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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;