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drivers: use updated I2C SPI driver interface

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This commit is contained in:
Beat Küng
2021-07-08 12:59:35 -04:00
committed by Daniel Agar
parent c5aef9d512
commit e644036325
218 changed files with 812 additions and 2001 deletions
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src/drivers/differential_pressure/ets/ets_airspeed.cpp
+20 -26
View File
@@ -63,15 +63,15 @@
class ETSAirspeed : public Airspeed, public I2CSPIDriver<ETSAirspeed>
{
public:
ETSAirspeed(I2CSPIBusOption bus_option, const int bus, int bus_frequency, int address = I2C_ADDRESS);
ETSAirspeed(const I2CSPIDriverConfig &config);
virtual ~ETSAirspeed() = default;
static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
int runtime_instance);
static void print_usage();
void RunImpl();
int init() override;
protected:
int measure() override;
int collect() override;
@@ -82,13 +82,25 @@ protected:
*/
extern "C" __EXPORT int ets_airspeed_main(int argc, char *argv[]);
ETSAirspeed::ETSAirspeed(I2CSPIBusOption bus_option, const int bus, int bus_frequency, int address)
: Airspeed(bus, bus_frequency, address, CONVERSION_INTERVAL),
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus, address)
ETSAirspeed::ETSAirspeed(const I2CSPIDriverConfig &config)
: Airspeed(config.bus, config.bus_frequency, config.i2c_address, CONVERSION_INTERVAL),
I2CSPIDriver(config)
{
_device_id.devid_s.devtype = DRV_DIFF_PRESS_DEVTYPE_MS4525;
}
int ETSAirspeed::init()
{
int ret = Airspeed::init();
if (ret == PX4_OK) {
ScheduleNow();
}
return ret;
}
int
ETSAirspeed::measure()
{
@@ -209,26 +221,6 @@ ETSAirspeed::RunImpl()
ScheduleDelayed(CONVERSION_INTERVAL);
}
I2CSPIDriverBase *ETSAirspeed::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
int runtime_instance)
{
ETSAirspeed *instance = new ETSAirspeed(iterator.configuredBusOption(), iterator.bus(), cli.bus_frequency);
if (instance == nullptr) {
PX4_ERR("alloc failed");
return nullptr;
}
if (instance->init() != PX4_OK) {
delete instance;
return nullptr;
}
instance->ScheduleNow();
return instance;
}
void
ETSAirspeed::print_usage()
{
@@ -236,6 +228,7 @@ ETSAirspeed::print_usage()
PRINT_MODULE_USAGE_SUBCATEGORY("airspeed_sensor");
PRINT_MODULE_USAGE_COMMAND("start");
PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false);
PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x75);
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
}
@@ -245,6 +238,7 @@ ets_airspeed_main(int argc, char *argv[])
using ThisDriver = ETSAirspeed;
BusCLIArguments cli{true, false};
cli.default_i2c_frequency = 100000;
cli.i2c_address = I2C_ADDRESS;
const char *verb = cli.parseDefaultArguments(argc, argv);
src/drivers/differential_pressure/ms4525/ms4525_airspeed.cpp
+18 -29
View File
@@ -77,16 +77,16 @@ enum MS_DEVICE_TYPE {
class MEASAirspeed : public Airspeed, public I2CSPIDriver<MEASAirspeed>
{
public:
MEASAirspeed(I2CSPIBusOption bus_option, const int bus, int bus_frequency, int address = I2C_ADDRESS_MS4525DO);
MEASAirspeed(const I2CSPIDriverConfig &config);
virtual ~MEASAirspeed() = default;
static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
int runtime_instance);
static void print_usage();
void RunImpl();
int init() override;
protected:
int measure() override;
@@ -100,13 +100,24 @@ protected:
*/
extern "C" __EXPORT int ms4525_airspeed_main(int argc, char *argv[]);
MEASAirspeed::MEASAirspeed(I2CSPIBusOption bus_option, const int bus, int bus_frequency, int address)
: Airspeed(bus, bus_frequency, address, CONVERSION_INTERVAL),
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus, address)
MEASAirspeed::MEASAirspeed(const I2CSPIDriverConfig &config)
: Airspeed(config.bus, config.bus_frequency, config.i2c_address, CONVERSION_INTERVAL),
I2CSPIDriver(config)
{
_device_id.devid_s.devtype = DRV_DIFF_PRESS_DEVTYPE_MS4525;
}
int MEASAirspeed::init()
{
int ret = Airspeed::init();
if (ret == PX4_OK) {
ScheduleNow();
}
return ret;
}
int
MEASAirspeed::measure()
{
@@ -266,27 +277,6 @@ MEASAirspeed::RunImpl()
ScheduleDelayed(CONVERSION_INTERVAL);
}
I2CSPIDriverBase *MEASAirspeed::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
int runtime_instance)
{
MEASAirspeed *instance = new MEASAirspeed(iterator.configuredBusOption(), iterator.bus(), cli.bus_frequency,
cli.i2c_address);
if (instance == nullptr) {
PX4_ERR("alloc failed");
return nullptr;
}
if (instance->init() != PX4_OK) {
delete instance;
return nullptr;
}
instance->ScheduleNow();
return instance;
}
void
MEASAirspeed::print_usage()
{
@@ -329,8 +319,7 @@ ms4525_airspeed_main(int argc, char *argv[])
