增加测试打印消息

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)");
 			}

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
 {

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;

src/drivers/distance_sensor/tfmini_i2c/tfmini_i2c.cpp

@@ -40,6 +40,8 @@
  */
 
 #include "tfmini_i2c.h"
+#include <px4_platform_common/getopt.h>
+#include <px4_platform_common/module.h>
 
 #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 };

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.orientation = distance_sensor_s::ROTATION_FORWARD_FACING;
-	cli.default_i2c_frequency = 100000;
+	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);
 	}
 

src/drivers/magnetometer/hmc5883/hmc5883_i2c.cpp

@@ -39,10 +39,13 @@
 
 #include <px4_platform_common/px4_config.h>
 #include <drivers/device/i2c.h>
+#include <px4_platform_common/getopt.h>
+#include <px4_platform_common/module.h>
 
 #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)) {

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);
 	}