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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/pca9685/pca9685.cpp
+6 -24
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@@ -116,11 +116,9 @@ using namespace time_literals;
class PCA9685 : public device::I2C, public I2CSPIDriver<PCA9685>
{
public:
PCA9685(I2CSPIBusOption bus_option, int bus, int bus_frequency);
PCA9685(const I2CSPIDriverConfig &config);
~PCA9685() override = default;
static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
int runtime_instance);
static void print_usage();
void print_status();
@@ -177,9 +175,9 @@ private:
};
PCA9685::PCA9685(I2CSPIBusOption bus_option, int bus, int bus_frequency) :
I2C(DRV_PWM_DEVTYPE_PCA9685, MODULE_NAME, bus, ADDR, bus_frequency),
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
PCA9685::PCA9685(const I2CSPIDriverConfig &config) :
I2C(config),
I2CSPIDriver(config),
_mode(IOX_MODE_ON),
_i2cpwm_interval(1_s / 60.0f),
_comms_errors(perf_alloc(PC_COUNT, MODULE_NAME": com_err")),
@@ -436,29 +434,12 @@ PCA9685::print_usage()
PRINT_MODULE_USAGE_NAME("pca9685", "driver");
PRINT_MODULE_USAGE_COMMAND("start");
PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false);
PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x40);
PRINT_MODULE_USAGE_COMMAND("reset");
PRINT_MODULE_USAGE_COMMAND_DESCR("test", "enter test mode");
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
}
I2CSPIDriverBase *PCA9685::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
int runtime_instance)
{
PCA9685 *instance = new PCA9685(iterator.configuredBusOption(), iterator.bus(), cli.bus_frequency);
if (!instance) {
PX4_ERR("alloc failed");
return nullptr;
}
if (OK != instance->init()) {
delete instance;
return nullptr;
}
return instance;
}
void PCA9685::custom_method(const BusCLIArguments &cli)
{
switch (cli.custom1) {
@@ -473,6 +454,7 @@ extern "C" int pca9685_main(int argc, char *argv[])
using ThisDriver = PCA9685;
BusCLIArguments cli{true, false};
cli.default_i2c_frequency = 100000;
cli.i2c_address = ADDR;
const char *verb = cli.parseDefaultArguments(argc, argv);