hz %12.0f us (%" PRId64 " us)\n", _item_name, (double)average_rate(),
(double)average_interval(), _call.period);
} else {
platforms/common/px4_work_queue/WorkItem.cpp
+1 -1
View File
@@ -134,7 +134,7 @@ float WorkItem::average_interval() const
void WorkItem::print_run_status()
{
PX4_INFO_RAW("%-29s %8.1f Hz %12.0f us\n", _item_name, (double)average_rate(), (double)average_interval());
PX4_INFO_RAW("%-34s %8.1f Hz %12.0f us\n", _item_name, (double)average_rate(), (double)average_interval());
// reset statistics
_run_count = 0;
platforms/common/px4_work_queue/WorkQueueManager.cpp
+1 -1
View File
@@ -455,7 +455,7 @@ WorkQueueManagerStatus()
if (!_wq_manager_should_exit.load() && (_wq_manager_wqs_list != nullptr)) {
const size_t num_wqs = _wq_manager_wqs_list->size();
PX4_INFO_RAW("\nWork Queue: %-2zu threads RATE INTERVAL\n", num_wqs);
PX4_INFO_RAW("\nWork Queue: %-2zu threads RATE INTERVAL\n", num_wqs);
LockGuard lg{_wq_manager_wqs_list->mutex()};
size_t i = 0;
platforms/nuttx/src/px4/common/px4_init.cpp
+1 -1
View File
@@ -139,7 +139,7 @@ int px4_platform_init()
I2CBusIterator i2c_bus_iterator {I2CBusIterator::FilterType::All};
while (i2c_bus_iterator.next()) {
i2c_master_s *i2c_dev = px4_i2cbus_initialize(i2c_bus_iterator.bus().bus);
i2c_master_s *i2c_dev = px4_i2cbus_initialize(i2c_bus_iterator.bus());
#if defined(CONFIG_I2C_RESET)
I2C_RESET(i2c_dev);
src/lib/drivers/device/Device.hpp
+3 -3
View File
@@ -169,7 +169,7 @@ public:
union DeviceId {
struct DeviceStructure devid_s;
uint32_t devid;
uint32_t devid{0};
};
uint32_t get_device_id() const { return _device_id.devid; }
@@ -268,8 +268,8 @@ protected:
Device(uint8_t devtype, const char *name, DeviceBusType bus_type, uint8_t bus, uint8_t address) : _name(name)
{
set_device_type(devtype);
_device_id.devid_s.bus_type = bus_type;
_device_id.devid_s.bus = bus;
set_device_bus_type(bus_type);
set_device_bus(bus);
set_device_address(address);
}
src/systemcmds/boardctl/CMakeLists.txt
+40
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@@ -0,0 +1,40 @@
############################################################################
#
# Copyright (c) 2022 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
px4_add_module(
MODULE systemcmds__boardctl
MAIN boardctl
COMPILE_FLAGS
SRCS
boardctl.cpp
DEPENDS
)
src/systemcmds/boardctl/Kconfig
+5
View File
@@ -0,0 +1,5 @@
menuconfig SYSTEMCMDS_BOARDCTL
bool "boardctl"
default n
---help---
Enable support for boardctl
src/systemcmds/boardctl/boardctl.cpp
+82
View File
@@ -0,0 +1,82 @@
/****************************************************************************
*
* Copyright (c) 2022 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include <px4_platform_common/log.h>
#include <px4_platform_common/module.h>
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/i2c_spi_buses.h>
// per bus power control?
// boardctl stop-all
// boardctl status
// boardctl i2c status
// boardctl spi status
// boardctl spi 1 poweroff
// #define VDD_5V_PERIPH_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_5V_PERIPH_nEN, !(on_true))
// #define VDD_5V_HIPOWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_5V_HIPOWER_nEN, !(on_true))
// #define VDD_3V3_SENSORS4_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS4_EN, (on_true))
// #define VDD_3V3_SPEKTRUM_POWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SPEKTRUM_POWER_EN, (on_true))
// #define VDD_3V3_SD_CARD_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SD_CARD_EN, (on_true))
// #define VDD_3V3_ETH_POWER_EN(on_true) px4_arch_gpiowrite(GPIO_ETH_POWER_EN, (on_true))
// board specific power status?
// GPIO_nPOWER_IN_A
// GPIO_nPOWER_IN_B
// heater control
// HEATER_OUTPUT_EN
// version
// px4_hw_mft_item_t
// timer test app
extern "C" __EXPORT int boardctl_main(int argc, char *argv[])
{
px4_print_all_instances();
return 0;
}