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refactor ist8310: use driver base class

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This commit is contained in:
Beat Küng
2020-02-26 14:36:14 +01:00
committed by Daniel Agar
parent 3e71914fae
commit be0a205438
16 changed files with 100 additions and 360 deletions
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3
boards/av/x-v1/init/rc.board_sensors
View File

@@ -21,7 +21,6 @@ then
fi
# Possible external compasses
ist8310 -b 1 start
ist8310 -b 2 start
ist8310 -X start
hmc5883 -C -T -X start
qmc5883 -X start

5
boards/holybro/durandal-v1/init/rc.board_sensors
View File

@@ -14,14 +14,13 @@ bmi088 -A -R 10 start
bmi088 -G -R 10 start
# Possible external compasses
ist8310 -b 1 start
ist8310 -b 2 start
ist8310 -X start
hmc5883 -C -T -X start
qmc5883 -X start
lis3mdl -X start
# Possible internal compass
ist8310 -b 5 start
ist8310 -I start
# Baro on internal SPI
ms5611 -s start

3
boards/holybro/kakutef7/init/rc.board_sensors
View File

@@ -15,7 +15,6 @@ fi
bmp280 start
# Possible external compasses
ist8310 -b 1 start
ist8310 -b 2 start
ist8310 -X start
hmc5883 -C -T -X start
qmc5883 -X start

2
boards/intel/aerofc-v1/init/rc.board_sensors
View File

@@ -11,7 +11,7 @@ mpu9250 -s -R 14 start
# Possible external compasses
hmc5883 -X start
ist8310 -b 1 -R 4 start
ist8310 -I -R 4 start
ll40ls start i2c -a

3
boards/modalai/fc-v1/init/rc.board_sensors
View File

@@ -21,8 +21,7 @@ bmi088 -A -R 4 start
bmi088 -G -R 4 start
# Possible external compasses
ist8310 -b 1 start
ist8310 -b 2 start
ist8310 -X start
hmc5883 -C -T -X start
qmc5883 -X start

3
boards/mro/ctrl-zero-f7/init/rc.board_sensors
View File

@@ -21,8 +21,7 @@ bmi088 -G -R 10 start
dps310 -s start
# Possible external compasses
ist8310 -b 1 start
ist8310 -b 2 start
ist8310 -X start
hmc5883 -C -T -X start
qmc5883 -X start
lis3mdl -X start

3
boards/mro/x21-777/init/rc.board_sensors
View File

@@ -19,8 +19,7 @@ mpu6000 -R 2 -T 20602 start
mpu9250 -R 2 start
# Possible external compasses
ist8310 -b 1 start
ist8310 -b 2 start
ist8310 -X start
hmc5883 -C -T -X start
qmc5883 -X start
lis3mdl -X start

2
boards/mro/x21/init/rc.board_sensors
View File

@@ -8,7 +8,7 @@ adc start
# External I2C bus
hmc5883 -C -T -X start
lis3mdl -X start
ist8310 start
ist8310 -X start
qmc5883 -X start
# Internal SPI bus ICM-20608-G is rotated 90 deg yaw

2
boards/nxp/fmuk66-v3/init/rc.board_sensors
View File

@@ -8,7 +8,7 @@ adc start
# Possible external compasses
hmc5883 -C -X start
lis3mdl -X start
ist8310 -b 1 start
ist8310 -X start
qmc5883 -X start
# Internal Mag I2C bus roll 180, yaw 90

5
boards/nxp/fmurt1062-v1/init/rc.board_sensors
View File

@@ -30,8 +30,7 @@ bmi055 -A -R 10 start
bmi055 -G -R 10 start
# Possible external compasses
ist8310 -b 1 start
ist8310 -b 2 start
ist8310 -X start
hmc5883 -C -T -X start
qmc5883 -X start
lis3mdl -X start
@@ -44,7 +43,7 @@ then
fi
# Possible internal compass
ist8310 -b 5 start
ist8310 -I start
# Baro on internal SPI
ms5611 -s start

