fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-11-10 20:31:36 +08:00
Code Issues Packages Projects Releases Wiki Activity

boardctl hacks

Browse Source
This commit is contained in:
Daniel Agar
2022-10-09 11:31:33 -04:00
parent bb96343e8d
commit f82eae800d
13 changed files with 362 additions and 16 deletions
Download Patch File Download Diff File Expand all files Collapse all files
platforms/common/include/px4_platform_common/i2c.h
+1 -1
View File
@@ -86,7 +86,7 @@ public:
bool next();
const px4_i2c_bus_t &bus() const { return px4_i2c_buses[_index]; }
int bus() const { return px4_i2c_buses[_index].bus; }
int externalBusIndex() const { return _external_bus_counter; }
platforms/common/include/px4_platform_common/i2c_spi_buses.h
+14
View File
@@ -56,6 +56,9 @@
# include <drivers/device/spi.h>
#endif // CONFIG_SPI
__EXPORT void px4_print_all_instances();
enum class I2CSPIBusOption : uint8_t {
All = 0, ///< select all runnning instances
#if defined(CONFIG_I2C)
@@ -114,6 +117,15 @@ public:
#if defined(CONFIG_I2C)
virtual int8_t get_i2c_address() {return _i2c_address;}
#endif // CONFIG_I2C
const char *module_name() const { return _module_name; }
const int &bus() const { return _bus; }
const I2CSPIBusOption &bus_option() const { return _bus_option; }
const uint16_t &devid_driver_index() const { return _devid_driver_index; }
const int8_t &bus_device_index() const { return _bus_device_index; }
// I2C address?
private:
I2CSPIInstance(const I2CSPIDriverConfig &config)
: _module_name(config.module_name), _bus_option(config.bus_option), _bus(config.bus),
@@ -295,6 +307,7 @@ protected:
virtual ~I2CSPIDriverBase() = default;
virtual void print_status();
virtual void print_run_status();
virtual void custom_method(const BusCLIArguments &cli) {}
@@ -356,6 +369,7 @@ private:
{
template <typename C>
static constexpr I2CSPIDriverBase::instantiate_method get(decltype(&C::instantiate)) { return &C::instantiate; }
template <typename C>
static constexpr I2CSPIDriverBase::instantiate_method get(...) { return &C::instantiate_default; }
public:
platforms/common/include/px4_platform_common/spi.h
+3 -2
View File
@@ -153,14 +153,15 @@ public:
bool next();
const px4_spi_bus_t &bus() const { return px4_spi_buses[_index]; }
//const px4_spi_bus_t &bus() const { return px4_spi_buses[_index]; }
int bus() const { return px4_spi_buses[_index].bus; }
spi_drdy_gpio_t DRDYGPIO() const { return px4_spi_buses[_index].devices[_bus_device_index].drdy_gpio; }
uint32_t devid() const { return px4_spi_buses[_index].devices[_bus_device_index].devid; }
int externalBusIndex() const { return _external_bus_counter; }
bool external() const { return px4_spi_bus_external(bus()); }
bool external() const { return px4_spi_bus_external(px4_spi_buses[_index]); }
int busDeviceIndex() const { return _bus_device_index; }