开始增加spi/i2c设备

Signed-off-by: latercomer <[email protected]>
nextpilot · Sep 28, 2024 · 3dbc1e3 · 3dbc1e3
1 parent 7ab286f
commit 3dbc1e3
Show file tree

Hide file tree

Showing 7 changed files with 33 additions and 8 deletions.
diff --git a/apps/peripheral/sensor/imu/bmi088/BMI088.hpp b/apps/peripheral/sensor/imu/bmi088/BMI088.hpp
@@ -19,7 +19,7 @@ static constexpr int16_t combine(uint8_t msb, uint8_t lsb) {
     return (msb << 8u) | lsb;
 }
 
-class BMI088 : public device::SPI, public I2CSPIDriver<BMI088> {
+class BMI088 : public device::SPI, public ModuleCommand<BMI088> {
 public:
     BMI088(const I2CSPIDriverConfig &config);
 

diff --git a/nextpilot-flight-control.code-workspace b/nextpilot-flight-control.code-workspace
@@ -162,7 +162,9 @@
 			"compare": "cpp",
 			"format": "cpp",
 			"regex": "cpp",
-			"variant": "cpp"
+			"variant": "cpp",
+			"xlocale": "cpp",
+			"typeinfo": "cpp"
 		},
 		"RTT_Studio.Debuger.Gdb_Path": ""
 	},

diff --git a/pkgs/device/device.hpp b/pkgs/device/device.hpp
@@ -145,7 +145,7 @@ class Device {
     }
 
     virtual bool external() const {
-        return false;
+        return _external;
     }
 
     // 操作device_id
@@ -220,6 +220,9 @@ class Device {
     // 驱动的名称，比如i2c1
     const char *_bus_name{nullptr};
     rt_device_t _bus_device{nullptr};
+
+    // 是否外部设备
+    bool _external{false};
 };
 
 } // namespace nextpilot::device

diff --git a/pkgs/device/i2c.hpp b/pkgs/device/i2c.hpp
@@ -15,7 +15,7 @@
 
 namespace nextpilot::device {
 
-class I2C : pulbic Device {
+class I2C : public Device {
 public:
     // no copy, assignment, move, move assignment
     I2C(const I2C &)            = delete;
@@ -67,10 +67,6 @@ class I2C : pulbic Device {
      */
     int transfer(const uint8_t *send, const unsigned send_len, uint8_t *recv, const unsigned recv_len);
 
-    bool external() const override {
-        return px4_i2c_device_external(_device_id.devid);
-    }
-
 private:
     // static unsigned int _bus_clocks[PX4_NUMBER_I2C_BUSES];
 

diff --git a/pkgs/device/rt-device.hpp → pkgs/device/rtdevice.hpp b/pkgs/device/rt-device.hpp → pkgs/device/rtdevice.hpp
diff --git a/pkgs/device/spi.cpp b/pkgs/device/spi.cpp
@@ -0,0 +1,9 @@
+/*****************************************************************
+ *     _   __             __   ____   _  __        __
+ *    / | / /___   _  __ / /_ / __ \ (_)/ /____   / /_
+ *   /  |/ // _ \ | |/_// __// /_/ // // // __ \ / __/
+ *  / /|  //  __/_>  < / /_ / ____// // // /_/ // /_
+ * /_/ |_/ \___//_/|_| \__//_/    /_//_/ \____/ \__/
+ *
+ * Copyright All Reserved © 2015-2024 NextPilot Development Team
+ ******************************************************************/
diff --git a/pkgs/device/spi.hpp b/pkgs/device/spi.hpp
@@ -0,0 +1,15 @@
+/*****************************************************************
+ *     _   __             __   ____   _  __        __
+ *    / | / /___   _  __ / /_ / __ \ (_)/ /____   / /_
+ *   /  |/ // _ \ | |/_// __// /_/ // // // __ \ / __/
+ *  / /|  //  __/_>  < / /_ / ____// // // /_/ // /_
+ * /_/ |_/ \___//_/|_| \__//_/    /_//_/ \____/ \__/
+ *
+ * Copyright All Reserved © 2015-2024 NextPilot Development Team
+ ******************************************************************/
+
+#ifndef __SPI_H__
+#define __SPI_H__
+
+
+#endif // __SPI_H__