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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/distance_sensor/lightware_laser_i2c/lightware_laser_i2c.cpp
+16 -31
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@@ -60,13 +60,10 @@ using namespace time_literals;
class LightwareLaser : public device::I2C, public I2CSPIDriver<LightwareLaser>
{
public:
LightwareLaser(I2CSPIBusOption bus_option, const int bus, const uint8_t rotation, int bus_frequency,
int address = LIGHTWARE_LASER_BASEADDR);
LightwareLaser(const I2CSPIDriverConfig &config);
~LightwareLaser() override;
static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
int runtime_instance);
static void print_usage();
int init() override;
@@ -132,11 +129,10 @@ private:
int _consecutive_errors{0};
};
LightwareLaser::LightwareLaser(I2CSPIBusOption bus_option, const int bus, const uint8_t rotation, int bus_frequency,
int address) :
I2C(DRV_DIST_DEVTYPE_LIGHTWARE_LASER, MODULE_NAME, bus, address, bus_frequency),
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
_px4_rangefinder(get_device_id(), rotation)
LightwareLaser::LightwareLaser(const I2CSPIDriverConfig &config) :
I2C(config),
I2CSPIDriver(config),
_px4_rangefinder(get_device_id(), config.rotation)
{
_px4_rangefinder.set_device_type(DRV_DIST_DEVTYPE_LIGHTWARE_LASER);
}
@@ -205,7 +201,13 @@ int LightwareLaser::init()
}
/* do I2C init (and probe) first */
return I2C::init();
ret = I2C::init();
if (ret == PX4_OK) {
start();
}
return ret;
}
int LightwareLaser::readRegister(Register reg, uint8_t *data, int len)
@@ -422,41 +424,24 @@ Setup/usage information: https://docs.px4.io/master/en/sensor/sfxx_lidar.html
PRINT_MODULE_USAGE_SUBCATEGORY("distance_sensor");
PRINT_MODULE_USAGE_COMMAND("start");
PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false);
PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x66);
PRINT_MODULE_USAGE_PARAM_INT('R', 25, 0, 25, "Sensor rotation - downward facing by default", true);
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
}
I2CSPIDriverBase *LightwareLaser::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
int runtime_instance)
{
LightwareLaser* instance = new LightwareLaser(iterator.configuredBusOption(), iterator.bus(), cli.orientation, cli.bus_frequency);
if (instance == nullptr) {
PX4_ERR("alloc failed");
return nullptr;
}
if (instance->init() != PX4_OK) {
delete instance;
return nullptr;
}
instance->start();
return instance;
}
extern "C" __EXPORT int lightware_laser_i2c_main(int argc, char *argv[])
{
int ch;
using ThisDriver = LightwareLaser;
BusCLIArguments cli{true, false};
cli.orientation = distance_sensor_s::ROTATION_DOWNWARD_FACING;
cli.rotation = (Rotation)distance_sensor_s::ROTATION_DOWNWARD_FACING;
cli.default_i2c_frequency = 400000;
cli.i2c_address = LIGHTWARE_LASER_BASEADDR;
while ((ch = cli.getOpt(argc, argv, "R:")) != EOF) {
switch (ch) {
case 'R':
cli.orientation = atoi(cli.optArg());
cli.rotation = (Rotation)atoi(cli.optArg());
break;
}
}