diff --git a/platforms/common/i2c_spi_buses.cpp b/platforms/common/i2c_spi_buses.cpp index 40b11f75aa..fdd62dd763 100644 --- a/platforms/common/i2c_spi_buses.cpp +++ b/platforms/common/i2c_spi_buses.cpp @@ -461,6 +461,8 @@ struct I2CSPIDriverInitializing { static void initializer_trampoline(void *argument) { I2CSPIDriverInitializing *data = (I2CSPIDriverInitializing *)argument; + + printf("IN{%d} instance: %d\n",__LINE__,data->runtime_instance); data->instance = data->instantiate(data->cli, data->iterator, data->runtime_instance); } @@ -476,6 +478,7 @@ int I2CSPIDriverBase::module_start(const BusCLIArguments &cli, BusInstanceIterat bool started = false; while (iterator.next()) { + printf("MS{%d} bus: %i\n",__LINE__, iterator.bus()); if (iterator.instance()) { PX4_WARN("Already running on bus %i", iterator.bus()); continue; @@ -485,6 +488,7 @@ int I2CSPIDriverBase::module_start(const BusCLIArguments &cli, BusInstanceIterat device::Device::DeviceId device_id{}; device_id.devid_s.bus = iterator.bus(); + printf("MS{%d} busType: %d\n",__LINE__,iterator.busType()); switch (iterator.busType()) { case BOARD_I2C_BUS: device_id.devid_s.bus_type = device::Device::DeviceBusType_I2C; break; @@ -501,23 +505,29 @@ int I2CSPIDriverBase::module_start(const BusCLIArguments &cli, BusInstanceIterat initializer.wait(); I2CSPIDriverBase *instance = initializer_data.instance; + // printf("MS{%d} instance: %d\n",__LINE__,(int)instance); if (!instance) { PX4_DEBUG("instantiate failed (no device on bus %i (devid 0x%x)?)", iterator.bus(), iterator.devid()); + printf("{%d}instantiate failed (no device on bus %i (devid 0x%02x)?)\n",__LINE__, iterator.bus(), device_id.devid); continue; } + printf("{%d}instantiate ok on bus %i (devid 0x%02x) \n",__LINE__, iterator.bus(), device_id.devid); if (cli.i2c_address != 0 && instance->_i2c_address == 0) { PX4_ERR("Bug: driver %s does not pass the I2C address to I2CSPIDriverBase", instance->ItemName()); + printf("{%d}Bug: driver %s does not pass the I2C address to I2CSPIDriverBase\n",__LINE__, instance->ItemName()); } iterator.addInstance(instance); started = true; + printf("MS{%d} busType: %d\n",__LINE__,(int)iterator.busType()); // print some info that we are running switch (iterator.busType()) { case BOARD_I2C_BUS: PX4_INFO_RAW("%s #%i on I2C bus %d", instance->ItemName(), runtime_instance, iterator.bus()); + printf("MS{%d} addr: %02x, rot:%d\n",__LINE__,cli.i2c_address,cli.rotation); if (iterator.external()) { PX4_INFO_RAW(" (external)"); } diff --git a/platforms/common/include/px4_platform_common/i2c_spi_buses.h b/platforms/common/include/px4_platform_common/i2c_spi_buses.h index f76d9de24c..180c5b5dc6 100644 --- a/platforms/common/include/px4_platform_common/i2c_spi_buses.h +++ b/platforms/common/include/px4_platform_common/i2c_spi_buses.h @@ -87,6 +87,7 @@ public: /** * Parse CLI arguments (for drivers that don't need any custom arguments, otherwise getopt() should be used) + * 解析 CLI 参数（对于不需要任何自定义参数的驱动程序，否则应该使用 getopt()） * @return command (e.g. "start") or nullptr on error or unknown argument */ const char *parseDefaultArguments(int