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platforms: add px4_udelay and px4_mdelay

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- NuttX: up_udelay and up_mdelay
 - Linux: usleep and msleep
This commit is contained in:
Daniel Agar
2021-02-25 16:59:33 -05:00
parent f1f396e338
commit e0ade94d25
4 changed files with 12 additions and 6 deletions
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3
platforms/nuttx/src/px4/common/include/px4_platform/micro_hal.h
View File

@@ -48,6 +48,9 @@ __BEGIN_DECLS
#define px4_enter_critical_section() enter_critical_section()
#define px4_leave_critical_section(flags) leave_critical_section(flags)
#define px4_udelay(usec) up_udelay(usec)
#define px4_mdelay(msec) up_mdelay(msec)
#include <arch/board/board.h>
__END_DECLS

3
platforms/posix/src/px4/common/include/px4_platform/micro_hal.h
View File

@@ -33,3 +33,6 @@
#pragma once
#define px4_arch_gpiosetevent(pinset,r,f,e,fp,a) -1
#define px4_udelay(usec) px4_usleep(usec)
#define px4_mdelay(msec) px4_msleep(msec)

8
src/drivers/imu/adis16477/ADIS16477.cpp
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@@ -237,9 +237,9 @@ ADIS16477::read_reg16(uint8_t reg)
cmd[0] = ((reg | DIR_READ) << 8) & 0xff00;
transferhword(cmd, nullptr, 1);
up_udelay(T_STALL);
px4_udelay(T_STALL);
transferhword(nullptr, cmd, 1);
up_udelay(T_STALL);
px4_udelay(T_STALL);
return cmd[0];
}
@@ -262,9 +262,9 @@ ADIS16477::write_reg16(uint8_t reg, uint16_t value)
cmd[1] = (((reg + 0x1) | DIR_WRITE) << 8) | ((0xff00 & value) >> 8);
transferhword(cmd, nullptr, 1);
up_udelay(T_STALL);
px4_udelay(T_STALL);
transferhword(cmd + 1, nullptr, 1);
up_udelay(T_STALL);
px4_udelay(T_STALL);
}
void

4
src/drivers/imu/analog_devices/adis16448/ADIS16448.cpp
View File

@@ -563,7 +563,7 @@ uint16_t ADIS16448::RegisterRead(Register reg)
cmd[0] = (static_cast<uint16_t>(reg) << 8);
transferhword(cmd, nullptr, 1);
usleep(SPI_STALL_PERIOD);
px4_udelay(SPI_STALL_PERIOD);
transferhword(nullptr, cmd, 1);
return cmd[0];
@@ -578,7 +578,7 @@ void ADIS16448::RegisterWrite(Register reg, uint16_t value)
cmd[1] = (((static_cast<uint16_t>(reg) + 1) | DIR_WRITE) << 8) | ((0xFF00 & value) >> 8);
transferhword(cmd, nullptr, 1);
usleep(SPI_STALL_PERIOD);
px4_udelay(SPI_STALL_PERIOD);
transferhword(cmd + 1, nullptr, 1);
}