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i2c_spi_buses: add support for multiple instances of the same device on a bus

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This also simplifies the API a bit, since we anyway have to change the
drivers to pass additional information (the bus device index).

The orientation flag is merged with the rotation.
This commit is contained in:
Beat Küng
2021-07-08 12:59:35 -04:00
committed by Daniel Agar
parent e4983ab88c
commit c5aef9d512
19 changed files with 252 additions and 60 deletions
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platforms/common/spi.cpp
+10 -5
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@@ -109,8 +109,7 @@ bool px4_spi_bus_external(const px4_spi_bus_t &bus)
bool SPIBusIterator::next()
{
// we have at most 1 match per bus, so we can directly jump to the next bus
while (++_index < SPI_BUS_MAX_BUS_ITEMS && px4_spi_buses[_index].bus != -1) {
while (_index < SPI_BUS_MAX_BUS_ITEMS && px4_spi_buses[_index].bus != -1) {
const px4_spi_bus_t &bus_data = px4_spi_buses[_index];
if (!board_has_bus(BOARD_SPI_BUS, bus_data.bus)) {
@@ -127,7 +126,7 @@ bool SPIBusIterator::next()
if (!bus_data.is_external) {
if (_bus == bus_data.bus || _bus == -1) {
// find device id
for (int i = 0; i < SPI_BUS_MAX_DEVICES; ++i) {
for (int i = _bus_device_index + 1; i < SPI_BUS_MAX_DEVICES; ++i) {
if (PX4_SPI_DEVICE_ID == PX4_SPIDEVID_TYPE(bus_data.devices[i].devid) &&
_devid_driver_index == bus_data.devices[i].devtype_driver) {
_bus_device_index = i;
@@ -141,11 +140,10 @@ bool SPIBusIterator::next()
case FilterType::ExternalBus:
if (bus_data.is_external) {
++_external_bus_counter;
uint16_t cs_index = _devid_driver_index - 1;
if (_bus == _external_bus_counter && cs_index < SPI_BUS_MAX_DEVICES &&
bus_data.devices[cs_index].cs_gpio != 0) {
bus_data.devices[cs_index].cs_gpio != 0 && cs_index != _bus_device_index) {
// we know that bus_data.devices[cs_index].devtype_driver == cs_index
_bus_device_index = cs_index;
return true;
@@ -154,6 +152,13 @@ bool SPIBusIterator::next()
break;
}
if (bus_data.is_external) {
++_external_bus_counter;
}
++_index;
_bus_device_index = -1;
}
return false;