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i2c spi: add type to I2CSPIInstance

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Needed to distinguish runtime instance types of the same driver (e.g.
bmi055 accel vs gyro).
This commit is contained in:
Beat Küng
2020-03-17 23:31:17 -04:00
committed by Daniel Agar
parent b70289c536
commit f851f65f8d
4 changed files with 28 additions and 17 deletions
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platforms/common/include/px4_platform_common/spi.h
+4 -2
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@@ -46,10 +46,12 @@
//#define PX4_SPI_DEV_ID(devid) ((devid) & 0xffff)
#define PX4_SPIDEVID_TYPE(devid) (((uint32_t)(devid) >> 16) & 0xffff)
typedef uint32_t spi_drdy_gpio_t;
#define SPI_BUS_MAX_DEVICES 5
struct px4_spi_bus_device_t {
uint32_t cs_gpio; ///< chip-select GPIO (0 if this device is not used)
uint32_t drdy_gpio; ///< data ready GPIO (0 if not set)
spi_drdy_gpio_t drdy_gpio; ///< data ready GPIO (0 if not set)
uint32_t devid; ///< SPIDEV_ID(type,index). For PX4 devices on NuttX: index is the device type, and for external buses the CS index
uint16_t devtype_driver; ///< driver device type, e.g. DRV_IMU_DEVTYPE_ICM20689 (on NuttX: PX4_SPI_DEV_ID(devid) == devtype_driver)
};
@@ -148,7 +150,7 @@ public:
bool next();
const px4_spi_bus_t &bus() const { return px4_spi_buses[_index]; }
uint32_t DRDYGPIO() const { return px4_spi_buses[_index].devices[_bus_device_index].drdy_gpio; }
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; }