i2c drivers: add '-k' flag for keep_running directly to BusCLIArguments

Tools/px4moduledoc/srcparser.py

@@ -151,6 +151,12 @@ class ModuleDocumentation(object):
         self._handle_usage_param_int(['\'a\'', args[0], '0', '0xff', "\"I2C address\"", 'true'])
         self._paring_implicit_options = False
 
+    def _handle_usage_params_i2c_keep_running_flag(self, args):
+        assert(len(args) == 0)
+        self._paring_implicit_options = True
+        self._handle_usage_param_flag(['\'k\'', "\"if initialization (probing) fails, keep retrying periodically\"", 'true'])
+        self._paring_implicit_options = False
+
     def _handle_usage_param_flag(self, args):
         assert(len(args) == 3) # option_char, description, is_optional
         option_char = self._get_option_char(args[0])

boards/modalai/fc-v1/init/rc.board_sensors

@@ -6,7 +6,7 @@
 board_adc start
 
 # Start Digital power monitors
-voxlpm -X -b 3 -K -T VBATT start
+voxlpm -X -b 3 -k -T VBATT start
 voxlpm -X -b 3 -T P5VDC start
 
 # Internal SPI bus ICM-20602

platforms/common/i2c_spi_buses.cpp

@@ -84,6 +84,10 @@ int BusCLIArguments::getopt(int argc, char *argv[], const char *options)
 			*(p++) = 'm'; *(p++) = ':'; // spi mode
 		}
 
+		if (support_keep_running) {
+			*(p++) = 'k';
+		}
+
 		*(p++) = 'b'; *(p++) = ':'; // bus
 		*(p++) = 'f'; *(p++) = ':'; // frequency
 		*(p++) = 'q'; // quiet flag
@@ -163,6 +167,14 @@ int BusCLIArguments::getopt(int argc, char *argv[], const char *options)
 			quiet_start = true;
 			break;
 
+		case 'k':
+			if (!support_keep_running) {
+				return ch;
+			}
+
+			keep_running = true;
+			break;
+
 		default:
 			if (ch == '?') {
 				// abort further parsing on unknown arguments

platforms/common/include/px4_platform_common/i2c_spi_buses.h

@@ -110,6 +110,7 @@ public:
 	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
 	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_*
 
@@ -121,6 +122,8 @@ public:
 	int default_spi_frequency{-1}; ///< default spi bus frequency (driver needs to set this) [Hz]
 	int default_i2c_frequency{-1}; ///< default i2c bus frequency (driver needs to set this) [Hz]
 
+	bool support_keep_running{false}; ///< true if keep_running (see above) is supported
+
 private:
 	bool validateConfiguration();
 

platforms/common/include/px4_platform_common/module.h

@@ -513,6 +513,11 @@ __EXPORT void PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(bool i2c_support, bool sp
  */
 __EXPORT void PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(uint8_t default_address);
 
+/**
+ * -k flag
+ */
+__EXPORT void PRINT_MODULE_USAGE_PARAMS_I2C_KEEP_RUNNING_FLAG(void);
+
 /** @note Each of the PRINT_MODULE_USAGE_PARAM_* methods apply to the previous PRINT_MODULE_USAGE_COMMAND_DESCR(). */
 
 /**

platforms/common/module.cpp

@@ -119,6 +119,11 @@ void PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(uint8_t default_address)
 	PRINT_MODULE_USAGE_PARAM_INT('a', default_address, 0, 0xff, "I2C address", true);
 }
 
+void PRINT_MODULE_USAGE_PARAMS_I2C_KEEP_RUNNING_FLAG()
+{
+	PRINT_MODULE_USAGE_PARAM_FLAG('k', "if initialization (probing) fails, keep retrying periodically", true);
+}
+
 void PRINT_MODULE_USAGE_PARAM_INT(char option_char, int default_val, int min_val, int max_val,
 				  const char *description, bool is_optional)
 {

src/drivers/barometer/lps33hw/lps33hw_main.cpp

@@ -52,7 +52,7 @@ LPS33HW::print_usage()
 	PRINT_MODULE_USAGE_COMMAND("start");
 	PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, true);
 	PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x5D);
-	PRINT_MODULE_USAGE_PARAM_FLAG('k', "if initialization (probing) fails, keep retrying periodically", true);
+	PRINT_MODULE_USAGE_PARAMS_I2C_KEEP_RUNNING_FLAG();
 	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
 }
 
@@ -79,7 +79,7 @@ I2CSPIDriverBase *LPS33HW::instantiate(const BusCLIArguments &cli, const BusInst
 		return nullptr;
 	}
 
-	LPS33HW *dev = new LPS33HW(iterator.configuredBusOption(), iterator.bus(), interface, cli.custom1 == 1);
+	LPS33HW *dev = new LPS33HW(iterator.configuredBusOption(), iterator.bus(), interface, cli.keep_running);
 
 	if (dev == nullptr) {
 		delete interface;
@@ -96,22 +96,14 @@ I2CSPIDriverBase *LPS33HW::instantiate(const BusCLIArguments &cli, const BusInst
 
 extern "C" int lps33hw_main(int argc, char *argv[])
 {
-	int ch;
 	using ThisDriver = LPS33HW;
 	BusCLIArguments cli{true, true};
 	cli.i2c_address = 0x5D;
 	cli.default_i2c_frequency = 400000;
 	cli.default_spi_frequency = 10 * 1000 * 1000;
+	cli.support_keep_running = true;
 
