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px4-firmware
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Improved drivers, allowed parallel use of multiple gyros

This commit is contained in:
Lorenz Meier 2012-11-23 22:52:37 +01:00
parent 0193d590db
commit b1bc5e0e46
3 changed files with 12 additions and 9 deletions
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11
apps/drivers/device/spi.cpp
View File

@ -86,7 +86,7 @@ SPI::init()
{
int ret = OK;
// attach to the spi bus
/* attach to the spi bus */
if (_dev == nullptr)
_dev = up_spiinitialize(_bus);
@ -96,7 +96,10 @@ SPI::init()
goto out;
}
// call the probe function to check whether the device is present
/* deselect device to ensure high to low transition of pin select */
SPI_SELECT(_dev, _device, false);
/* call the probe function to check whether the device is present */
ret = probe();
if (ret != OK) {
@ -104,7 +107,7 @@ SPI::init()
goto out;
}
// do base class init, which will create the device node, etc.
/* do base class init, which will create the device node, etc. */
ret = CDev::init();
if (ret != OK) {
@ -112,7 +115,7 @@ SPI::init()
goto out;
}
// tell the workd where we are
/* tell the workd where we are */
log("on SPI bus %d at %d", _bus, _device);
out:

8
apps/drivers/l3gd20/l3gd20.cpp
View File

@ -151,7 +151,7 @@ extern "C" { __EXPORT int l3gd20_main(int argc, char *argv[]); }
class L3GD20 : public device::SPI
{
public:
L3GD20(int bus, spi_dev_e device);
L3GD20(int bus, const char* path, spi_dev_e device);
~L3GD20();
virtual int init();
@ -265,8 +265,8 @@ private:
#define INCREMENT(_x, _lim) do { _x++; if (_x >= _lim) _x = 0; } while(0)
L3GD20::L3GD20(int bus, spi_dev_e device) :
SPI("L3GD20", GYRO_DEVICE_PATH, bus, device, SPIDEV_MODE3, 8000000),
L3GD20::L3GD20(int bus, const char* path, spi_dev_e device) :
SPI("L3GD20", path, bus, device, SPIDEV_MODE3, 8000000),
_call_interval(0),
_num_reports(0),
_next_report(0),
@ -745,7 +745,7 @@ start()
errx(1, "already started");
/* create the driver */
g_dev = new L3GD20(1 /* XXX magic number */, (spi_dev_e)PX4_SPIDEV_GYRO);
g_dev = new L3GD20(1 /* XXX magic number */, GYRO_DEVICE_PATH, (spi_dev_e)PX4_SPIDEV_GYRO);
if (g_dev == nullptr)
goto fail;

2
apps/systemcmds/preflight_check/preflight_check.c
View File

@ -145,7 +145,7 @@ system_eval:
led_toggle(leds, LED_BLUE);
/* display and sound error */
for (int i = 0; i < 200; i++)
for (int i = 0; i < 150; i++)
{
led_toggle(leds, LED_BLUE);
led_toggle(leds, LED_AMBER);