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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/optical_flow/paw3902/PAW3902.cpp
+7 -6
View File
@@ -38,13 +38,14 @@ static constexpr int16_t combine(uint8_t msb, uint8_t lsb)
return (msb << 8u) | lsb;
}
PAW3902::PAW3902(I2CSPIBusOption bus_option, int bus, int devid, int bus_frequency, spi_mode_e spi_mode,
spi_drdy_gpio_t drdy_gpio, float yaw_rotation_degrees) :
SPI(DRV_FLOW_DEVTYPE_PAW3902, MODULE_NAME, bus, devid, spi_mode, bus_frequency),
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
_drdy_gpio(drdy_gpio)
PAW3902::PAW3902(const I2CSPIDriverConfig &config) :
SPI(config),
I2CSPIDriver(config),
_drdy_gpio(config.drdy_gpio)
{
if (PX4_ISFINITE(yaw_rotation_degrees)) {
float yaw_rotation_degrees = (float)config.custom1;
if (yaw_rotation_degrees >= 0.f) {
PX4_INFO("using yaw rotation %.3f degrees (%.3f radians)",
(double)yaw_rotation_degrees, (double)math::radians(yaw_rotation_degrees));
src/drivers/optical_flow/paw3902/PAW3902.hpp
+1 -4
View File
@@ -62,12 +62,9 @@ using namespace PixArt_PAW3902JF;
class PAW3902 : public device::SPI, public I2CSPIDriver<PAW3902>
{
public:
PAW3902(I2CSPIBusOption bus_option, int bus, int devid, int bus_frequency, spi_mode_e spi_mode,
spi_drdy_gpio_t drdy_gpio, float yaw_rotation_degrees = NAN);
PAW3902(const I2CSPIDriverConfig &config);
virtual ~PAW3902();
static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
int runtime_instance);
static void print_usage();
int init() override;
src/drivers/optical_flow/paw3902/paw3902_main.cpp
-25
View File
@@ -43,31 +43,6 @@ void PAW3902::print_usage()
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
}
I2CSPIDriverBase *PAW3902::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
int runtime_instance)
{
float yaw_rotation_degrees = NAN;
if (cli.custom1 >= 0) {
yaw_rotation_degrees = cli.custom1;
}
PAW3902 *instance = new PAW3902(iterator.configuredBusOption(), iterator.bus(), iterator.devid(), cli.bus_frequency,
cli.spi_mode, iterator.DRDYGPIO(), yaw_rotation_degrees);
if (!instance) {
PX4_ERR("alloc failed");
return nullptr;
}
if (OK != instance->init()) {
delete instance;
return nullptr;
}
return instance;
}
extern "C" __EXPORT int paw3902_main(int argc, char *argv[])
{
int ch = 0;
src/drivers/optical_flow/pmw3901/PMW3901.cpp
+4 -5
View File
@@ -35,13 +35,12 @@
static constexpr uint32_t TIME_us_TSWW = 11; // - actually 10.5us
PMW3901::PMW3901(I2CSPIBusOption bus_option, int bus, int devid, enum Rotation yaw_rotation, int bus_frequency,
spi_mode_e spi_mode) :
SPI(DRV_FLOW_DEVTYPE_PMW3901, MODULE_NAME, bus, devid, spi_mode, bus_frequency),
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
PMW3901::PMW3901(const I2CSPIDriverConfig &config) :
SPI(config),
I2CSPIDriver(config),
_sample_perf(perf_alloc(PC_ELAPSED, "pmw3901: read")),
_comms_errors(perf_alloc(PC_COUNT, "pmw3901: com err")),
_yaw_rotation(yaw_rotation)
_yaw_rotation(config.rotation)
{
}
src/drivers/optical_flow/pmw3901/PMW3901.hpp
+1 -4
View File
@@ -65,13 +65,10 @@
class PMW3901 : public device::SPI, public I2CSPIDriver<PMW3901>
{
public:
PMW3901(I2CSPIBusOption bus_option, int bus, int devid, enum Rotation yaw_rotation, int bus_frequency,
spi_mode_e spi_mode);
PMW3901(const I2CSPIDriverConfig &config);
virtual ~PMW3901();
static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
int runtime_instance);
static void print_usage();
virtual int init();
src/drivers/optical_flow/pmw3901/pmw3901_main.cpp
-19
View File
@@ -46,25 +46,6 @@ PMW3901::print_usage()
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
}
I2CSPIDriverBase *PMW3901::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
int runtime_instance)
{
PMW3901 *instance = new PMW3901(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;
}
int
pmw3901_main(int argc, char *argv[])
{
src/drivers/optical_flow/px4flow/px4flow.cpp
+8 -31
View File
@@ -75,12 +75,9 @@
class PX4FLOW: public device::I2C, public I2CSPIDriver<PX4FLOW>
{
public:
PX4FLOW(I2CSPIBusOption bus_option, int bus, int address, uint8_t sonar_rotation, int bus_frequency,
int conversion_interval = PX4FLOW_CONVERSION_INTERVAL_DEFAULT, enum Rotation rotation = ROTATION_NONE);
PX4FLOW(const I2CSPIDriverConfig &config);
virtual ~PX4FLOW();
static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
int runtime_instance);
static void print_usage();
int init() override;
@@ -139,14 +136,13 @@ private:
extern "C" __EXPORT int px4flow_main(int argc, char *argv[]);
PX4FLOW::PX4FLOW(I2CSPIBusOption bus_option, int bus, int address, uint8_t sonar_rotation, int bus_frequency,
int conversion_interval, enum Rotation rotation) :
I2C(DRV_FLOW_DEVTYPE_PX4FLOW, MODULE_NAME, bus, address, bus_frequency),
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus, address),
_sonar_rotation(sonar_rotation),
PX4FLOW::PX4FLOW(const I2CSPIDriverConfig &config) :
I2C(config),
I2CSPIDriver(config),
_sonar_rotation(config.rotation),
_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": read")),
_comms_errors(perf_alloc(PC_COUNT, MODULE_NAME": com_err")),
_sensor_rotation(rotation)
_sensor_rotation(Rotation::ROTATION_NONE)
{
}
@@ -382,25 +378,6 @@ PX4FLOW::print_usage()
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
}
I2CSPIDriverBase *PX4FLOW::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
int runtime_instance)
{
PX4FLOW *instance = new PX4FLOW(iterator.configuredBusOption(), iterator.bus(), cli.i2c_address, cli.orientation,
cli.bus_frequency);
if (!instance) {
PX4_ERR("alloc failed");
return nullptr;
}
if (OK != instance->init()) {
delete instance;
return nullptr;
}
return instance;
}
int
px4flow_main(int argc, char *argv[])
{
@@ -408,13 +385,13 @@ px4flow_main(int argc, char *argv[])
using ThisDriver = PX4FLOW;
BusCLIArguments cli{true, false};
cli.default_i2c_frequency = PX4FLOW_I2C_MAX_BUS_SPEED;
cli.orientation = distance_sensor_s::ROTATION_DOWNWARD_FACING;
cli.rotation = (Rotation)distance_sensor_s::ROTATION_DOWNWARD_FACING;
cli.i2c_address = I2C_FLOW_ADDRESS_DEFAULT;
while ((ch = cli.getOpt(argc, argv, "R:")) != EOF) {
switch (ch) {
case 'R':
cli.orientation = atoi(cli.optArg());
cli.rotation = (Rotation)atoi(cli.optArg());
break;
}
}