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lisXmdl: use I2CSPIDriverConfig (#20506) 

- allows to configure the I2C address
- lis3mdl: add 2nd possible address to start
This commit is contained in:
benjinne 2022-11-01 02:42:27 -04:00 committed by GitHub
parent afe1f82423
commit c5c634be7f
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
9 changed files with 39 additions and 37 deletions
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5
ROMFS/px4fmu_common/init.d/rc.sensors
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@ -191,7 +191,10 @@ then
ist8308 -X -q start
ist8310 -X -q start
lis2mdl -X -q start
lis3mdl -X -q start
if ! lis3mdl -X -q start
then
lis3mdl -X -q -a 0x1c start
fi
qmc5883l -X -q start
rm3100 -X -q start

4
src/drivers/magnetometer/lis2mdl/lis2mdl.h
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@ -80,8 +80,8 @@
#define CFG_REG_C_BDU (1 << 4) /* avoids reading of incorrect data due to async reads */
/* interface factories */
extern device::Device *LIS2MDL_SPI_interface(int bus, uint32_t devid, int bus_frequency, spi_mode_e spi_mode);
extern device::Device *LIS2MDL_I2C_interface(int bus, int bus_frequency);
extern device::Device *LIS2MDL_SPI_interface(const I2CSPIDriverConfig &config);
extern device::Device *LIS2MDL_I2C_interface(const I2CSPIDriverConfig &config);
#define LIS2MDLL_ADDRESS 0x1e

12
src/drivers/magnetometer/lis2mdl/lis2mdl_i2c.cpp
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@ -56,7 +56,7 @@
class LIS2MDL_I2C : public device::I2C
{
public:
LIS2MDL_I2C(int bus, int bus_frequency);
LIS2MDL_I2C(const I2CSPIDriverConfig &config);
virtual ~LIS2MDL_I2C() = default;
virtual int read(unsigned address, void *data, unsigned count);
@ -68,16 +68,16 @@ protected:
};
device::Device *
LIS2MDL_I2C_interface(int bus, int bus_frequency);
LIS2MDL_I2C_interface(const I2CSPIDriverConfig &config);
device::Device *
LIS2MDL_I2C_interface(int bus, int bus_frequency)
LIS2MDL_I2C_interface(const I2CSPIDriverConfig &config)
{
return new LIS2MDL_I2C(bus, bus_frequency);
return new LIS2MDL_I2C(config);
}
LIS2MDL_I2C::LIS2MDL_I2C(int bus, int bus_frequency) :
I2C(DRV_MAG_DEVTYPE_LIS2MDL, "LIS2MDL_I2C", bus, LIS2MDLL_ADDRESS, bus_frequency)
LIS2MDL_I2C::LIS2MDL_I2C(const I2CSPIDriverConfig &config) :
I2C(config)
{
}

7
src/drivers/magnetometer/lis2mdl/lis2mdl_main.cpp
View File

@ -46,10 +46,10 @@ I2CSPIDriverBase *LIS2MDL::instantiate(const I2CSPIDriverConfig &config, int run
device::Device *interface = nullptr;
if (config.bus_type == BOARD_I2C_BUS) {
interface = LIS2MDL_I2C_interface(config.bus, config.bus_frequency);
interface = LIS2MDL_I2C_interface(config);
} else if (config.bus_type == BOARD_SPI_BUS) {
interface = LIS2MDL_SPI_interface(config.bus, config.spi_devid, config.bus_frequency, config.spi_mode);
interface = LIS2MDL_SPI_interface(config);
}
if (interface == nullptr) {
@ -94,6 +94,7 @@ extern "C" int lis2mdl_main(int argc, char *argv[])
using ThisDriver = LIS2MDL;
int ch;
BusCLIArguments cli{true, true};
cli.i2c_address = LIS2MDLL_ADDRESS;
cli.default_i2c_frequency = 400000;
cli.default_spi_frequency = 11 * 1000 * 1000;
@ -112,8 +113,6 @@ extern "C" int lis2mdl_main(int argc, char *argv[])
return -1;
}
cli.i2c_address = LIS2MDLL_ADDRESS;
BusInstanceIterator iterator(MODULE_NAME, cli, DRV_MAG_DEVTYPE_LIS2MDL);
if (!strcmp(verb, "start")) {

12
src/drivers/magnetometer/lis2mdl/lis2mdl_spi.cpp
View File

@ -61,7 +61,7 @@
class LIS2MDL_SPI : public device::SPI
{
public:
LIS2MDL_SPI(int bus, uint32_t devid, int bus_frequency, spi_mode_e spi_mode);
LIS2MDL_SPI(const I2CSPIDriverConfig &config);
virtual ~LIS2MDL_SPI() = default;
virtual int init();
@ -70,16 +70,16 @@ public:
};
device::Device *
LIS2MDL_SPI_interface(int bus, uint32_t devid, int bus_frequency, spi_mode_e spi_mode);
LIS2MDL_SPI_interface(const I2CSPIDriverConfig &config);
device::Device *
LIS2MDL_SPI_interface(int bus, uint32_t devid, int bus_frequency, spi_mode_e spi_mode)
LIS2MDL_SPI_interface(const I2CSPIDriverConfig &config)
{
return new LIS2MDL_SPI(bus, devid, bus_frequency, spi_mode);
return new LIS2MDL_SPI(config);
}
LIS2MDL_SPI::LIS2MDL_SPI(int bus, uint32_t devid, int bus_frequency, spi_mode_e spi_mode) :
SPI(DRV_MAG_DEVTYPE_LIS2MDL, "LIS2MDL_SPI", bus, devid, spi_mode, bus_frequency)
LIS2MDL_SPI::LIS2MDL_SPI(const I2CSPIDriverConfig &config) :
SPI(config)
{
}