2
boards/px4/fmu-v2/init/rc.board_sensors
View File

@@ -8,7 +8,7 @@ adc start
# External I2C bus
hmc5883 -C -T -X start
lis3mdl -X start
ist8310 start
ist8310 -X start
# Internal I2C bus
hmc5883 -C -T -I -R 4 start

2
boards/px4/fmu-v3/init/rc.board_sensors
View File

@@ -8,7 +8,7 @@ adc start
# External I2C bus
hmc5883 -C -T -X start
lis3mdl -X start
ist8310 start
ist8310 -X start
qmc5883 -X start
# Internal I2C bus

2
boards/px4/fmu-v4/init/rc.board_sensors
View File

@@ -17,7 +17,7 @@ fmu sensor_reset 50
# External I2C bus
hmc5883 -C -T -X start
lis3mdl -X start
ist8310 start
ist8310 -X start
qmc5883 -X start
rm3100 start

5
boards/px4/fmu-v5/init/rc.board_sensors
View File

@@ -24,8 +24,7 @@ bmi055 -A -R 10 start
bmi055 -G -R 10 start
# Possible external compasses
ist8310 -b 1 start
ist8310 -b 2 start
ist8310 -X start
hmc5883 -C -T -X start
qmc5883 -X start
lis3mdl -X start
@@ -38,7 +37,7 @@ then
fi
# Possible internal compass
ist8310 -b 5 start
ist8310 -I start
# Baro on internal SPI
ms5611 -s start

3
boards/px4/fmu-v5x/init/rc.board_sensors
View File

@@ -22,8 +22,7 @@ bmi088 -A -R 12 start
bmi088 -G -R 12 start
# Possible external compasses
ist8310 -b 1 start
ist8310 -b 2 start
ist8310 -X start
hmc5883 -C -T -X start
qmc5883 -X start

