i2c_spi_buses: add '-q' for quiet startup flag (#14969)

* [WIP] i2c_spi_buses: add '-q' for quiet startup flag

And enable for optional board sensors.

* ROMFS: rc.sensors try starting all optional I2C sensors quietly

Co-authored-by: Daniel Agar <daniel@agar.ca>

ROMFS/cannode/init.d/rcS

@@ -68,8 +68,8 @@ unset BOARD_RC_DEFAULTS
 #
 # Start system state indicator.
 #
-rgbled start -X
-rgbled_ncp5623c start -X
+rgbled start -X -q
+rgbled_ncp5623c start -X -q
 rgbled_pwm start
 
 if param greater LIGHT_EN_BLINKM 0

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -99,22 +99,22 @@ fi
 if param compare SENS_EXT_I2C_PRB 1
 then
 	# compasses
-	ak09916 -X -R 6 start # external AK09916 (Here2) is rotated 270 degrees yaw
-	hmc5883 -T -X start
-	ist8308 -X start
-	ist8310 -X start
-	lis2mdl -X start
-	lis3mdl -X start
-	qmc5883 -X start
-	rm3100 -X start
+	ak09916 -X -R 6 -q start # external AK09916 (Here2) is rotated 270 degrees yaw
+	hmc5883 -T -X -q start
+	ist8308 -X -q start
+	ist8310 -X -q start
+	lis2mdl -X -q start
+	lis3mdl -X -q start
+	qmc5883 -X -q start
+	rm3100 -X -q start
 
 	# differential pressure sensors
 	if [ ${VEHICLE_TYPE} = fw -o ${VEHICLE_TYPE} = vtol ]
 	then
 		if param compare CBRK_AIRSPD_CHK 0
 		then
-			sdp3x_airspeed start -X
-			sdp3x_airspeed start -X -a 0x22
+			sdp3x_airspeed start -X -q
+			sdp3x_airspeed start -X -a 0x22 -q
 
 			# Pixhawk 2.1 has a MS5611 on I2C which gets wrongly
 			# detected as MS5525 because the chip manufacturer was so
@@ -122,14 +122,14 @@ then
 			# register.
 			if [ $BOARD_FMUV3 = 21 ]
 			then
-				ms5525_airspeed start -X -b 2
+				ms5525_airspeed start -X -b 2 -q
 			else
-				ms5525_airspeed start -X
+				ms5525_airspeed start -X -q
 			fi
 
-			ms4525_airspeed start -X
+			ms4525_airspeed start -X -q
 
-			ets_airspeed start -X
+			ets_airspeed start -X -q
 		fi
 	fi
 fi

ROMFS/px4fmu_common/init.d/rcS

@@ -225,8 +225,8 @@ else
 	#
 	# Start system state indicator.
 	#
-	rgbled start -X
-	rgbled_ncp5623c start -X
+	rgbled start -X -q
+	rgbled_ncp5623c start -X -q
 
 	if param greater LIGHT_EN_BLINKM 0
 	then

Tools/px4moduledoc/srcparser.py

@@ -142,6 +142,7 @@ class ModuleDocumentation(object):
             self._handle_usage_param_int(['\'m\'', '-1', '0', '3', "\"SPI mode\"", 'true'])
 
         self._handle_usage_param_int(['\'f\'', '-1', '0', '1000000', "\"bus frequency in kHz\"", 'true'])
+        self._handle_usage_param_flag(['\'q\'', "\"quiet startup (no message if no device found)\"", 'true'])
         self._paring_implicit_options = False
 
     def _handle_usage_params_i2c_address(self, args):

boards/px4/fmu-v5/init/rc.board_sensors

@@ -6,7 +6,7 @@
 adc start
 
 # Internal SPI bus ICM-20602
-icm20602 -s -R 2 start
+icm20602 -s -R 2 -q start
 
 # Internal SPI bus ICM-20689
 icm20689 -s -R 2 start

platforms/common/i2c_spi_buses.cpp

@@ -86,6 +86,7 @@ int BusCLIArguments::getopt(int argc, char *argv[], const char *options)
 
 		*(p++) = 'b'; *(p++) = ':'; // bus
 		*(p++) = 'f'; *(p++) = ':'; // frequency
+		*(p++) = 'q'; // quiet flag
 
 		// copy all options
 		const char *option = options;
@@ -158,6 +159,10 @@ int BusCLIArguments::getopt(int argc, char *argv[], const char *options)
 			spi_mode = (spi_mode_e)atoi(_optarg);
 			break;
 
+		case 'q':
+			quiet_start = true;
+			break;
+
 		default:
 			if (ch == '?') {
 				// abort further parsing on unknown arguments
@@ -528,6 +533,10 @@ int I2CSPIDriverBase::module_start(const BusCLIArguments &cli, BusInstanceIterat
 		}
 	}
 
+	if (!started && !cli.quiet_start) {
+		PX4_WARN("%s: no instance started (no device on bus?)", px4_get_taskname());
+	}
+
 	return started ? 0 : -1;
 }
 

platforms/common/include/px4_platform_common/i2c_spi_buses.h

@@ -109,6 +109,7 @@ public:
 	int bus_frequency{0};
 	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
 
 	uint8_t orientation{0}; ///< distance_sensor_s::ROTATION_*
 

platforms/common/module.cpp

@@ -111,6 +111,7 @@ void PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(bool i2c_support, bool spi_support
 	}
 
 	PRINT_MODULE_USAGE_PARAM_INT('f', -1, 0, 100000, "bus frequency in kHz", true);
+	PRINT_MODULE_USAGE_PARAM_FLAG('q', "quiet startup (no message if no device found)", true);
 }
 
 void PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(uint8_t default_address)