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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
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/magnetometer/rm3100/rm3100.cpp
+3 -3
View File
@@ -41,9 +41,9 @@
#include "rm3100.h"
RM3100::RM3100(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),
RM3100::RM3100(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/rm3100/rm3100.h
+4 -3
View File
@@ -97,14 +97,15 @@ enum OPERATING_MODE {
SINGLE
};
#define RM3100_ADDRESS 0x20
class RM3100 : public I2CSPIDriver<RM3100>
{
public:
RM3100(device::Device *interface, enum Rotation rotation, I2CSPIBusOption bus_option, int bus);
RM3100(device::Device *interface, const I2CSPIDriverConfig &config);
virtual ~RM3100();
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/rm3100/rm3100_i2c.cpp
-2
View File
@@ -53,8 +53,6 @@
#include "board_config.h"
#include "rm3100.h"
#define RM3100_ADDRESS 0x20
class RM3100_I2C : public device::I2C
{
public:
src/drivers/magnetometer/rm3100/rm3100_main.cpp
+9 -8
View File
@@ -41,16 +41,15 @@
#include <px4_platform_common/getopt.h>
#include <px4_platform_common/module.h>
I2CSPIDriverBase *RM3100::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
int runtime_instance)
I2CSPIDriverBase *RM3100::instantiate(const I2CSPIDriverConfig &config, int runtime_instance)
{
device::Device *interface = nullptr;
if (iterator.busType() == BOARD_I2C_BUS) {
interface = RM3100_I2C_interface(iterator.bus(), cli.bus_frequency);
if (config.bus_type == BOARD_I2C_BUS) {
interface = RM3100_I2C_interface(config.bus, config.bus_frequency);
} else if (iterator.busType() == BOARD_SPI_BUS) {
interface = RM3100_SPI_interface(iterator.bus(), iterator.devid(), cli.bus_frequency, cli.spi_mode);
} else if (config.bus_type == BOARD_SPI_BUS) {
interface = RM3100_SPI_interface(config.bus, config.spi_devid, config.bus_frequency, config.spi_mode);
}
if (interface == nullptr) {
@@ -60,11 +59,11 @@ I2CSPIDriverBase *RM3100::instantiate(const BusCLIArguments &cli, const BusInsta
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;
}
RM3100 *dev = new RM3100(interface, cli.rotation, iterator.configuredBusOption(), iterator.bus());
RM3100 *dev = new RM3100(interface, config);
if (dev == nullptr) {
delete interface;
@@ -119,6 +118,8 @@ extern "C" int rm3100_main(int argc, char *argv[])
return -1;
}
cli.i2c_address = RM3100_ADDRESS;
BusInstanceIterator iterator(MODULE_NAME, cli, DRV_MAG_DEVTYPE_RM3100);
if (!strcmp(verb, "start")) {