fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-27 05:23:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

drivers: use updated I2C SPI driver interface

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/distance_sensor/mappydot/MappyDot.cpp
+7 -28
View File
@@ -144,11 +144,9 @@ using namespace time_literals;
class MappyDot : public device::I2C, public ModuleParams, public I2CSPIDriver<MappyDot>
{
public:
MappyDot(I2CSPIBusOption bus_option, const int bus, int bus_frequency);
MappyDot(const I2CSPIDriverConfig &config);
virtual ~MappyDot();
static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
int runtime_instance);
static void print_usage();
/**
@@ -221,10 +219,10 @@ private:
};
MappyDot::MappyDot(I2CSPIBusOption bus_option, const int bus, int bus_frequency) :
I2C(DRV_DIST_DEVTYPE_MAPPYDOT, MODULE_NAME, bus, MAPPYDOT_BASE_ADDR, bus_frequency),
MappyDot::MappyDot(const I2CSPIDriverConfig &config) :
I2C(config),
ModuleParams(nullptr),
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus)
I2CSPIDriver(config)
{
set_device_type(DRV_DIST_DEVTYPE_MAPPYDOT);
}
@@ -382,6 +380,7 @@ MappyDot::init()
PX4_INFO("%i sensors connected", _sensor_count);
start();
return PX4_OK;
}
@@ -417,9 +416,6 @@ MappyDot::RunImpl()
void
MappyDot::start()
{
// Fetch parameter values.
ModuleParams::updateParams();
// Schedule the driver to run on a set interval
ScheduleOnInterval(MAPPYDOT_MEASUREMENT_INTERVAL_USEC, 10000);
}
@@ -434,25 +430,6 @@ MappyDot::print_usage()
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
}
I2CSPIDriverBase *MappyDot::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
int runtime_instance)
{
MappyDot *instance = new MappyDot(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->start();
return instance;
}
extern "C" __EXPORT int mappydot_main(int argc, char *argv[])
{
using ThisDriver = MappyDot;
@@ -466,6 +443,8 @@ extern "C" __EXPORT int mappydot_main(int argc, char *argv[])
return -1;
}
cli.i2c_address = MAPPYDOT_BASE_ADDR;
BusInstanceIterator iterator(MODULE_NAME, cli, DRV_DIST_DEVTYPE_MAPPYDOT);
if (!strcmp(verb, "start")) {