413
src/drivers/magnetometer/ist8310/ist8310.cpp
View File

@@ -43,6 +43,9 @@
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/defines.h>
#include <px4_platform_common/getopt.h>
#include <px4_platform_common/i2c_spi_buses.h>
#include <px4_platform_common/module.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include <sys/types.h>
#include <stdint.h>
@@ -76,7 +79,6 @@
#include <float.h>
#include <lib/conversion/rotation.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
/*
* IST8310 internal constants and data structures.
@@ -174,37 +176,57 @@ static const int16_t IST8310_MIN_VAL_Z = -IST8310_MAX_VAL_Z;
#define ADDR_TEMPL 0x1c
#define ADDR_TEMPH 0x1d
enum IST8310_BUS {
IST8310_BUS_ALL = 0,
IST8310_BUS_I2C_EXTERNAL = 1,
IST8310_BUS_I2C_EXTERNAL1 = 2,
IST8310_BUS_I2C_EXTERNAL2 = 3,
IST8310_BUS_I2C_EXTERNAL3 = 4,
IST8310_BUS_I2C_INTERNAL = 5,
};
class IST8310 : public device::I2C, public px4::ScheduledWorkItem
class IST8310 : public device::I2C, public I2CSPIDriver<IST8310>
{
public:
IST8310(int bus_number, int address, const char *path, enum Rotation rotation);
IST8310(I2CSPIBusOption bus_option, int bus_number, int address, enum Rotation rotation, int bus_frequency);
virtual ~IST8310();
static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
int runtime_instance);
static void print_usage();
virtual int init();
virtual ssize_t read(struct file *filp, char *buffer, size_t buflen);
virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
/**
* Diagnostics - print some basic information about the driver.
* Initialise the automatic measurement state machine and start it.
*
* @note This function is called at open and error time. It might make sense
* to make it more aggressive about resetting the bus in case of errors.
*/
void print_info();
void start();
/**
* Reset the device
*/
int reset();
/**
* Perform a poll cycle; collect from the previous measurement
* and start a new one.
*
* This is the heart of the measurement state machine. This function
* alternately starts a measurement, or collects the data from the
* previous measurement.
*
* When the interval between measurements is greater than the minimum
* measurement interval, a gap is inserted between collection
* and measurement to provide the most recent measurement possible
* at the next interval.
*/
void RunImpl();
protected:
virtual int probe();
int probe() override;
void print_status() override;
private:
unsigned _measure_interval{0};
unsigned _measure_interval{IST8310_CONVERSION_INTERVAL};
ringbuffer::RingBuffer *_reports{nullptr};
@@ -229,24 +251,6 @@ private:
uint8_t _ctl3_reg{0};
uint8_t _ctl4_reg{0};
/**
* Initialise the automatic measurement state machine and start it.
*
* @note This function is called at open and error time. It might make sense
* to make it more aggressive about resetting the bus in case of errors.
*/
void start();
/**
* Stop the automatic measurement state machine.
*/
void stop();
/**
* Reset the device
*/
int reset();
/**
* check the sensor configuration.
*
@@ -256,21 +260,6 @@ private:
*/
void check_conf(void);
/**
* Perform a poll cycle; collect from the previous measurement
* and start a new one.
*
* This is the heart of the measurement state machine. This function
* alternately starts a measurement, or collects the data from the
* previous measurement.
*
* When the interval between measurements is greater than the minimum
* measurement interval, a gap is inserted between collection
* and measurement to provide the most recent measurement possible
* at the next interval.
*/
void Run() override;
/**
* Write a register.
*
@@ -347,9 +336,9 @@ private:
extern "C" __EXPORT int ist8310_main(int argc, char *argv[]);
IST8310::IST8310(int bus_number, int address, const char *path, enum Rotation rotation) :
I2C("IST8310", path, bus_number, address, IST8310_DEFAULT_BUS_SPEED),
ScheduledWorkItem(MODULE_NAME, px4::device_bus_to_wq(get_device_id())),
IST8310::IST8310(I2CSPIBusOption bus_option, int bus_number, int address, enum Rotation rotation, int bus_frequency) :
I2C("IST8310", nullptr, bus_number, address, bus_frequency),
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus_number),
