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board support add px4_i2c_bus_external/px4_spi_bus_external

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This commit is contained in:
Daniel Agar
2017-11-20 23:44:31 +01:00
committed by Lorenz Meier
parent 2aeb4aa55f
commit 53595bac0e
54 changed files with 232 additions and 312 deletions
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src/drivers/bmm150/bmm150.cpp
+6 -17
View File
@@ -77,8 +77,8 @@ void start(bool external_bus, enum Rotation rotation)
/* create the driver */
if (external_bus) {
#if defined(PX4_I2C_BUS_BMM150)
*g_dev_ptr = new BMM150(PX4_I2C_BUS_BMM150, path, external_bus, rotation);
#if defined(PX4_I2C_BUS_EXPANSION)
*g_dev_ptr = new BMM150(PX4_I2C_BUS_EXPANSION, path, rotation);
#else
PX4_ERR("External I2C not available");
exit(0);
@@ -242,13 +242,11 @@ usage()
}
}
} // namespace bmm150
BMM150 :: BMM150(int bus, const char *path, bool external, enum Rotation rotation) :
BMM150 :: BMM150(int bus, const char *path, enum Rotation rotation) :
I2C("BMM150", path, bus, BMM150_SLAVE_ADDRESS, BMM150_BUS_SPEED),
_external(false),
_running(false),
_call_interval(0),
_reports(nullptr),
@@ -283,7 +281,6 @@ BMM150 :: BMM150(int bus, const char *path, bool external, enum Rotation rotatio
{
_device_id.devid_s.devtype = DRV_MAG_DEVTYPE_BMM150;
_external = external;
// work_cancel in the dtor will explode if we don't do this...
memset(&_work, 0, sizeof(_work));
@@ -294,10 +291,8 @@ BMM150 :: BMM150(int bus, const char *path, bool external, enum Rotation rotatio
_scale.y_scale = 1.0f;
_scale.z_offset = 0;
_scale.z_scale = 1.0f;
}
BMM150 :: ~BMM150()
{
/* make sure we are truly inactive */
@@ -383,7 +378,7 @@ int BMM150::init()
/* measurement will have generated a report, publish */
_topic = orb_advertise_multi(ORB_ID(sensor_mag), &mrb,
&_orb_class_instance, (is_external()) ? ORB_PRIO_HIGH : ORB_PRIO_MAX);
&_orb_class_instance, (external()) ? ORB_PRIO_HIGH : ORB_PRIO_MAX);
if (_topic == nullptr) {
PX4_WARN("ADVERT FAIL");
@@ -682,7 +677,7 @@ BMM150::collect()
mrb.timestamp = hrt_absolute_time();
mrb.is_external = is_external();
mrb.is_external = external();
// report the error count as the number of bad transfers.
// This allows the higher level code to decide if it
@@ -877,12 +872,6 @@ BMM150::self_test()
return (perf_event_count(_sample_perf) > 0) ? 0 : 1;
}
bool BMM150::is_external()
{
return _external;
}
uint8_t
BMM150::read_reg(uint8_t reg)
{
src/drivers/bmm150/bmm150.hpp
+1 -3
View File
@@ -195,10 +195,9 @@ struct bmm150_data {
class BMM150 : public device::I2C
{
public:
BMM150(int bus, const char *path, bool external, enum Rotation rotation);
BMM150(int bus, const char *path, enum Rotation rotation);
virtual ~BMM150();
bool is_external();
virtual int init();
virtual ssize_t read(struct file *filp, char *buffer, size_t buflen);
virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
@@ -220,7 +219,6 @@ protected:
private:
work_s _work{};
bool _external;
bool _running;