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refactor bmp280: use driver base class

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This commit is contained in:
Beat Küng
2020-02-26 16:49:43 +01:00
committed by Daniel Agar
parent dbb53044ce
commit aeadf54a74
16 changed files with 95 additions and 223 deletions
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2
boards/atlflight/eagle/src/board_config.h
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@@ -54,8 +54,6 @@
#define PX4_NUMBER_I2C_BUSES 3
#define PX4_I2C_OBDEV_BMP280 0x76
// SPI
#define PX4_SPI_BUS_SENSORS 1
#define PX4_SPIDEV_MPU PX4_MK_SPI_SEL(0, DRV_IMU_DEVTYPE_MPU9250) // spi-1 - mpu9250

2
boards/atlflight/excelsior/src/board_config.h
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@@ -54,8 +54,6 @@
#define PX4_NUMBER_I2C_BUSES 3
#define PX4_I2C_OBDEV_BMP280 0x76
// SPI
#define PX4_SPI_BUS_SENSORS 1
#define PX4_SPIDEV_MPU PX4_MK_SPI_SEL(0, DRV_IMU_DEVTYPE_MPU9250)

1
boards/beaglebone/blue/src/board_config.h
View File

@@ -56,7 +56,6 @@
#define PX4_NUMBER_I2C_BUSES 2
#define PX4_I2C_OBDEV_MPU9250 0x68
#define PX4_I2C_OBDEV_BMP280 0x76
// ADC channels:

4
boards/holybro/kakutef7/init/rc.board_sensors
View File

@@ -11,8 +11,8 @@ then
mpu6000 -R 12 -s -T 20689 start
fi
# Internal Baro
bmp280 start
# Onboard Baro
bmp280 -X start
# Possible external compasses
ist8310 -X start

2
boards/holybro/kakutef7/src/board_config.h
View File

@@ -105,8 +105,6 @@
#define BOARD_NUMBER_I2C_BUSES 1
#define BOARD_I2C_BUS_CLOCK_INIT {100000}
#define PX4_I2C_OBDEV_BMP280 0x76
/*
* ADC channels
*

2
boards/nxp/fmuk66-v3/src/board_config.h
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@@ -268,8 +268,6 @@ __END_DECLS
#define PX4_I2C_BUS_LED PX4_I2C_BUS_EXPANSION
#define PX4_I2C_OBDEV_BMP280 0x76
/*
* ADC channels
*

6
boards/uvify/core/src/board_config.h
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@@ -170,12 +170,6 @@
#define PX4_I2C_BUS_EXPANSION 1
#define PX4_I2C_BUS_LED PX4_I2C_BUS_EXPANSION
/**
* Devices on the external bus.
* Note that these are unshifted addresses.
*/
#define PX4_I2C_OBDEV_BMP280 0x76
/**
* ADC channels:
* These are the channel numbers of the ADCs of the microcontroller that can be used by the Px4 Firmware in the adc driver.

2
posix-configs/eagle/200qx/px4.config
View File

@@ -19,7 +19,7 @@ param set SENS_BOARD_ROT 0
sleep 1
mpu9250 start
bmp280 start
bmp280 -I start
gps start -d /dev/tty-4
rc_update start
sensors start

2
posix-configs/eagle/210qc/px4.config
View File

@@ -19,7 +19,7 @@ param set SENS_BOARD_ROT 0
sleep 1
mpu9250 start
bmp280 start
bmp280 -I start
gps start -d /dev/tty-4
rc_update start
sensors start

2
posix-configs/excelsior/px4.config
View File

@@ -18,7 +18,7 @@ param set SENS_BOARD_ROT 4
sleep 1
mpu9250 start
bmp280 start
bmp280 -I start
rc_update start
sensors start
commander start

