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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/ll40ls/LidarLiteI2C.cpp
+5 -5
View File
@@ -41,11 +41,10 @@
#include "LidarLiteI2C.h"
LidarLiteI2C::LidarLiteI2C(I2CSPIBusOption bus_option, const int bus, const uint8_t orientation, int bus_frequency,
const int address) :
I2C(DRV_RNG_DEVTYPE_LL40LS, 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(), orientation)
LidarLiteI2C::LidarLiteI2C(const I2CSPIDriverConfig &config) :
I2C(config),
I2CSPIDriver(config),
_px4_rangefinder(get_device_id(), config.rotation)
{
_px4_rangefinder.set_min_distance(LL40LS_MIN_DISTANCE);
_px4_rangefinder.set_max_distance(LL40LS_MAX_DISTANCE);
@@ -72,6 +71,7 @@ LidarLiteI2C::init()
return PX4_ERROR;
}
start();
return PX4_OK;
}
src/drivers/distance_sensor/ll40ls/LidarLiteI2C.h
+1 -4
View File
@@ -94,12 +94,9 @@ static constexpr uint32_t LL40LS_CONVERSION_TIMEOUT{100_ms};
class LidarLiteI2C : public device::I2C, public I2CSPIDriver<LidarLiteI2C>
{
public:
LidarLiteI2C(I2CSPIBusOption bus_option, const int bus, const uint8_t orientation, int bus_frequency,
const int address = LL40LS_BASEADDR);
LidarLiteI2C(const I2CSPIDriverConfig &config);
virtual ~LidarLiteI2C();
static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
int runtime_instance);
static void print_usage();
src/drivers/distance_sensor/ll40ls/ll40ls.cpp
+4 -21
View File
@@ -64,30 +64,12 @@ Setup/usage information: https://docs.px4.io/master/en/sensor/lidar_lite.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(0x62);
PRINT_MODULE_USAGE_PARAM_INT('R', 25, 0, 25, "Sensor rotation - downward facing by default", true);
PRINT_MODULE_USAGE_COMMAND("regdump");
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
}
I2CSPIDriverBase *LidarLiteI2C::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
int runtime_instance)
{
LidarLiteI2C* instance = new LidarLiteI2C(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;
}
void
LidarLiteI2C::custom_method(const BusCLIArguments &cli)
{
@@ -99,13 +81,14 @@ extern "C" __EXPORT int ll40ls_main(int argc, char *argv[])
int ch;
using ThisDriver = LidarLiteI2C;
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 = 100000;
cli.i2c_address = LL40LS_BASEADDR;
while ((ch = cli.getOpt(argc, argv, "R:")) != EOF) {
switch (ch) {
case 'R':
cli.orientation = (enum Rotation)atoi(cli.optArg());
cli.rotation = (enum Rotation)atoi(cli.optArg());
break;
}
}