_sample_perf(perf_alloc(PC_ELAPSED, "ist8310_read")),
_comms_errors(perf_alloc(PC_COUNT, "ist8310_com_err")),
_range_errors(perf_alloc(PC_COUNT, "ist8310_rng_err")),
@@ -369,12 +358,7 @@ IST8310::IST8310(int bus_number, int address, const char *path, enum Rotation ro
IST8310::~IST8310()
{
/* make sure we are truly inactive */
stop();
if (_reports != nullptr) {
delete _reports;
}
if (_class_instance != -1) {
unregister_class_devname(MAG_BASE_DEVICE_PATH, _class_instance);
@@ -629,12 +613,6 @@ IST8310::start()
ScheduleNow();
}
void
IST8310::stop()
{
ScheduleClear();
}
int
IST8310::reset()
{
@@ -675,7 +653,7 @@ IST8310::probe()
}
void
IST8310::Run()
IST8310::RunImpl()
{
/* collection phase? */
if (_collect_phase) {
@@ -923,8 +901,9 @@ IST8310::meas_to_float(uint8_t in[2])
}
void
IST8310::print_info()
IST8310::print_status()
{
I2CSPIDriverBase::print_status();
perf_print_counter(_sample_perf);
perf_print_counter(_comms_errors);
printf("poll interval: %u interval\n", _measure_interval);
@@ -932,308 +911,78 @@ IST8310::print_info()
_reports->print_info("report queue");
}
/**
* Local functions in support of the shell command.
*/
namespace ist8310
I2CSPIDriverBase *
IST8310::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator, int runtime_instance)
{
IST8310 *interface = new IST8310(iterator.configuredBusOption(), iterator.bus(), cli.i2c_address, cli.rotation,
cli.bus_frequency);
/*
list of supported bus configurations
*/
struct ist8310_bus_option {
enum IST8310_BUS busid;
const char *devpath;
uint8_t busnum;
IST8310 *dev;
} bus_options[] = {
{ IST8310_BUS_I2C_EXTERNAL, "/dev/ist8310_ext", PX4_I2C_BUS_EXPANSION, NULL },
#ifdef PX4_I2C_BUS_EXPANSION1
{ IST8310_BUS_I2C_EXTERNAL1, "/dev/ist8311_ext1", PX4_I2C_BUS_EXPANSION1, NULL },
#endif
#ifdef PX4_I2C_BUS_EXPANSION2
{ IST8310_BUS_I2C_EXTERNAL2, "/dev/ist8312_ext2", PX4_I2C_BUS_EXPANSION2, NULL },
#endif
#ifdef PX4_I2C_BUS_ONBOARD
{ IST8310_BUS_I2C_INTERNAL, "/dev/ist8310_int", PX4_I2C_BUS_ONBOARD, NULL },
#endif
};
#define NUM_BUS_OPTIONS (sizeof(bus_options)/sizeof(bus_options[0]))
void start(enum IST8310_BUS busid, int address, enum Rotation rotation);
bool start_bus(struct ist8310_bus_option &bus, int address, enum Rotation rotation);
struct ist8310_bus_option &find_bus(enum IST8310_BUS busid);
void test(enum IST8310_BUS busid);
void reset(enum IST8310_BUS busid);
int info(enum IST8310_BUS busid);
void usage();
/**
* start driver for a specific bus option
*/
bool
start_bus(struct ist8310_bus_option &bus, int address, enum Rotation rotation)
{
if (bus.dev != nullptr) {
errx(1, "bus option already started");
if (interface == nullptr) {
PX4_ERR("alloc failed");
return nullptr;
}
IST8310 *interface = new IST8310(bus.busnum, address, bus.devpath, rotation);
if (interface->init() != OK) {
delete interface;
PX4_INFO("no device on bus %u", (unsigned)bus.busid);
return false;
PX4_DEBUG("no device on bus %i (devid 0x%x)", iterator.bus(), iterator.devid());
return nullptr;
}
bus.dev = interface;
interface->start();
int fd = open(bus.devpath, O_RDONLY);
if (fd < 0) {
return false;
}
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
close(fd);
errx(1, "Failed to setup poll rate");
}
close(fd);
return true;
}
/**
* Start the driver.
*
* This function call only returns once the driver
* is either successfully up and running or failed to start.
*/
void
start(enum IST8310_BUS busid, int address, enum Rotation rotation)
{
bool started = false;
for (unsigned i = 0; i < NUM_BUS_OPTIONS; i++) {
if (busid == IST8310_BUS_ALL && bus_options[i].dev != NULL) {
// this device is already started
continue;
}
if (busid != IST8310_BUS_ALL && bus_options[i].busid != busid) {
// not the one that is asked for
continue;
}
started |= start_bus(bus_options[i], address, rotation);
}
if (!started) {
exit(1);
}
}
/**
* find a bus structure for a busid
*/
struct ist8310_bus_option &find_bus(enum IST8310_BUS busid)
{
for (unsigned i = 0; i < NUM_BUS_OPTIONS; i++) {
if ((busid == IST8310_BUS_ALL ||
busid == bus_options[i].busid) && bus_options[i].dev != NULL) {
return bus_options[i];
}
}
errx(1, "bus %u not started", (unsigned)busid);
}
/**
* Perform some basic functional tests on the driver;