-	while ((ch = cli.getopt(argc, argv, "k")) != EOF) {
+	const char *verb = cli.parseDefaultArguments(argc, argv);
-		switch (ch) {
-		case 'k': // keep retrying
-			cli.custom1 = 1;
-			break;
-		}
-	}
-
-	const char *verb = cli.optarg();
 
 	if (!verb) {
 		ThisDriver::print_usage();

src/drivers/differential_pressure/sdp3x/SDP3X_main.cpp

@@ -39,7 +39,7 @@ I2CSPIDriverBase *SDP3X::instantiate(const BusCLIArguments &cli, const BusInstan
 				     int runtime_instance)
 {
 	SDP3X *instance = new SDP3X(iterator.configuredBusOption(), iterator.bus(), cli.bus_frequency, cli.i2c_address,
-				    cli.custom1 == 1);
+				    cli.keep_running);
 
 	if (instance == nullptr) {
 		PX4_ERR("alloc failed");
@@ -64,28 +64,20 @@ SDP3X::print_usage()
 	PRINT_MODULE_USAGE_COMMAND("start");
 	PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false);
 	PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x21);
-	PRINT_MODULE_USAGE_PARAM_FLAG('k', "if initialization (probing) fails, keep retrying periodically", true);
+	PRINT_MODULE_USAGE_PARAMS_I2C_KEEP_RUNNING_FLAG();
 	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
 }
 
 int
 sdp3x_airspeed_main(int argc, char *argv[])
 {
-	int ch;
 	using ThisDriver = SDP3X;
 	BusCLIArguments cli{true, false};
 	cli.default_i2c_frequency = 100000;
 	cli.i2c_address = I2C_ADDRESS_1_SDP3X;
+	cli.support_keep_running = true;
 
-	while ((ch = cli.getopt(argc, argv, "k")) != EOF) {
+	const char *verb = cli.parseDefaultArguments(argc, argv);
-		switch (ch) {
-		case 'k': // keep retrying
-			cli.custom1 = 1;
-			break;
-		}
-	}
-
-	const char *verb = cli.optarg();
 
 	if (!verb) {
 		ThisDriver::print_usage();

src/drivers/power_monitor/ina226/ina226_main.cpp

@@ -15,7 +15,7 @@ I2CSPIDriverBase *INA226::instantiate(const BusCLIArguments &cli, const BusInsta
 		return nullptr;
 	}
 
-	if (cli.custom1 == 1) {
+	if (cli.keep_running) {
 		if (instance->force_init() != PX4_OK) {
 			PX4_INFO("Failed to init INA226 on bus %d, but will try again periodically.", iterator.bus());
 		}
@@ -52,7 +52,7 @@ this flag set, the battery must be plugged in before starting the driver.
 	PRINT_MODULE_USAGE_COMMAND("start");
 	PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false);
 	PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x41);
-	PRINT_MODULE_USAGE_PARAM_FLAG('k', "if initialization (probing) fails, keep retrying periodically", true);
+	PRINT_MODULE_USAGE_PARAMS_I2C_KEEP_RUNNING_FLAG();
 	PRINT_MODULE_USAGE_PARAM_INT('t', 1, 1, 2, "battery index for calibration values (1 or 2)", true);
 	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
 }
@@ -65,14 +65,11 @@ ina226_main(int argc, char *argv[])
 	BusCLIArguments cli{true, false};
 	cli.i2c_address = INA226_BASEADDR;
 	cli.default_i2c_frequency = 100000;
+	cli.support_keep_running = true;
 	cli.custom2 = 1;
 
-	while ((ch = cli.getopt(argc, argv, "kt:")) != EOF) {
+	while ((ch = cli.getopt(argc, argv, "t:")) != EOF) {
 		switch (ch) {
-		case 'k': // keep retrying
-			cli.custom1 = 1;
-			break;
-
 		case 't': // battery index
 			cli.custom2 = (int)strtol(cli.optarg(), NULL, 0);
 			break;

src/drivers/power_monitor/voxlpm/voxlpm_main.cpp

@@ -47,7 +47,7 @@ I2CSPIDriverBase *VOXLPM::instantiate(const BusCLIArguments &cli, const BusInsta
 		return nullptr;
 	}
 
-	if (cli.custom1 == 1) {
+	if (cli.keep_running) {
 		if (OK != instance->force_init()) {
 			PX4_INFO("Failed to init voxlpm type: %d on bus: %d, but will try again periodically.", (VOXLPM_CH_TYPE)cli.type,
 				 iterator.bus());
@@ -69,7 +69,7 @@ VOXLPM::print_usage()
 	PRINT_MODULE_USAGE_COMMAND("start");
 	PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false);
 	PRINT_MODULE_USAGE_PARAM_STRING('T', "VBATT", "VBATT|P5VDC|P12VDC", "Type", true);
-	PRINT_MODULE_USAGE_PARAM_FLAG('K', "if initialization (probing) fails, keep retrying periodically", true);
+	PRINT_MODULE_USAGE_PARAMS_I2C_KEEP_RUNNING_FLAG();
 	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
 }
 
@@ -81,8 +81,9 @@ voxlpm_main(int argc, char *argv[])
 	BusCLIArguments cli{true, false};
 	cli.default_i2c_frequency = 400000;
 	cli.type = VOXLPM_CH_TYPE_VBATT;
+	cli.support_keep_running = true;
 
-	while ((ch = cli.getopt(argc, argv, "KT:")) != EOF) {
+	while ((ch = cli.getopt(argc, argv, "T:")) != EOF) {
 		switch (ch) {
 		case 'T':
 			if (strcmp(cli.optarg(), "VBATT") == 0) {
@@ -100,10 +101,6 @@ voxlpm_main(int argc, char *argv[])
 			}
 
 			break;
-
-		case 'K': // keep retrying
-			cli.custom1 = 1;
-			break;
 		}
 	}