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i2c_launcher: Dehardcode battery index

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This commit is contained in:
Peter van der Perk
2025-05-16 17:00:01 +02:00
committed by Ramon Roche
parent f067d7a6d8
commit 65c180852f
2 changed files with 21 additions and 8 deletions
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src/systemcmds/i2c_launcher/i2c_launcher.cpp
+18 -6
View File
@@ -40,11 +40,17 @@
constexpr I2CLauncher::I2CDevice I2CLauncher::_devices[];
I2CLauncher::I2CLauncher(int bus) :
I2CLauncher::I2CLauncher(int bus, int batt_index) :
ModuleParams(nullptr),
ScheduledWorkItem(MODULE_NAME, px4::device_bus_to_wq(bus)),
_bus(bus)
{
if (_batt_index == -1) {
_batt_index = bus;
} else {
_batt_index = batt_index;
}
}
I2CLauncher::~I2CLauncher()
@@ -87,10 +93,10 @@ void I2CLauncher::Run()
return;
}
scan_i2c_bus(_bus);
scan_i2c_bus(_bus, _batt_index);
}
void I2CLauncher::scan_i2c_bus(int bus)
void I2CLauncher::scan_i2c_bus(int bus, int batt_index)
{
struct i2c_master_s *i2c_dev = px4_i2cbus_initialize(bus);
@@ -163,7 +169,7 @@ void I2CLauncher::scan_i2c_bus(int bus)
if (found) {
char buf[32];
snprintf(buf, sizeof(buf), "%s -X -b %d -t %d start", _devices[i].cmd, bus, bus);
snprintf(buf, sizeof(buf), "%s -X -b %d -t %d start", _devices[i].cmd, bus, batt_index);
PX4_INFO("Found address 0x%x, running '%s'\n", _devices[i].i2c_addr, buf);
@@ -204,6 +210,7 @@ Daemon that starts drivers based on found I2C devices.
PRINT_MODULE_USAGE_NAME("i2c_launcher", "system");
PRINT_MODULE_USAGE_COMMAND("start");
PRINT_MODULE_USAGE_PARAM_INT('b', 0, 1, 4, "Bus number", false);
PRINT_MODULE_USAGE_PARAM_INT('t', 1, 1, 3, "battery index for calibration values (1 or 3)", false);
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
return 0;
@@ -215,18 +222,23 @@ extern "C" __EXPORT int i2c_launcher_main(int argc, char *argv[])
static I2CLauncher* instances[I2C_BUS_MAX_BUS_ITEMS];
int bus = -1;
int batt_index = -1;
int myoptind = 1;
int ch;
const char *myoptarg = nullptr;
const char *verb = argv[1];
while ((ch = px4_getopt(argc, argv, "b:", &myoptind, &myoptarg)) != EOF) {
while ((ch = px4_getopt(argc, argv, "b:t:", &myoptind, &myoptarg)) != EOF) {
switch (ch) {
case 'b':
bus = strtol(myoptarg, nullptr, 10);
break;
case 't':
batt_index = strtol(myoptarg, nullptr, 10);
break;
default:
return ThisDriver::print_usage("unrecognized flag");
}
@@ -250,7 +262,7 @@ extern "C" __EXPORT int i2c_launcher_main(int argc, char *argv[])
if (strcmp(verb, "start") == 0) {
instances[bus] = new I2CLauncher(bus);
instances[bus] = new I2CLauncher(bus, batt_index);
if (instances[bus]) {
src/systemcmds/i2c_launcher/i2c_launcher.hpp
+3 -2
View File
@@ -51,7 +51,7 @@ using namespace time_literals;
class I2CLauncher : public ModuleBase<I2CLauncher>, public ModuleParams, public px4::ScheduledWorkItem
{
public:
I2CLauncher(int bus);
I2CLauncher(int bus, int batt_index);
~I2CLauncher() override;
@@ -78,11 +78,12 @@ private:
void Run() override;
static void scan_i2c_bus(int bus);
static void scan_i2c_bus(int bus, int batt_index);
uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)}; // regular subscription for additional data
int _bus;
int _batt_index;
bool _armed {false};
};