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AP_HAL_Linux: remove types for spi drivers

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Those drivers using SPIDevice interface don't need a global id for each
of them. Remove those that were already converted.
This commit is contained in:
Lucas De Marchi 2016-07-21 13:29:21 -03:00
parent b23f7a8be4
commit cfb3124f2c
2 changed files with 21 additions and 30 deletions
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13
libraries/AP_HAL/AP_HAL_Namespace.h
View File

@ -50,21 +50,12 @@ namespace AP_HAL {
*/
enum SPIDeviceType {
// Devices using AP_HAL::SPIDevice abstraction
SPIDevice_Type = -1,
SPIDevice_Dataflash = 0,
SPIDevice_ADS7844 = 1,
SPIDevice_MS5611 = 2,
SPIDevice_MPU6000 = 3,
SPIDevice_ADNS3080_SPI0 = 4,
SPIDevice_ADNS3080_SPI3 = 5,
SPIDevice_MPU9250 = 6,
SPIDevice_L3GD20 = 7,
SPIDevice_LSM303D = 8,
SPIDevice_LSM9DS0_AM = 9,
SPIDevice_LSM9DS0_G = 10,
SPIDevice_Ublox = 11,
SPIDevice_RASPIO = 12,
SPIDevice_Bebop = 13,
SPIDevice_LSM9DS1_M = 14
};
// Must be implemented by the concrete HALs.

38
libraries/AP_HAL_Linux/SPIDriver.cpp
View File

@ -25,59 +25,59 @@ extern const AP_HAL::HAL& hal;
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBOARD
SPIDeviceDriver SPIDeviceManager::_device[] = {
// different SPI tables per board subtype
SPIDeviceDriver("lsm9ds0_am", 1, 0, AP_HAL::SPIDevice_LSM9DS0_AM, SPI_MODE_3, 8, BBB_P9_17, 10*MHZ,10*MHZ),
SPIDeviceDriver("lsm9ds0_g", 1, 0, AP_HAL::SPIDevice_LSM9DS0_G, SPI_MODE_3, 8, BBB_P8_9, 10*MHZ,10*MHZ),
SPIDeviceDriver("ms5611", 2, 0, AP_HAL::SPIDevice_MS5611, SPI_MODE_3, 8, BBB_P9_42, 10*MHZ,10*MHZ),
SPIDeviceDriver("mpu6000", 2, 0, AP_HAL::SPIDevice_MPU6000, SPI_MODE_3, 8, BBB_P9_28, 500*1000, 20*MHZ),
SPIDeviceDriver("lsm9ds0_am", 1, 0, AP_HAL::SPIDevice_Type, SPI_MODE_3, 8, BBB_P9_17, 10*MHZ,10*MHZ),
SPIDeviceDriver("lsm9ds0_g", 1, 0, AP_HAL::SPIDevice_Type, SPI_MODE_3, 8, BBB_P8_9, 10*MHZ,10*MHZ),
SPIDeviceDriver("ms5611", 2, 0, AP_HAL::SPIDevice_Type, SPI_MODE_3, 8, BBB_P9_42, 10*MHZ,10*MHZ),
SPIDeviceDriver("mpu6000", 2, 0, AP_HAL::SPIDevice_Type, SPI_MODE_3, 8, BBB_P9_28, 500*1000, 20*MHZ),
/* MPU9250 is restricted to 1MHz for non-data and interrupt registers */
SPIDeviceDriver("mpu9250", 2, 0, AP_HAL::SPIDevice_MPU9250, SPI_MODE_3, 8, BBB_P9_23, 1*MHZ, 20*MHZ),
