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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/imu/adis16497/ADIS16497.cpp
+6 -7
View File
@@ -70,15 +70,14 @@ static constexpr uint32_t ADIS16497_DEFAULT_RATE = 1000;
using namespace time_literals;
ADIS16497::ADIS16497(I2CSPIBusOption bus_option, int bus, int32_t device, enum Rotation rotation, int bus_frequency,
spi_mode_e spi_mode, spi_drdy_gpio_t drdy_gpio) :
SPI(DRV_IMU_DEVTYPE_ADIS16497, MODULE_NAME, bus, device, spi_mode, bus_frequency),
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
_px4_accel(get_device_id(), rotation),
_px4_gyro(get_device_id(), rotation),
ADIS16497::ADIS16497(const I2CSPIDriverConfig &config) :
SPI(config),
I2CSPIDriver(config),
_px4_accel(get_device_id(), config.rotation),
_px4_gyro(get_device_id(), config.rotation),
_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": read")),
_bad_transfers(perf_alloc(PC_COUNT, MODULE_NAME": bad transfers")),
_drdy_gpio(drdy_gpio)
_drdy_gpio(config.drdy_gpio)
{
#ifdef GPIO_SPI1_RESET_ADIS16497
// Configure hardware reset line
src/drivers/imu/adis16497/ADIS16497.hpp
+1 -4
View File
@@ -86,12 +86,9 @@ static constexpr uint32_t crc32_tab[] = {
class ADIS16497 : public device::SPI, public I2CSPIDriver<ADIS16497>
{
public:
ADIS16497(I2CSPIBusOption bus_option, int bus, int32_t device, enum Rotation rotation, int bus_frequency,
spi_mode_e spi_mode, spi_drdy_gpio_t drdy_gpio);
ADIS16497(const I2CSPIDriverConfig &config);
virtual ~ADIS16497();
static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
int runtime_instance);
static void print_usage();
int init() override;
src/drivers/imu/adis16497/adis16497_main.cpp
-19
View File
@@ -47,25 +47,6 @@ ADIS16497::print_usage()
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
}
I2CSPIDriverBase *ADIS16497::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
int runtime_instance)
{
ADIS16497 *instance = new ADIS16497(iterator.configuredBusOption(), iterator.bus(), iterator.devid(), cli.rotation,
cli.bus_frequency, cli.spi_mode, iterator.DRDYGPIO());
if (!instance) {
PX4_ERR("alloc failed");
return nullptr;
}
if (OK != instance->init()) {
delete instance;
return nullptr;
}
return instance;
}
extern "C" int adis16497_main(int argc, char *argv[])
{
int ch;