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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/magnetometer/akm/ak09916/AK09916.cpp
+4 -4
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@@ -40,10 +40,10 @@ static constexpr int16_t combine(uint8_t msb, uint8_t lsb)
return (msb << 8u) | lsb;
}
AK09916::AK09916(I2CSPIBusOption bus_option, int bus, int bus_frequency, enum Rotation rotation) :
I2C(DRV_MAG_DEVTYPE_AK09916, MODULE_NAME, bus, I2C_ADDRESS_DEFAULT, bus_frequency),
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
_px4_mag(get_device_id(), rotation)
AK09916::AK09916(const I2CSPIDriverConfig &config) :
I2C(config),
I2CSPIDriver(config),
_px4_mag(get_device_id(), config.rotation)
{
_px4_mag.set_external(external());
}
src/drivers/magnetometer/akm/ak09916/AK09916.hpp
+1 -3
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@@ -53,11 +53,9 @@ using namespace AKM_AK09916;
class AK09916 : public device::I2C, public I2CSPIDriver<AK09916>
{
public:
AK09916(I2CSPIBusOption bus_option, int bus, int bus_frequency, enum Rotation rotation = ROTATION_NONE);
AK09916(const I2CSPIDriverConfig &config);
~AK09916() override;
static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
int runtime_instance);
static void print_usage();
void RunImpl();
src/drivers/magnetometer/akm/ak09916/ak09916_main.cpp
+2 -19
View File
@@ -36,31 +36,13 @@
#include <px4_platform_common/getopt.h>
#include <px4_platform_common/module.h>
I2CSPIDriverBase *AK09916::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
int runtime_instance)
{
AK09916 *instance = new AK09916(iterator.configuredBusOption(), iterator.bus(), cli.bus_frequency, cli.rotation);
if (!instance) {
PX4_ERR("alloc failed");
return nullptr;
}
if (instance->init() != PX4_OK) {
delete instance;
PX4_DEBUG("no device on bus %i (devid 0x%x)", iterator.bus(), iterator.devid());
return nullptr;
}
return instance;
}
void AK09916::print_usage()
{
PRINT_MODULE_USAGE_NAME("ak09916", "driver");
PRINT_MODULE_USAGE_SUBCATEGORY("magnetometer");
PRINT_MODULE_USAGE_COMMAND("start");
PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false);
PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x0c);
PRINT_MODULE_USAGE_PARAM_INT('R', 0, 0, 35, "Rotation", true);
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
}
@@ -71,6 +53,7 @@ extern "C" __EXPORT int ak09916_main(int argc, char *argv[])
using ThisDriver = AK09916;
BusCLIArguments cli{true, false};
cli.default_i2c_frequency = I2C_SPEED;
cli.i2c_address = I2C_ADDRESS_DEFAULT;
while ((ch = cli.getOpt(argc, argv, "R:")) != EOF) {
switch (ch) {
src/drivers/magnetometer/akm/ak8963/AK8963.cpp
+4 -4
View File
@@ -40,10 +40,10 @@ static constexpr int16_t combine(uint8_t msb, uint8_t lsb)
return (msb << 8u) | lsb;
}
AK8963::AK8963(I2CSPIBusOption bus_option, int bus, int bus_frequency, enum Rotation rotation) :
I2C(DRV_MAG_DEVTYPE_AK8963, MODULE_NAME, bus, I2C_ADDRESS_DEFAULT, bus_frequency),
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
_px4_mag(get_device_id(), rotation)
AK8963::AK8963(const I2CSPIDriverConfig &config) :
I2C(config),
I2CSPIDriver(config),
_px4_mag(get_device_id(), config.rotation)
{
_px4_mag.set_external(external());
}
src/drivers/magnetometer/akm/ak8963/AK8963.hpp
+1 -3
View File
@@ -53,11 +53,9 @@ using namespace AKM_AK8963;
class AK8963 : public device::I2C, public I2CSPIDriver<AK8963>
{
public:
AK8963(I2CSPIBusOption bus_option, int bus, int bus_frequency, enum Rotation rotation = ROTATION_NONE);
AK8963(const I2CSPIDriverConfig &config);
~AK8963() override;
static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
int runtime_instance);
static void print_usage();
void RunImpl();
src/drivers/magnetometer/akm/ak8963/ak8963_main.cpp
+2 -19
View File
@@ -36,31 +36,13 @@
#include <px4_platform_common/getopt.h>
#include <px4_platform_common/module.h>
I2CSPIDriverBase *AK8963::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
int runtime_instance)
{
AK8963 *instance = new AK8963(iterator.configuredBusOption(), iterator.bus(), cli.bus_frequency, cli.rotation);
if (!instance) {
PX4_ERR("alloc failed");
return nullptr;
}
if (instance->init() != PX4_OK) {
delete instance;
PX4_DEBUG("no device on bus %i (devid 0x%x)", iterator.bus(), iterator.devid());
return nullptr;
}
return instance;
}
void AK8963::print_usage()
{
PRINT_MODULE_USAGE_NAME("ak8963", "driver");
PRINT_MODULE_USAGE_SUBCATEGORY("magnetometer");
PRINT_MODULE_USAGE_COMMAND("start");
PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false);
PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x0c);
PRINT_MODULE_USAGE_PARAM_INT('R', 0, 0, 35, "Rotation", true);
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
}
@@ -71,6 +53,7 @@ extern "C" __EXPORT int ak8963_main(int argc, char *argv[])
using ThisDriver = AK8963;
BusCLIArguments cli{true, false};
cli.default_i2c_frequency = I2C_SPEED;
cli.i2c_address = I2C_ADDRESS_DEFAULT;
while ((ch = cli.getOpt(argc, argv, "R:")) != EOF) {
switch (ch) {