SPIDeviceDriver("mpu9250", 2, 0, AP_HAL::SPIDevice_Type, SPI_MODE_3, 8, BBB_P9_23, 1*MHZ, 20*MHZ),
SPIDeviceDriver("dataflash", 2, 0, AP_HAL::SPIDevice_Dataflash, SPI_MODE_3, 8, BBB_P8_12, 6*MHZ, 6*MHZ),
};
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE
SPIDeviceDriver SPIDeviceManager::_device[] = {
SPIDeviceDriver("mpu6000", 0, 0, AP_HAL::SPIDevice_MPU6000, SPI_MODE_3, 8, SPI_CS_KERNEL, 1*MHZ, 15*MHZ)
SPIDeviceDriver("mpu6000", 0, 0, AP_HAL::SPIDevice_Type, SPI_MODE_3, 8, SPI_CS_KERNEL, 1*MHZ, 15*MHZ)
};
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2
SPIDeviceDriver SPIDeviceManager::_device[] = {
/* MPU9250 is restricted to 1MHz for non-data and interrupt registers */
SPIDeviceDriver("mpu9250", 0, 1, AP_HAL::SPIDevice_MPU9250, SPI_MODE_0, 8, SPI_CS_KERNEL, 1*MHZ, 20*MHZ),
SPIDeviceDriver("mpu9250", 0, 1, AP_HAL::SPIDevice_Type, SPI_MODE_0, 8, SPI_CS_KERNEL, 1*MHZ, 20*MHZ),
SPIDeviceDriver("ublox", 0, 0, AP_HAL::SPIDevice_Ublox, SPI_MODE_0, 8, SPI_CS_KERNEL, 5*MHZ, 5*MHZ),
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2
SPIDeviceDriver("lsm9ds1_m", 0, 2, AP_HAL::SPIDevice_LSM9DS1_M, SPI_MODE_0, 8, SPI_CS_KERNEL, 1*MHZ, 10*MHZ),
SPIDeviceDriver("lsm9ds1_m", 0, 2, AP_HAL::SPIDevice_Type, SPI_MODE_0, 8, SPI_CS_KERNEL, 1*MHZ, 10*MHZ),
#endif
};
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI
SPIDeviceDriver SPIDeviceManager::_device[] = {
/* MPU9250 is restricted to 1MHz for non-data and interrupt registers */
SPIDeviceDriver("mpu9250", 0, 1, AP_HAL::SPIDevice_MPU9250, SPI_MODE_0, 8, SPI_CS_KERNEL, 1*MHZ, 20*MHZ),
SPIDeviceDriver("ms5611", 0, 0, AP_HAL::SPIDevice_MS5611, SPI_MODE_0, 8, SPI_CS_KERNEL, 1*KHZ, 10*MHZ),
SPIDeviceDriver("mpu9250", 0, 1, AP_HAL::SPIDevice_Type, SPI_MODE_0, 8, SPI_CS_KERNEL, 1*MHZ, 20*MHZ),
SPIDeviceDriver("ms5611", 0, 0, AP_HAL::SPIDevice_Type, SPI_MODE_0, 8, SPI_CS_KERNEL, 1*KHZ, 10*MHZ),
};
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
SPIDeviceDriver SPIDeviceManager::_device[] = {
/* MPU9250 is restricted to 1MHz for non-data and interrupt registers */
SPIDeviceDriver("mpu9250", 2, 0, AP_HAL::SPIDevice_MPU9250, SPI_MODE_3, 8, SPI_CS_KERNEL, 1*MHZ, 20*MHZ),
SPIDeviceDriver("mpu9250ext", 1, 0, AP_HAL::SPIDevice_MPU9250, SPI_MODE_3, 8, SPI_CS_KERNEL, 1*MHZ, 20*MHZ),
SPIDeviceDriver("ms5611", 2, 1, AP_HAL::SPIDevice_MS5611, SPI_MODE_3, 8, SPI_CS_KERNEL, 10*MHZ,10*MHZ),
