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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);