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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/teraranger/TERARANGER.cpp
+6 -4
View File
@@ -73,10 +73,10 @@ static uint8_t crc8(uint8_t *p, uint8_t len)
return crc & 0xFF;
}
TERARANGER::TERARANGER(I2CSPIBusOption bus_option, const int bus, const uint8_t rotation, int bus_frequency) :
I2C(DRV_DIST_DEVTYPE_TERARANGER, MODULE_NAME, bus, TERARANGER_ONE_BASEADDR, bus_frequency),
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
_px4_rangefinder(get_device_id(), rotation)
TERARANGER::TERARANGER(const I2CSPIDriverConfig &config) :
I2C(config),
I2CSPIDriver(config),
_px4_rangefinder(get_device_id(), config.rotation)
{
// up the retries since the device misses the first measure attempts
I2C::_retries = 3;
@@ -212,6 +212,8 @@ int TERARANGER::init()
return PX4_ERROR;
}
start();
return PX4_OK;
}
src/drivers/distance_sensor/teraranger/TERARANGER.hpp
+1 -3
View File
@@ -75,11 +75,9 @@ using namespace time_literals;
class TERARANGER : public device::I2C, public I2CSPIDriver<TERARANGER>
{
public:
TERARANGER(I2CSPIBusOption bus_option, const int bus, const uint8_t rotation, int bus_frequency);
TERARANGER(const I2CSPIDriverConfig &config);
~TERARANGER() override;
static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
int runtime_instance);
static void print_usage();
virtual int init() override;
src/drivers/distance_sensor/teraranger/teraranger_main.cpp
+4 -21
View File
@@ -53,41 +53,24 @@ Setup/usage information: https://docs.px4.io/master/en/sensor/rangefinders.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(0x30);
PRINT_MODULE_USAGE_PARAM_INT('R', 25, 0, 25, "Sensor rotation - downward facing by default", true);
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
}
I2CSPIDriverBase *TERARANGER::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
int runtime_instance)
{
TERARANGER *instance = new TERARANGER(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 teraranger_main(int argc, char *argv[])
{
int ch;
using ThisDriver = TERARANGER;
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 = TERARANGER_ONE_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;
}
}