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l3gd20: added -X switch for external bus

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This commit is contained in:
Andrew Tridgell
2014-07-08 11:44:06 +02:00
committed by Lorenz Meier
parent fea4845ed9
commit e7360f4016
1 changed files with 42 additions and 8 deletions
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src/drivers/l3gd20/l3gd20.cpp
+42 -8
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@@ -54,6 +54,7 @@
#include <stdio.h> #include <stdio.h>
#include <math.h> #include <math.h>
#include <unistd.h> #include <unistd.h>
#include <getopt.h>
#include <systemlib/perf_counter.h> #include <systemlib/perf_counter.h>
#include <systemlib/err.h> #include <systemlib/err.h>
@@ -821,7 +822,7 @@ L3GD20::measure()
// if the gyro doesn't have any data ready then re-schedule // if the gyro doesn't have any data ready then re-schedule
// for 100 microseconds later. This ensures we don't double // for 100 microseconds later. This ensures we don't double
// read a value and then miss the next value // read a value and then miss the next value
if (stm32_gpioread(GPIO_EXTI_GYRO_DRDY) == 0) { if (_bus == PX4_SPI_BUS_SENSORS && stm32_gpioread(GPIO_EXTI_GYRO_DRDY) == 0) {
perf_count(_reschedules); perf_count(_reschedules);
hrt_call_delay(&_call, 100); hrt_call_delay(&_call, 100);
return; return;
@@ -983,7 +984,7 @@ void info();
* Start the driver. * Start the driver.
*/ */
void void
start() start(bool external_bus)
{ {
int fd; int fd;
@@ -991,7 +992,15 @@ start()
errx(0, "already started"); errx(0, "already started");
/* create the driver */ /* create the driver */
g_dev = new L3GD20(PX4_SPI_BUS_SENSORS, L3GD20_DEVICE_PATH, (spi_dev_e)PX4_SPIDEV_GYRO); if (external_bus) {
#ifdef PX4_SPI_BUS_EXT
g_dev = new L3GD20(PX4_SPI_BUS_EXT, L3GD20_DEVICE_PATH, (spi_dev_e)PX4_SPIDEV_EXT_GYRO);
#else
errx(0, "External SPI not available");
#endif
} else {
g_dev = new L3GD20(PX4_SPI_BUS_SENSORS, L3GD20_DEVICE_PATH, (spi_dev_e)PX4_SPIDEV_GYRO);
}
if (g_dev == nullptr) if (g_dev == nullptr)
goto fail; goto fail;
@@ -1106,32 +1115,57 @@ info()
} // namespace } // namespace
void
l3gd20_usage()
{
warnx("missing command: try 'start', 'info', 'test', 'reset'");
warnx("options:");
warnx(" -X (external bus)");
}
int int
l3gd20_main(int argc, char *argv[]) l3gd20_main(int argc, char *argv[])
{ {
bool external_bus = false;
int ch;
/* jump over start/off/etc and look at options first */
while ((ch = getopt(argc, argv, "X")) != EOF) {
switch (ch) {
case 'X':
external_bus = true;
break;
default:
l3gd20_usage();
exit(0);
}
}
const char *verb = argv[optind];
/* /*
* Start/load the driver. * Start/load the driver.
*/ */
if (!strcmp(argv[1], "start")) if (!strcmp(verb, "start"))
l3gd20::start(); l3gd20::start(external_bus);
/* /*
* Test the driver/device. * Test the driver/device.
*/ */
if (!strcmp(argv[1], "test")) if (!strcmp(verb, "test"))
l3gd20::test(); l3gd20::test();
/* /*
* Reset the driver. * Reset the driver.
*/ */
if (!strcmp(argv[1], "reset")) if (!strcmp(verb, "reset"))
l3gd20::reset(); l3gd20::reset();
/* /*
* Print driver information. * Print driver information.
*/ */
if (!strcmp(argv[1], "info")) if (!strcmp(verb, "info"))
l3gd20::info(); l3gd20::info();
errx(1, "unrecognized command, try 'start', 'test', 'reset' or 'info'"); errx(1, "unrecognized command, try 'start', 'test', 'reset' or 'info'");