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drivers: rm3100 add i2c/spi ifdefs

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This commit is contained in:
alexklimaj 2025-10-27 14:46:05 -06:00 committed by Jacob Dahl
parent b320ace4d1
commit be9fa620fd
4 changed files with 25 additions and 3 deletions
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4
src/drivers/magnetometer/rm3100/rm3100.h
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@ -91,8 +91,12 @@
#define RM3100_REVID 0x22
/* interface factories */
#if defined(CONFIG_SPI)
extern device::Device *RM3100_SPI_interface(int bus, uint32_t devid, int bus_frequency, spi_mode_e spi_mode);
#endif // CONFIG_SPI
#if defined(CONFIG_I2C)
extern device::Device *RM3100_I2C_interface(int bus, int bus_frequency);
#endif // CONFIG_I2C
#define RM3100_ADDRESS 0x20

4
src/drivers/magnetometer/rm3100/rm3100_i2c.cpp
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@ -39,6 +39,8 @@
#include <px4_platform_common/px4_config.h>
#if defined(CONFIG_I2C)
#include <assert.h>
#include <errno.h>
#include <stdint.h>
@ -129,3 +131,5 @@ int RM3100_I2C::write(unsigned address, void *data, unsigned count)
return transfer(&buf[0], count + 1, nullptr, 0);
}
#endif // CONFIG_I2C

16
src/drivers/magnetometer/rm3100/rm3100_main.cpp
View File

@ -45,12 +45,16 @@ I2CSPIDriverBase *RM3100::instantiate(const I2CSPIDriverConfig &config, int runt
{
device::Device *interface = nullptr;
#if defined(CONFIG_I2C)
if (config.bus_type == BOARD_I2C_BUS) {
interface = RM3100_I2C_interface(config.bus, config.bus_frequency);
} else if (config.bus_type == BOARD_SPI_BUS) {
interface = RM3100_SPI_interface(config.bus, config.spi_devid, config.bus_frequency, config.spi_mode);
}
} else
#endif // CONFIG_I2C
if (config.bus_type == BOARD_SPI_BUS) {
interface = RM3100_SPI_interface(config.bus, config.spi_devid, config.bus_frequency, config.spi_mode);
}
if (interface == nullptr) {
PX4_ERR("alloc failed");
@ -93,8 +97,12 @@ extern "C" int rm3100_main(int argc, char *argv[])
using ThisDriver = RM3100;
int ch;
BusCLIArguments cli{true, true};
#if defined(CONFIG_I2C)
cli.default_i2c_frequency = 400000;
#endif // CONFIG_I2C
#if defined(CONFIG_SPI)
cli.default_spi_frequency = 1 * 1000 * 1000;
#endif // CONFIG_SPI
while ((ch = cli.getOpt(argc, argv, "R:")) != EOF) {
switch (ch) {
@ -111,7 +119,9 @@ extern "C" int rm3100_main(int argc, char *argv[])
return -1;
}
#if defined(CONFIG_I2C)
cli.i2c_address = RM3100_ADDRESS;
#endif // CONFIG_I2C
BusInstanceIterator iterator(MODULE_NAME, cli, DRV_MAG_DEVTYPE_RM3100);

4
src/drivers/magnetometer/rm3100/rm3100_spi.cpp
View File

@ -39,6 +39,8 @@
#include <px4_platform_common/px4_config.h>
#if defined(CONFIG_SPI)
#include <assert.h>
#include <errno.h>
#include <stdint.h>
@ -135,3 +137,5 @@ int RM3100_SPI::write(unsigned address, void *data, unsigned count)
return transfer(&buf[0], &buf[0], count + 1);
}
#endif // CONFIG_SPI