SPIDeviceDriver("mpu9250", 2, 0, AP_HAL::SPIDevice_Type, SPI_MODE_3, 8, SPI_CS_KERNEL, 1*MHZ, 20*MHZ),
SPIDeviceDriver("mpu9250ext", 1, 0, AP_HAL::SPIDevice_Type, SPI_MODE_3, 8, SPI_CS_KERNEL, 1*MHZ, 20*MHZ),
SPIDeviceDriver("ms5611", 2, 1, AP_HAL::SPIDevice_Type, SPI_MODE_3, 8, SPI_CS_KERNEL, 10*MHZ,10*MHZ),
};
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT
SPIDeviceDriver SPIDeviceManager::_device[] = {
/* MPU9250 is restricted to 1MHz for non-data and interrupt registers */
SPIDeviceDriver("mpu6000", 0, 0, AP_HAL::SPIDevice_MPU6000, SPI_MODE_3, 8, RPI_GPIO_25, 1*MHZ, 20*MHZ),
SPIDeviceDriver("ms5611", 0, 0, AP_HAL::SPIDevice_MS5611, SPI_MODE_3, 8, RPI_GPIO_23, 10*MHZ, 10*MHZ),
SPIDeviceDriver("lsm9ds0_am", 0, 0, AP_HAL::SPIDevice_LSM9DS0_AM, SPI_MODE_3, 8, RPI_GPIO_22, 10*MHZ, 10*MHZ),
SPIDeviceDriver("lsm9ds0_g", 0, 0, AP_HAL::SPIDevice_LSM9DS0_G, SPI_MODE_3, 8, RPI_GPIO_12, 10*MHZ, 10*MHZ),
SPIDeviceDriver("mpu6000", 0, 0, AP_HAL::SPIDevice_Type, SPI_MODE_3, 8, RPI_GPIO_25, 1*MHZ, 20*MHZ),
SPIDeviceDriver("ms5611", 0, 0, AP_HAL::SPIDevice_Type, SPI_MODE_3, 8, RPI_GPIO_23, 10*MHZ, 10*MHZ),
SPIDeviceDriver("lsm9ds0_am", 0, 0, AP_HAL::SPIDevice_Type, SPI_MODE_3, 8, RPI_GPIO_22, 10*MHZ, 10*MHZ),
SPIDeviceDriver("lsm9ds0_g", 0, 0, AP_HAL::SPIDevice_Type, SPI_MODE_3, 8, RPI_GPIO_12, 10*MHZ, 10*MHZ),
SPIDeviceDriver("dataflash", 0, 0, AP_HAL::SPIDevice_Dataflash, SPI_MODE_3, 8, RPI_GPIO_5, 6*MHZ, 6*MHZ),
SPIDeviceDriver("raspio", 0, 0, AP_HAL::SPIDevice_RASPIO, SPI_MODE_3, 8, RPI_GPIO_7, 10*MHZ, 10*MHZ),
};
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH
SPIDeviceDriver SPIDeviceManager::_device[] = {
SPIDeviceDriver("mpu9250", 0, 0, AP_HAL::SPIDevice_MPU9250, SPI_MODE_0, 8, RPI_GPIO_7, 1*MHZ, 20*MHZ),
SPIDeviceDriver("mpu9250", 0, 0, AP_HAL::SPIDevice_Type, SPI_MODE_0, 8, RPI_GPIO_7, 1*MHZ, 20*MHZ),
SPIDeviceDriver("ublox", 0, 0, AP_HAL::SPIDevice_Ublox, SPI_MODE_0, 8, RPI_GPIO_8, 250*KHZ, 5*MHZ),
};
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
SPIDeviceDriver SPIDeviceManager::_device[] = {
SPIDeviceDriver("bebop", 1, 0, AP_HAL::SPIDevice_Bebop, SPI_MODE_0, 8, SPI_CS_KERNEL, 320*KHZ, 320*KHZ),
SPIDeviceDriver("bebop", 1, 0, AP_HAL::SPIDevice_Type, SPI_MODE_0, 8, SPI_CS_KERNEL, 320*KHZ, 320*KHZ),
};
#else
// empty device table