19
src/drivers/barometer/bmp280/BMP280.cpp
View File

@@ -33,8 +33,9 @@
#include "BMP280.hpp"
BMP280::BMP280(bmp280::IBMP280 *interface) :
ScheduledWorkItem(MODULE_NAME, px4::device_bus_to_wq(interface->get_device_id())),
BMP280::BMP280(I2CSPIBusOption bus_option, int bus, bmp280::IBMP280 *interface) :
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(interface->get_device_id()), bus_option, bus,
interface->get_device_address()),
_px4_baro(interface->get_device_id()),
_interface(interface),
_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": sample")),
@@ -46,9 +47,6 @@ BMP280::BMP280(bmp280::IBMP280 *interface) :
BMP280::~BMP280()
{
// make sure we are truly inactive
Stop();
// free perf counters
perf_free(_sample_perf);
perf_free(_measure_perf);
@@ -109,13 +107,7 @@ BMP280::Start()
}
void
BMP280::Stop()
{
ScheduleClear();
}
void
BMP280::Run()
BMP280::RunImpl()
{
if (_collect_phase) {
collect();
@@ -194,8 +186,9 @@ BMP280::collect()
}
void
BMP280::print_info()
BMP280::print_status()
{
I2CSPIDriverBase::print_status();
perf_print_counter(_sample_perf);
perf_print_counter(_measure_perf);
perf_print_counter(_comms_errors);

16
src/drivers/barometer/bmp280/BMP280.hpp
View File

@@ -37,23 +37,27 @@
#include <drivers/drv_hrt.h>
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/i2c_spi_buses.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include <lib/drivers/barometer/PX4Barometer.hpp>
#include <lib/perf/perf_counter.h>
class BMP280 : public px4::ScheduledWorkItem
class BMP280 : public I2CSPIDriver<BMP280>
{
public:
BMP280(bmp280::IBMP280 *interface);
BMP280(I2CSPIBusOption bus_option, int bus, bmp280::IBMP280 *interface);
virtual ~BMP280();
int init();
void print_info();
static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
int runtime_instance);
static void print_usage();
int init();
void print_status();
void RunImpl();
private:
void Run() override;
void Start();
void Stop();
int measure(); //start measure
int collect(); //get results and publish

13
src/drivers/barometer/bmp280/BMP280_I2C.cpp
View File

@@ -42,12 +42,11 @@
#include <px4_platform_common/px4_config.h>
#include <drivers/device/i2c.h>
#if defined(PX4_I2C_OBDEV_BMP280) || defined(PX4_I2C_EXT_OBDEV_BMP280)
class BMP280_I2C: public device::I2C, public bmp280::IBMP280
{
public:
BMP280_I2C(uint8_t bus, uint32_t device);
BMP280_I2C(uint8_t bus, uint32_t device, int bus_frequency);
virtual ~BMP280_I2C() override = default;
int init() override { return I2C::init(); }
@@ -60,18 +59,19 @@ public:
uint32_t get_device_id() const override { return device::I2C::get_device_id(); }
uint8_t get_device_address() const override { return device::I2C::get_device_address(); }
private:
bmp280::calibration_s _cal{};
bmp280::data_s _data{};
};
bmp280::IBMP280 *bmp280_i2c_interface(uint8_t busnum, uint32_t device)
bmp280::IBMP280 *bmp280_i2c_interface(uint8_t busnum, uint32_t device, int bus_frequency)
{
return new BMP280_I2C(busnum, device);
return new BMP280_I2C(busnum, device, bus_frequency);
}
BMP280_I2C::BMP280_I2C(uint8_t bus, uint32_t device) :
I2C("BMP280_I2C", nullptr, bus, device, 100 * 1000)
BMP280_I2C::BMP280_I2C(uint8_t bus, uint32_t device, int bus_frequency) :
I2C("BMP280_I2C", nullptr, bus, device, bus_frequency)
{
}
@@ -117,4 +117,3 @@ BMP280_I2C::get_calibration(uint8_t addr)
}
}
#endif /* PX4_I2C_OBDEV_BMP280 || PX4_I2C_EXT_OBDEV_BMP280 */

