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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/bosch/bmi088/BMI088.cpp
+9 -13
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@@ -36,18 +36,15 @@
#include "BMI088_Accelerometer.hpp"
#include "BMI088_Gyroscope.hpp"
I2CSPIDriverBase *BMI088::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
int runtime_instance)
I2CSPIDriverBase *BMI088::instantiate(const I2CSPIDriverConfig &config, int runtime_instance)
{
BMI088 *instance = nullptr;
if (cli.type == DRV_ACC_DEVTYPE_BMI088) {
instance = new Bosch::BMI088::Accelerometer::BMI088_Accelerometer(iterator.configuredBusOption(), iterator.bus(),
iterator.devid(), cli.rotation, cli.bus_frequency, cli.spi_mode, iterator.DRDYGPIO());
if (config.devid_driver_index == DRV_ACC_DEVTYPE_BMI088) {
instance = new Bosch::BMI088::Accelerometer::BMI088_Accelerometer(config);
} else if (cli.type == DRV_GYR_DEVTYPE_BMI088) {
instance = new Bosch::BMI088::Gyroscope::BMI088_Gyroscope(iterator.configuredBusOption(), iterator.bus(),
iterator.devid(), cli.rotation, cli.bus_frequency, cli.spi_mode, iterator.DRDYGPIO());
} else if (config.devid_driver_index == DRV_GYR_DEVTYPE_BMI088) {
instance = new Bosch::BMI088::Gyroscope::BMI088_Gyroscope(config);
}
if (!instance) {
@@ -63,11 +60,10 @@ I2CSPIDriverBase *BMI088::instantiate(const BusCLIArguments &cli, const BusInsta
return instance;
}
BMI088::BMI088(uint8_t devtype, const char *name, I2CSPIBusOption bus_option, int bus, uint32_t device,
enum spi_mode_e mode, uint32_t frequency, spi_drdy_gpio_t drdy_gpio) :
SPI(devtype, name, bus, device, mode, frequency),
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus, devtype),
_drdy_gpio(drdy_gpio)
BMI088::BMI088(const I2CSPIDriverConfig &config) :
SPI(config),
I2CSPIDriver(config),
_drdy_gpio(config.drdy_gpio)
{
}