cli.i2c_address = I2C_ADDRESS_MS4515DO;
}
BusInstanceIterator iterator(MODULE_NAME, cli,
DRV_DIFF_PRESS_DEVTYPE_MS4525);
BusInstanceIterator iterator(MODULE_NAME, cli, DRV_DIFF_PRESS_DEVTYPE_MS4525);
if (!strcmp(verb, "start")) {
return ThisDriver::module_start(cli, iterator);
src/drivers/differential_pressure/ms5525/MS5525.cpp
+11
View File
@@ -33,6 +33,17 @@
#include "MS5525.hpp"
int MS5525::init()
{
int ret = Airspeed::init();
if (ret == PX4_OK) {
ScheduleNow();
}
return ret;
}
int
MS5525::measure()
{
src/drivers/differential_pressure/ms5525/MS5525.hpp
+5 -5
View File
@@ -51,20 +51,20 @@ static constexpr int64_t CONVERSION_INTERVAL = (1000000 / MEAS_RATE); /* microse
class MS5525 : public Airspeed, public I2CSPIDriver<MS5525>
{
public:
MS5525(I2CSPIBusOption bus_option, const int bus, int bus_frequency, int address = I2C_ADDRESS_1_MS5525DSO) :
Airspeed(bus, bus_frequency, address, CONVERSION_INTERVAL),
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus, address)
MS5525(const I2CSPIDriverConfig &config) :
Airspeed(config.bus, config.bus_frequency, config.i2c_address, CONVERSION_INTERVAL),
I2CSPIDriver(config)
{
}
virtual ~MS5525() = default;
static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
int runtime_instance);
static void print_usage();
void RunImpl();
int init() override;
private:
int measure() override;
src/drivers/differential_pressure/ms5525/MS5525_main.cpp
+3 -22
View File
@@ -35,26 +35,6 @@
extern "C" __EXPORT int ms5525_airspeed_main(int argc, char *argv[]);
I2CSPIDriverBase *MS5525::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
int runtime_instance)
{
MS5525 *instance = new MS5525(iterator.configuredBusOption(), iterator.bus(), cli.bus_frequency);
if (instance == nullptr) {
PX4_ERR("alloc failed");
return nullptr;
}
if (instance->init() != PX4_OK) {
delete instance;
return nullptr;
}
instance->ScheduleNow();
return instance;
}
void
MS5525::print_usage()
{
@@ -62,6 +42,7 @@ MS5525::print_usage()
PRINT_MODULE_USAGE_SUBCATEGORY("airspeed_sensor");
PRINT_MODULE_USAGE_COMMAND("start");
PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false);
PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x76);
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
}
@@ -71,6 +52,7 @@ ms5525_airspeed_main(int argc, char *argv[])
using ThisDriver = MS5525;
BusCLIArguments cli{true, false};
cli.default_i2c_frequency = 100000;
cli.i2c_address = I2C_ADDRESS_1_MS5525DSO;
const char *verb = cli.parseDefaultArguments(argc, argv);
@@ -79,8 +61,7 @@ ms5525_airspeed_main(int argc, char *argv[])
return -1;
}
BusInstanceIterator iterator(MODULE_NAME, cli,
DRV_DIFF_PRESS_DEVTYPE_MS5525);
BusInstanceIterator iterator(MODULE_NAME, cli, DRV_DIFF_PRESS_DEVTYPE_MS5525);
if (!strcmp(verb, "start")) {
return ThisDriver::module_start(cli, iterator);
src/drivers/differential_pressure/sdp3x/SDP3X.cpp
+9 -3
View File
@@ -124,10 +124,16 @@ SDP3X::read_scale()
return PX4_OK;
}
void SDP3X::start()
int SDP3X::init()
{
// make sure to wait 10ms after configuring the measurement mode
ScheduleDelayed(10_ms);
int ret = Airspeed::init();
if (ret == PX4_OK) {
// make sure to wait 10ms after configuring the measurement mode
ScheduleDelayed(10_ms);
}
return ret;
}
int
src/drivers/differential_pressure/sdp3x/SDP3X.hpp
+5 -8
View File
@@ -69,23 +69,20 @@
class SDP3X : public Airspeed, public I2CSPIDriver<SDP3X>
{
public:
SDP3X(I2CSPIBusOption bus_option, const int bus, int bus_frequency, int address = I2C_ADDRESS_1_SDP3X,
bool keep_retrying = false) :
Airspeed(bus, bus_frequency, address, CONVERSION_INTERVAL),
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus, address),
_keep_retrying{keep_retrying}
SDP3X(const I2CSPIDriverConfig &config) :
Airspeed(config.bus, config.bus_frequency, config.i2c_address, CONVERSION_INTERVAL),
I2CSPIDriver(config),
_keep_retrying{config.keep_running}
{
}
virtual ~SDP3X() = default;
static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
int runtime_instance);
static void print_usage();
void RunImpl();
void start();
int init() override;
private:
enum class State {
src/drivers/differential_pressure/sdp3x/SDP3X_main.cpp
-21
View File
@@ -35,27 +35,6 @@
extern "C" __EXPORT int sdp3x_airspeed_main(int argc, char *argv[]);
I2CSPIDriverBase *SDP3X::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
int runtime_instance)
{
SDP3X *instance = new SDP3X(iterator.configuredBusOption(), iterator.bus(), cli.bus_frequency, cli.i2c_address,
cli.keep_running);
if (instance == nullptr) {
PX4_ERR("alloc failed");
return nullptr;
}
if (instance->init() != PX4_OK) {
delete instance;
return nullptr;
}
instance->start();
return instance;
}
void
SDP3X::print_usage()
{