15
src/drivers/barometer/bmp280/BMP280_SPI.cpp
View File

@@ -42,8 +42,6 @@
#include <px4_platform_common/px4_config.h>
#include <drivers/device/spi.h>
#if defined(PX4_SPIDEV_BARO) || defined(PX4_SPIDEV_EXT_BARO)
/* SPI protocol address bits */
#define DIR_READ (1<<7) //for set
#define DIR_WRITE ~(1<<7) //for clear
@@ -63,7 +61,7 @@ struct spi_calibration_s {
class BMP280_SPI: public device::SPI, public bmp280::IBMP280
{
public:
BMP280_SPI(uint8_t bus, uint32_t device);
BMP280_SPI(uint8_t bus, uint32_t device, int bus_frequency, spi_mode_e spi_mode);
virtual ~BMP280_SPI() override = default;
int init() override { return SPI::init(); }
@@ -76,19 +74,20 @@ public:
uint32_t get_device_id() const override { return device::SPI::get_device_id(); }
uint8_t get_device_address() const override { return device::SPI::get_device_address(); }
private:
spi_calibration_s _cal{};
spi_data_s _data{};
};
bmp280::IBMP280 *
bmp280_spi_interface(uint8_t busnum, uint32_t device)
bmp280_spi_interface(uint8_t busnum, uint32_t device, int bus_frequency, spi_mode_e spi_mode)
{
return new BMP280_SPI(busnum, device);
return new BMP280_SPI(busnum, device, bus_frequency, spi_mode);
}
BMP280_SPI::BMP280_SPI(uint8_t bus, uint32_t device) :
SPI("BMP280_SPI", nullptr, bus, device, SPIDEV_MODE3, 10 * 1000 * 1000)
BMP280_SPI::BMP280_SPI(uint8_t bus, uint32_t device, int bus_frequency, spi_mode_e spi_mode) :
SPI("BMP280_SPI", nullptr, bus, device, spi_mode, bus_frequency)
{
}
@@ -133,5 +132,3 @@ BMP280_SPI::get_calibration(uint8_t addr)
return nullptr;
}
}
#endif /* PX4_SPIDEV_BARO || PX4_SPIDEV_EXT_BARO */

7
src/drivers/barometer/bmp280/bmp280.h
View File

@@ -38,6 +38,7 @@
*/
#pragma once
#include <drivers/device/spi.h>
#include <inttypes.h>
#define BMP280_ADDR_CAL 0x88 /* address of 12x 2 bytes calibration data */
@@ -151,12 +152,12 @@ public:
virtual uint32_t get_device_id() const = 0;
virtual uint8_t get_device_address() const = 0;
};
} /* namespace */
/* interface factories */
extern bmp280::IBMP280 *bmp280_spi_interface(uint8_t busnum, uint32_t device);
extern bmp280::IBMP280 *bmp280_i2c_interface(uint8_t busnum, uint32_t device);
typedef bmp280::IBMP280 *(*BMP280_constructor)(uint8_t, uint32_t);
extern bmp280::IBMP280 *bmp280_spi_interface(uint8_t busnum, uint32_t device, int bus_frequency, spi_mode_e spi_mode);
extern bmp280::IBMP280 *bmp280_i2c_interface(uint8_t busnum, uint32_t device, int bus_frequency);

