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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/lsm303d/LSM303D.cpp
+5 -6
View File
@@ -53,12 +53,11 @@ static constexpr uint8_t _checked_registers[] = {
ADDR_CTRL_REG7
};
LSM303D::LSM303D(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation, int bus_frequency,
spi_mode_e spi_mode) :
SPI(DRV_IMU_DEVTYPE_LSM303D, 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_mag(get_device_id(), rotation),
LSM303D::LSM303D(const I2CSPIDriverConfig &config) :
SPI(config),
I2CSPIDriver(config),
_px4_accel(get_device_id(), config.rotation),
_px4_mag(get_device_id(), config.rotation),
_accel_sample_perf(perf_alloc(PC_ELAPSED, "lsm303d: acc_read")),
_mag_sample_perf(perf_alloc(PC_ELAPSED, "lsm303d: mag_read")),
_bad_registers(perf_alloc(PC_COUNT, "lsm303d: bad_reg")),
src/drivers/imu/lsm303d/LSM303D.hpp
+1 -4
View File
@@ -141,12 +141,9 @@
class LSM303D : public device::SPI, public I2CSPIDriver<LSM303D>
{
public:
LSM303D(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation, int bus_frequency,
spi_mode_e spi_mode);
LSM303D(const I2CSPIDriverConfig &config);
~LSM303D() override;
static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
int runtime_instance);
static void print_usage();
void RunImpl();
src/drivers/imu/lsm303d/lsm303d_main.cpp
-19
View File
@@ -52,25 +52,6 @@ LSM303D::print_usage()
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
}
I2CSPIDriverBase *LSM303D::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
int runtime_instance)
{
LSM303D *instance = new LSM303D(iterator.configuredBusOption(), iterator.bus(), iterator.devid(), cli.rotation,
cli.bus_frequency, cli.spi_mode);
if (!instance) {
PX4_ERR("alloc failed");
return nullptr;
}
if (OK != instance->init()) {
delete instance;
return nullptr;
}
return instance;
}
extern "C" int lsm303d_main(int argc, char *argv[])
{
int ch;