argc, char *argv[]); @@ -139,6 +140,7 @@ private: /** * @class BusInstanceIterator * Iterate over running instances and/or configured I2C/SPI buses with given filter options. + * 使用给定的过滤器选项迭代正在运行的实例 与/或 配置的 I2C/SPI 总线 */ class BusInstanceIterator { diff --git a/platforms/common/px4_work_queue/WorkQueueManager.cpp b/platforms/common/px4_work_queue/WorkQueueManager.cpp index 7486e0bee4..437b5a3917 100644 --- a/platforms/common/px4_work_queue/WorkQueueManager.cpp +++ b/platforms/common/px4_work_queue/WorkQueueManager.cpp @@ -127,6 +127,7 @@ device_bus_to_wq(uint32_t device_id_int) const device::Device::DeviceBusType bus_type = device_id.devid_s.bus_type; const uint8_t bus = device_id.devid_s.bus; + printf("WQ{%d}id:%d type: %d,bus:%d\n",__LINE__,device_id_int,(int)bus_type,bus); if (bus_type == device::Device::DeviceBusType_I2C) { switch (bus) { case 0: return wq_configurations::I2C0; diff --git a/src/drivers/distance_sensor/tfmini_i2c/tfmini_i2c.cpp b/src/drivers/distance_sensor/tfmini_i2c/tfmini_i2c.cpp index 486100044c..c0bdec6e78 100644 --- a/src/drivers/distance_sensor/tfmini_i2c/tfmini_i2c.cpp +++ b/src/drivers/distance_sensor/tfmini_i2c/tfmini_i2c.cpp @@ -40,6 +40,8 @@ */ #include "tfmini_i2c.h" +#include +#include #define ARRAY_SIZE(_arr) (sizeof(_arr) / sizeof(_arr[0])) @@ -69,6 +71,7 @@ TFmini_i2c::~TFmini_i2c() int TFmini_i2c::init() { + printf("TFmini_i2c: init() \n"); // Perform I2C init (and probe) first. if (I2C::init() != PX4_OK) { return PX4_ERROR; @@ -157,6 +160,8 @@ TFmini_i2c::check_checksum(uint8_t *arr, int pkt_len) int TFmini_i2c::probe() { + + printf("TFmini_i2c: probe() \n"); const uint8_t CMD_FW_VERSION[] = { 0x5A, 0x04, 0x01, 0x5F }; const uint8_t CMD_SYSTEM_RESET[] = { 0x5A, 0x04, 0x04, 0x62 }; const uint8_t CMD_OUTPUT_FORMAT_CM[] = { 0x5A, 0x05, 0x05, 0x01, 0x65 }; diff --git a/src/drivers/distance_sensor/tfmini_i2c/tfmini_i2c_main.cpp b/src/drivers/distance_sensor/tfmini_i2c/tfmini_i2c_main.cpp index 7a6615a190..768ada1bb7 100644 --- a/src/drivers/distance_sensor/tfmini_i2c/tfmini_i2c_main.cpp +++ b/src/drivers/distance_sensor/tfmini_i2c/tfmini_i2c_main.cpp @@ -64,7 +64,7 @@ Setup/usage information: https://docs.px4.io/master/en/sensor/lidar_lite.html PRINT_MODULE_USAGE_SUBCATEGORY("distance_sensor"); PRINT_MODULE_USAGE_COMMAND("start"); PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false); - PRINT_MODULE_USAGE_PARAM_INT('R', 25, 0, 25, "Sensor rotation - downward facing by default", true); + PRINT_MODULE_USAGE_PARAM_INT('R', 25, 0, 25, "Sensor rotation - forward facing by default", true); PRINT_MODULE_USAGE_COMMAND("regdump"); PRINT_MODULE_USAGE_DEFAULT_COMMANDS(); } @@ -72,8 +72,9 @@ Setup/usage information: https://docs.px4.io/master/en/sensor/lidar_lite.html I2CSPIDriverBase *TFmini_i2c::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator, int runtime_instance) { + // 类实例，传入BusInstanceIterator总线实例迭代器参数，解析 CLI 参数 + printf("instantiate: bus:%d,ori:%d,freq:%d \n", iterator.bus(), cli.orientation, cli.bus_frequency); TFmini_i2c* instance = new TFmini_i2c(iterator.configuredBusOption(), iterator.bus(), cli.orientation, cli.bus_frequency); - if (instance == nullptr) { PX4_ERR("alloc failed"); return nullptr; @@ -99,8 +100,8 @@ extern "C" __EXPORT int tfmini_i2c_main(int argc, char *argv[]) int ch; using ThisDriver = TFmini_i2c; BusCLIArguments cli{true, false}; - cli.orientation = distance_sensor_s::ROTATION_DOWNWARD_FACING; - cli.default_i2c_frequency = 100000; + cli.orientation = distance_sensor_s::ROTATION_FORWARD_FACING; + cli.default_i2c_frequency = 400000; while ((ch = cli.getOpt(argc, argv, "R:")) != EOF) { switch (ch) { @@ -117,9 +118,10 @@ extern "C" __EXPORT int tfmini_i2c_main(int argc, char *argv[]) return -1; } - BusInstanceIterator iterator(MODULE_NAME, cli, DRV_DIST_DEVTYPE_LL40LS); + BusInstanceIterator iterator(MODULE_NAME, cli, DRV_DIST_DEVTYPE_TFMINI_I2C); if (!strcmp(verb, "start")) { + printf("%s,cli: drv:%d,ori:%d,freq:%d \n",__FILE__, DRV_DIST_DEVTYPE_TFMINI_I2C, cli.orientation, cli.default_i2c_frequency); return ThisDriver::module_start(cli, iterator); } diff --git a/src/drivers/magnetometer/hmc5883/hmc5883_i2c.cpp b/src/drivers/magnetometer/hmc5883/hmc5883_i2c.cpp index 628263d163..b89494d45b 100644 --- a/src/drivers/magnetometer/hmc5883/hmc5883_i2c.cpp +++ b/src/drivers/magnetometer/hmc5883/hmc5883_i2c.cpp @@ -39,10 +39,13 @@ #include #include +#include +#include #include "hmc5883.h" #define HMC5883L_ADDRESS 0x1E +// #define HMC5883L_ADDRESS 0x11 device::Device *HMC5883_I2C_interface(int bus, int bus_frequency); @@ -72,6 +75,7 @@ HMC5883_I2C::HMC5883_I2C(int bus, int bus_frequency) : int HMC5883_I2C::probe() { + printf("HMC5883_I2C: probe() \n"); uint8_t data[3] = {0, 0, 0}; _retries = 10; @@ -85,6 +89,8 @@ int HMC5883_I2C::probe() _retries = 2; + printf("HMC5883 {%d} probe:%d,ori:%d,freq:%d \n",__LINE__, data[0],data[1],data[2]); + DEVICE_DEBUG("ID byte mismatch (%02x,%02x,%02x)", data[0], data[1], data[2]); if ((data[0] != ID_A_WHO_AM_I) || (data[1] != ID_B_WHO_AM_I) || (data[2] != ID_C_WHO_AM_I)) { diff --git a/src/drivers/magnetometer/hmc5883/hmc5883_main.cpp b/src/drivers/magnetometer/hmc5883/hmc5883_main.cpp index 08896d08b5..9082565cf1 100644 --- a/src/drivers/magnetometer/hmc5883/hmc5883_main.cpp +++ b/src/drivers/magnetometer/hmc5883/hmc5883_main.cpp @@ -49,8 +49,10 @@ I2CSPIDriverBase *HMC5883::instantiate(const BusCLIArguments &cli, const BusInst int runtime_instance) { device::Device *interface = nullptr; + printf("HMC5883: bus:%d,ori:%d,freq:%d \n", iterator.bus(), cli.orientation, cli.bus_frequency); if (iterator.busType() == BOARD_I2C_BUS) { + printf("HMC5883 {%d} bus:%d,ori:%d,freq:%d \n",__LINE__, iterator.bus(), cli.orientation, cli.bus_frequency); interface = HMC5883_I2C_interface(iterator.bus(), cli.bus_frequency); } else if (iterator.busType() == BOARD_SPI_BUS) { @@ -130,6 +132,7 @@ extern "C" int hmc5883_main(int argc, char *argv[]) BusInstanceIterator iterator(MODULE_NAME, cli, DRV_MAG_DEVTYPE_HMC5883); if (!strcmp(verb, "start")) { + printf("%s,cli: drv:%d,ori:%d,freq:%d \n",__FILE__, DRV_MAG_DEVTYPE_HMC5883, cli.orientation, cli.default_i2c_frequency); return ThisDriver::module_start(cli, iterator); }