4
src/drivers/magnetometer/lis3mdl/lis3mdl.h
View File

@ -84,8 +84,8 @@
#define CNTL_REG5_DEFAULT 0x00
/* interface factories */
extern device::Device *LIS3MDL_SPI_interface(int bus, uint32_t devid, int bus_frequency, spi_mode_e spi_mode);
extern device::Device *LIS3MDL_I2C_interface(int bus, int bus_frequency);
extern device::Device *LIS3MDL_SPI_interface(const I2CSPIDriverConfig &config);
extern device::Device *LIS3MDL_I2C_interface(const I2CSPIDriverConfig &config);
enum OPERATING_MODE {
CONTINUOUS = 0,

12
src/drivers/magnetometer/lis3mdl/lis3mdl_i2c.cpp
View File

@ -56,7 +56,7 @@
class LIS3MDL_I2C : public device::I2C
{
public:
LIS3MDL_I2C(int bus, int bus_frequency);
LIS3MDL_I2C(const I2CSPIDriverConfig &config);
virtual ~LIS3MDL_I2C() = default;
virtual int read(unsigned address, void *data, unsigned count);
@ -68,16 +68,16 @@ protected:
};
device::Device *
LIS3MDL_I2C_interface(int bus, int bus_frequency);
LIS3MDL_I2C_interface(const I2CSPIDriverConfig &config);
device::Device *
LIS3MDL_I2C_interface(int bus, int bus_frequency)
LIS3MDL_I2C_interface(const I2CSPIDriverConfig &config)
{
return new LIS3MDL_I2C(bus, bus_frequency);
return new LIS3MDL_I2C(config);
}
LIS3MDL_I2C::LIS3MDL_I2C(int bus, int bus_frequency) :
I2C(DRV_MAG_DEVTYPE_LIS3MDL, MODULE_NAME, bus, LIS3MDLL_ADDRESS, bus_frequency)
LIS3MDL_I2C::LIS3MDL_I2C(const I2CSPIDriverConfig &config) :
I2C(config)
{
}

8
src/drivers/magnetometer/lis3mdl/lis3mdl_main.cpp
View File

@ -46,10 +46,10 @@ I2CSPIDriverBase *LIS3MDL::instantiate(const I2CSPIDriverConfig &config, int run
device::Device *interface = nullptr;
if (config.bus_type == BOARD_I2C_BUS) {
interface = LIS3MDL_I2C_interface(config.bus, config.bus_frequency);
interface = LIS3MDL_I2C_interface(config);
} else if (config.bus_type == BOARD_SPI_BUS) {
interface = LIS3MDL_SPI_interface(config.bus, config.spi_devid, config.bus_frequency, config.spi_mode);
interface = LIS3MDL_SPI_interface(config);
}
if (interface == nullptr) {
@ -90,6 +90,7 @@ void LIS3MDL::print_usage()
PRINT_MODULE_USAGE_SUBCATEGORY("magnetometer");
PRINT_MODULE_USAGE_COMMAND("start");
PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, true);
PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x1e);
PRINT_MODULE_USAGE_PARAM_INT('R', 0, 0, 35, "Rotation", true);
PRINT_MODULE_USAGE_COMMAND("reset");
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
@ -100,6 +101,7 @@ extern "C" int lis3mdl_main(int argc, char *argv[])
using ThisDriver = LIS3MDL;
int ch;
BusCLIArguments cli{true, true};
cli.i2c_address = LIS3MDLL_ADDRESS;
cli.default_i2c_frequency = 400000;
cli.default_spi_frequency = 11 * 1000 * 1000;
@ -118,8 +120,6 @@ extern "C" int lis3mdl_main(int argc, char *argv[])
return -1;
}
cli.i2c_address = LIS3MDLL_ADDRESS;
BusInstanceIterator iterator(MODULE_NAME, cli, DRV_MAG_DEVTYPE_LIS3MDL);
if (!strcmp(verb, "start")) {

12
src/drivers/magnetometer/lis3mdl/lis3mdl_spi.cpp
View File

@ -61,7 +61,7 @@
class LIS3MDL_SPI : public device::SPI
{
public:
LIS3MDL_SPI(int bus, uint32_t devid, int bus_frequency, spi_mode_e spi_mode);
LIS3MDL_SPI(const I2CSPIDriverConfig &config);
virtual ~LIS3MDL_SPI() = default;
virtual int init();
@ -70,16 +70,16 @@ public:
};
device::Device *
LIS3MDL_SPI_interface(int bus, uint32_t devid, int bus_frequency, spi_mode_e spi_mode);
LIS3MDL_SPI_interface(const I2CSPIDriverConfig &config);
device::Device *
LIS3MDL_SPI_interface(int bus, uint32_t devid, int bus_frequency, spi_mode_e spi_mode)
LIS3MDL_SPI_interface(const I2CSPIDriverConfig &config)
{
return new LIS3MDL_SPI(bus, devid, bus_frequency, spi_mode);
return new LIS3MDL_SPI(config);
}
LIS3MDL_SPI::LIS3MDL_SPI(int bus, uint32_t devid, int bus_frequency, spi_mode_e spi_mode) :
SPI(DRV_MAG_DEVTYPE_LIS3MDL, MODULE_NAME, bus, devid, spi_mode, bus_frequency)
LIS3MDL_SPI::LIS3MDL_SPI(const I2CSPIDriverConfig &config) :
SPI(config)
{
}