223
src/drivers/barometer/bmp280/bmp280_main.cpp
View File

@@ -33,198 +33,91 @@
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/getopt.h>
#include <px4_platform_common/module.h>
#include "BMP280.hpp"
enum class BMP280_BUS {
ALL = 0,
I2C_INTERNAL,
I2C_EXTERNAL,
SPI_INTERNAL,
SPI_EXTERNAL
};
extern "C" { __EXPORT int bmp280_main(int argc, char *argv[]); }
namespace bmp280
void
BMP280::print_usage()
{
// list of supported bus configurations
struct bmp280_bus_option {
BMP280_BUS busid;
BMP280_constructor interface_constructor;
uint8_t busnum;
uint32_t address;
BMP280 *dev;
} bus_options[] = {
#if defined(PX4_SPI_BUS_EXT) && defined(PX4_SPIDEV_EXT_BARO)
{ BMP280_BUS::SPI_EXTERNAL, &bmp280_spi_interface, PX4_SPI_BUS_EXT, PX4_SPIDEV_EXT_BARO, nullptr },
#endif
#if defined(PX4_SPIDEV_BARO_BUS) && defined(PX4_SPIDEV_BARO)
{ BMP280_BUS::SPI_INTERNAL, &bmp280_spi_interface, PX4_SPIDEV_BARO_BUS, PX4_SPIDEV_BARO, nullptr },
#elif defined(PX4_SPI_BUS_SENSORS) && defined(PX4_SPIDEV_BARO)
{ BMP280_BUS::SPI_INTERNAL, &bmp280_spi_interface, PX4_SPI_BUS_SENSORS, PX4_SPIDEV_BARO, nullptr },
#endif
#if defined(PX4_I2C_BUS_ONBOARD) && defined(PX4_I2C_OBDEV_BMP280)
{ BMP280_BUS::I2C_INTERNAL, &bmp280_i2c_interface, PX4_I2C_BUS_ONBOARD, PX4_I2C_OBDEV_BMP280, nullptr },
#endif
#if defined(PX4_I2C_BUS_EXPANSION) && defined(PX4_I2C_OBDEV_BMP280)
{ BMP280_BUS::I2C_EXTERNAL, &bmp280_i2c_interface, PX4_I2C_BUS_EXPANSION, PX4_I2C_OBDEV_BMP280, nullptr },
#endif
};
// find a bus structure for a busid
static struct bmp280_bus_option *find_bus(BMP280_BUS busid)
{
for (bmp280_bus_option &bus_option : bus_options) {
if ((busid == BMP280_BUS::ALL ||
busid == bus_option.busid) && bus_option.dev != nullptr) {
return &bus_option;
}
}
return nullptr;
PRINT_MODULE_USAGE_NAME("bmp280", "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(bmp280_bus_option &bus)
I2CSPIDriverBase *BMP280::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
int runtime_instance)
{
bmp280::IBMP280 *interface = bus.interface_constructor(bus.busnum, bus.address);
bmp280::IBMP280 *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 = bmp280_i2c_interface(iterator.bus(), cli.i2c_address, cli.bus_frequency);
} else if (iterator.busType() == BOARD_SPI_BUS) {
interface = bmp280_spi_interface(iterator.bus(), iterator.devid(), cli.bus_frequency, cli.spi_mode);
}
BMP280 *dev = new BMP280(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;
}
BMP280 *dev = new BMP280(iterator.configuredBusOption(), iterator.bus(), interface);
if (dev == nullptr) {
PX4_ERR("driver allocate failed");
delete interface;
return false;
return nullptr;
}
if (dev->init() != PX4_OK) {
PX4_ERR("driver start failed");
delete dev; // BMP280 deletes the interface
return false;
if (OK != dev->init()) {
delete dev;
return nullptr;
}
bus.dev = dev;
return true;
return dev;
}
static int start(BMP280_BUS busid)
int
bmp280_main(int argc, char *argv[])
{
for (bmp280_bus_option &bus_option : bus_options) {
if (bus_option.dev != nullptr) {
// this device is already started
PX4_WARN("already started");
continue;
}
using ThisDriver = BMP280;
BusCLIArguments cli{true, true};
cli.i2c_address = 0x76;
cli.default_i2c_frequency = 100 * 1000;
cli.default_spi_frequency = 10 * 1000 * 1000;
if (busid != BMP280_BUS::ALL && bus_option.busid != busid) {
// not the one that is asked for
continue;
}
const char *verb = cli.parseDefaultArguments(argc, argv);
if (start_bus(bus_option)) {
return PX4_OK;
}
if (!verb) {
ThisDriver::print_usage();
return -1;
}
return PX4_ERROR;
}
static int stop(BMP280_BUS busid)
{
bmp280_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(BMP280_BUS busid)
{
bmp280_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
extern "C" int bmp280_main(int argc, char *argv[])
{
int myoptind = 1;
int ch;
const char *myoptarg = nullptr;
BMP280_BUS busid = BMP280_BUS::ALL;
while ((ch = px4_getopt(argc, argv, "XISs:", &myoptind, &myoptarg)) != EOF) {
switch (ch) {
case 'X':
busid = BMP280_BUS::I2C_EXTERNAL;
break;
case 'I':
busid = BMP280_BUS::I2C_INTERNAL;
break;
case 'S':
busid = BMP280_BUS::SPI_EXTERNAL;
break;
case 's':
busid = BMP280_BUS::SPI_INTERNAL;
break;
default:
return bmp280::usage();
}
}
if (myoptind >= argc) {
return bmp280::usage();
}
const char *verb = argv[myoptind];
BusInstanceIterator iterator(MODULE_NAME, cli, DRV_BARO_DEVTYPE_BMP280);
if (!strcmp(verb, "start")) {
return bmp280::start(busid);
} else if (!strcmp(verb, "stop")) {
return bmp280::stop(busid);
} else if (!strcmp(verb, "status")) {
return bmp280::status(busid);
return ThisDriver::module_start(cli, iterator);
}
return bmp280::usage();
if (!strcmp(verb, "stop")) {
return ThisDriver::module_stop(iterator);
}
if (!strcmp(verb, "status")) {
return ThisDriver::module_status(iterator);
}
ThisDriver::print_usage();
return -1;
}