fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-24 03:53:33 +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/imu/analog_devices/adis16448/ADIS16448.cpp
+7 -8
View File
@@ -95,15 +95,14 @@ static int16_t convert12BitToINT16(uint16_t word)
return output;
}
ADIS16448::ADIS16448(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation, int bus_frequency,
spi_drdy_gpio_t drdy_gpio) :
SPI(DRV_IMU_DEVTYPE_ADIS16448, MODULE_NAME, bus, device, SPIDEV_MODE3, bus_frequency),
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
_drdy_gpio(drdy_gpio), // TODO: DRDY disabled
_px4_accel(get_device_id(), rotation),
ADIS16448::ADIS16448(const I2CSPIDriverConfig &config) :
SPI(config),
I2CSPIDriver(config),
_drdy_gpio(config.drdy_gpio), // TODO: DRDY disabled
_px4_accel(get_device_id(), config.rotation),
_px4_baro(get_device_id()),
_px4_gyro(get_device_id(), rotation),
_px4_mag(get_device_id(), rotation)
_px4_gyro(get_device_id(), config.rotation),
_px4_mag(get_device_id(), config.rotation)
{
}
src/drivers/imu/analog_devices/adis16448/ADIS16448.hpp
+1 -4
View File
@@ -58,12 +58,9 @@ using namespace Analog_Devices_ADIS16448;
class ADIS16448 : public device::SPI, public I2CSPIDriver<ADIS16448>
{
public:
ADIS16448(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation, int bus_frequency,
spi_drdy_gpio_t drdy_gpio);
ADIS16448(const I2CSPIDriverConfig &config);
~ADIS16448() override;
static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
int runtime_instance);
static void print_usage();
void RunImpl();
src/drivers/imu/analog_devices/adis16448/adis16448_main.cpp
-19
View File
@@ -46,25 +46,6 @@ void ADIS16448::print_usage()
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
}
I2CSPIDriverBase *ADIS16448::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
int runtime_instance)
{
ADIS16448 *instance = new ADIS16448(iterator.configuredBusOption(), iterator.bus(), iterator.devid(), cli.rotation,
cli.bus_frequency, iterator.DRDYGPIO());
if (!instance) {
PX4_ERR("alloc failed");
return nullptr;
}
if (OK != instance->init()) {
delete instance;
return nullptr;
}
return instance;
}
extern "C" int adis16448_main(int argc, char *argv[])
{
int ch;
src/drivers/imu/analog_devices/adis16470/ADIS16470.cpp
+6 -7
View File
@@ -40,13 +40,12 @@ static constexpr int16_t combine(uint8_t msb, uint8_t lsb)
return (msb << 8u) | lsb;
}
ADIS16470::ADIS16470(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation, int bus_frequency,
spi_drdy_gpio_t drdy_gpio) :
SPI(DRV_IMU_DEVTYPE_ADIS16470, MODULE_NAME, bus, device, SPIDEV_MODE3, bus_frequency),
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
_drdy_gpio(drdy_gpio),
_px4_accel(get_device_id(), rotation),
_px4_gyro(get_device_id(), rotation)
ADIS16470::ADIS16470(const I2CSPIDriverConfig &config) :
SPI(config),
I2CSPIDriver(config),
_drdy_gpio(config.drdy_gpio),
_px4_accel(get_device_id(), config.rotation),
_px4_gyro(get_device_id(), config.rotation)
{
}
src/drivers/imu/analog_devices/adis16470/ADIS16470.hpp
+1 -4
View File
@@ -56,12 +56,9 @@ using namespace Analog_Devices_ADIS16470;
class ADIS16470 : public device::SPI, public I2CSPIDriver<ADIS16470>
{
public:
ADIS16470(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation, int bus_frequency,
spi_drdy_gpio_t drdy_gpio);
ADIS16470(const I2CSPIDriverConfig &config);
~ADIS16470() override;
static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
int runtime_instance);
static void print_usage();
void RunImpl();
src/drivers/imu/analog_devices/adis16470/adis16470_main.cpp
-19
View File
@@ -46,25 +46,6 @@ void ADIS16470::print_usage()
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
}
I2CSPIDriverBase *ADIS16470::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
int runtime_instance)
{
ADIS16470 *instance = new ADIS16470(iterator.configuredBusOption(), iterator.bus(), iterator.devid(), cli.rotation,
cli.bus_frequency, iterator.DRDYGPIO());
if (!instance) {
PX4_ERR("alloc failed");
return nullptr;
}
if (OK != instance->init()) {
delete instance;
return nullptr;
}
return instance;
}
extern "C" int adis16470_main(int argc, char *argv[])
{
int ch;