fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-31 17:11:35 +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/magnetometer/lis3mdl/lis3mdl.cpp
+3 -3
View File
@@ -42,9 +42,9 @@
#include <px4_platform_common/time.h>
#include "lis3mdl.h"
LIS3MDL::LIS3MDL(device::Device *interface, enum Rotation rotation, I2CSPIBusOption bus_option, int bus) :
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(interface->get_device_id()), bus_option, bus),
_px4_mag(interface->get_device_id(), rotation),
LIS3MDL::LIS3MDL(device::Device *interface, const I2CSPIDriverConfig &config) :
I2CSPIDriver(config),
_px4_mag(interface->get_device_id(), config.rotation),
_interface(interface),
_comms_errors(perf_alloc(PC_COUNT, MODULE_NAME": comms_errors")),
_conf_errors(perf_alloc(PC_COUNT, MODULE_NAME": conf_errors")),
src/drivers/magnetometer/lis3mdl/lis3mdl.h
+5 -3
View File
@@ -92,14 +92,16 @@ enum OPERATING_MODE {
SINGLE
};
#define LIS3MDLL_ADDRESS 0x1e
class LIS3MDL : public I2CSPIDriver<LIS3MDL>
{
public:
LIS3MDL(device::Device *interface, enum Rotation rotation, I2CSPIBusOption bus_option, int bus);
LIS3MDL(device::Device *interface, const I2CSPIDriverConfig &config);
virtual ~LIS3MDL();
static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
int runtime_instance);
static I2CSPIDriverBase *instantiate(const I2CSPIDriverConfig &config, int runtime_instance);
static void print_usage();
void custom_method(const BusCLIArguments &cli) override;
src/drivers/magnetometer/lis3mdl/lis3mdl_i2c.cpp
-2
View File
@@ -53,8 +53,6 @@
#include "board_config.h"
#include "lis3mdl.h"
#define LIS3MDLL_ADDRESS 0x1e
class LIS3MDL_I2C : public device::I2C
{
public:
src/drivers/magnetometer/lis3mdl/lis3mdl_main.cpp
+9 -8
View File
@@ -41,16 +41,15 @@
#include <px4_platform_common/getopt.h>
#include <px4_platform_common/module.h>
I2CSPIDriverBase *LIS3MDL::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
int runtime_instance)
I2CSPIDriverBase *LIS3MDL::instantiate(const I2CSPIDriverConfig &config, int runtime_instance)
{
device::Device *interface = nullptr;
if (iterator.busType() == BOARD_I2C_BUS) {
interface = LIS3MDL_I2C_interface(iterator.bus(), cli.bus_frequency);
if (config.bus_type == BOARD_I2C_BUS) {
interface = LIS3MDL_I2C_interface(config.bus, config.bus_frequency);
} else if (iterator.busType() == BOARD_SPI_BUS) {
interface = LIS3MDL_SPI_interface(iterator.bus(), iterator.devid(), cli.bus_frequency, cli.spi_mode);
} else if (config.bus_type == BOARD_SPI_BUS) {
interface = LIS3MDL_SPI_interface(config.bus, config.spi_devid, config.bus_frequency, config.spi_mode);
}
if (interface == nullptr) {
@@ -60,11 +59,11 @@ I2CSPIDriverBase *LIS3MDL::instantiate(const BusCLIArguments &cli, const BusInst
if (interface->init() != OK) {
delete interface;
PX4_DEBUG("no device on bus %i (devid 0x%x)", iterator.bus(), iterator.devid());
PX4_DEBUG("no device on bus %i (devid 0x%x)", config.bus, config.spi_devid);
return nullptr;
}
LIS3MDL *dev = new LIS3MDL(interface, cli.rotation, iterator.configuredBusOption(), iterator.bus());
LIS3MDL *dev = new LIS3MDL(interface, config);
if (dev == nullptr) {
delete interface;
@@ -119,6 +118,8 @@ extern "C" int lis3mdl_main(int argc, char *argv[])
return -1;
}
cli.i2c_address = LIS3MDLL_ADDRESS;
BusInstanceIterator iterator(MODULE_NAME, cli, DRV_MAG_DEVTYPE_LIS3MDL);
if (!strcmp(verb, "start")) {