* make sure we can collect data from the sensor in polled
* and automatic modes.
*/
void
test(enum IST8310_BUS busid)
{
struct ist8310_bus_option &bus = find_bus(busid);
sensor_mag_s report {};
ssize_t sz;
int ret;
const char *path = bus.devpath;
int fd = open(path, O_RDONLY);
if (fd < 0) {
err(1, "%s open failed (try 'ist8310 start')", path);
}
/* do a simple demand read */
sz = read(fd, &report, sizeof(report));
if (sz != sizeof(report)) {
err(1, "immediate read failed");
}
print_message(report);
/* check if mag is onboard or external */
if ((ret = ioctl(fd, MAGIOCGEXTERNAL, 0)) < 0) {
errx(1, "failed to get if mag is onboard or external");
}
/* read the sensor 5x and report each value */
for (unsigned i = 0; i < 5; i++) {
struct pollfd fds;
/* wait for data to be ready */
fds.fd = fd;
fds.events = POLLIN;
ret = poll(&fds, 1, 2000);
if (ret != 1) {
errx(1, "timed out waiting for sensor data");
}
/* now go get it */
sz = read(fd, &report, sizeof(report));
if (sz != sizeof(report)) {
err(1, "periodic read failed");
}
print_message(report);
}
PX4_INFO("PASS");
exit(0);
}
/**
* Reset the driver.
*/
void
reset(enum IST8310_BUS busid)
{
struct ist8310_bus_option &bus = find_bus(busid);
const char *path = bus.devpath;
int fd = open(path, O_RDONLY);
if (fd < 0) {
err(1, "failed ");
}
if (ioctl(fd, SENSORIOCRESET, 0) < 0) {
err(1, "driver reset failed");
}
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
err(1, "driver poll restart failed");
}
// Relay on at_)exit to close handel
exit(0);
}
/**
* Print a little info about the driver.
*/
int
info(enum IST8310_BUS busid)
{
struct ist8310_bus_option &bus = find_bus(busid);
PX4_INFO("running on bus: %u (%s)\n", (unsigned)bus.busid, bus.devpath);
bus.dev->print_info();
exit(0);
return interface;
}
void
usage()
IST8310::print_usage()
{
PX4_INFO("missing command: try 'start', 'info', 'test', 'reset'");
PX4_INFO("options:");
PX4_INFO(" -R rotation");
PX4_INFO(" -a 12C Address (0x%02x)", IST8310_BUS_I2C_ADDR);
PX4_INFO(" -b 12C bus (%d-%d)", IST8310_BUS_I2C_EXTERNAL, IST8310_BUS_I2C_INTERNAL);
PRINT_MODULE_USAGE_NAME("ist8310", "driver");
PRINT_MODULE_USAGE_SUBCATEGORY("magnetometer");
PRINT_MODULE_USAGE_COMMAND("start");
PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false);
PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0xE);
PRINT_MODULE_USAGE_PARAM_INT('R', 0, 0, 35, "Rotation", true);
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
}
} // namespace
int
ist8310_main(int argc, char *argv[])
{
IST8310_BUS i2c_busid = IST8310_BUS_ALL;
int i2c_addr = IST8310_BUS_I2C_ADDR; /* 7bit */
enum Rotation rotation = ROTATION_NONE;
int myoptind = 1;
int ch;
const char *myoptarg = nullptr;
using ThisDriver = IST8310;
BusCLIArguments cli{true, false};
cli.i2c_address = IST8310_BUS_I2C_ADDR;
cli.default_i2c_frequency = IST8310_DEFAULT_BUS_SPEED;
while ((ch = px4_getopt(argc, argv, "R:a:b:", &myoptind, &myoptarg)) != EOF) {
while ((ch = cli.getopt(argc, argv, "R:")) != EOF) {
switch (ch) {
case 'R':
rotation = (enum Rotation)atoi(myoptarg);
cli.rotation = (enum Rotation)atoi(cli.optarg());
break;
case 'a':
i2c_addr = (int)strtol(myoptarg, NULL, 0);
break;
case 'b':
i2c_busid = (IST8310_BUS)strtol(myoptarg, NULL, 0);
break;
default:
ist8310::usage();
exit(0);
}
}
if (myoptind >= argc) {
ist8310::usage();
return 1;
const char *verb = cli.optarg();
if (!verb) {
ThisDriver::print_usage();
return -1;
}
const char *verb = argv[myoptind];
BusInstanceIterator iterator(MODULE_NAME, cli, DRV_MAG_DEVTYPE_IST8310);
/*
* Start/load the driver.
*/
if (!strcmp(verb, "start")) {
ist8310::start(i2c_busid, i2c_addr, rotation);
return 0;
return ThisDriver::module_start(cli, iterator);
}
/*
* Test the driver/device.
*/
if (!strcmp(verb, "test")) {
ist8310::test(i2c_busid);
if (!strcmp(verb, "stop")) {
return ThisDriver::module_stop(iterator);
}
/*
* Reset the driver.
*/
if (!strcmp(verb, "reset")) {
ist8310::reset(i2c_busid);
if (!strcmp(verb, "status")) {
return ThisDriver::module_status(iterator);
}
/*
* Print driver information.
*/
if (!strcmp(verb, "info") || !strcmp(verb, "status")) {
ist8310::info(i2c_busid);
}
ist8310::usage();
ThisDriver::print_usage();
return 1;
}