fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-11-14 11:41:35 +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/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));