AP_HAL_Linux: add name to SPI device table

A string name allows to more easily expand the table: the board is
responsible for the name and doesn't have to declare it as a enum or
define. It's also easier to add 2 sensors of the same type.

libraries/AP_HAL_Linux/SPIDriver.cpp

@@ -26,51 +26,51 @@ 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(1, 0, AP_HAL::SPIDevice_LSM9DS0_AM, SPI_MODE_3, 8, BBB_P9_17,  10*MHZ,10*MHZ),
-    SPIDeviceDriver(1, 0, AP_HAL::SPIDevice_LSM9DS0_G,  SPI_MODE_3, 8, BBB_P8_9,   10*MHZ,10*MHZ),
-    SPIDeviceDriver(2, 0, AP_HAL::SPIDevice_MS5611,     SPI_MODE_3, 8, BBB_P9_42,  10*MHZ,10*MHZ),
-    SPIDeviceDriver(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_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),
     /* MPU9250 is restricted to 1MHz for non-data and interrupt registers */
-    SPIDeviceDriver(2, 0, AP_HAL::SPIDevice_MPU9250,    SPI_MODE_3, 8, BBB_P9_23,  1*MHZ, 20*MHZ),
-    SPIDeviceDriver(2, 0, AP_HAL::SPIDevice_Dataflash,  SPI_MODE_3, 8, BBB_P8_12,  6*MHZ, 6*MHZ),
+    SPIDeviceDriver("mpu9250",    2, 0, AP_HAL::SPIDevice_MPU9250,    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(0, 0, AP_HAL::SPIDevice_MPU6000,    SPI_MODE_3, 8, SPI_CS_KERNEL, 1*MHZ, 15*MHZ)
+    SPIDeviceDriver("mpu6000",    0, 0, AP_HAL::SPIDevice_MPU6000,    SPI_MODE_3, 8, SPI_CS_KERNEL, 1*MHZ, 15*MHZ)
 };
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO
 SPIDeviceDriver SPIDeviceManager::_device[] = {
     /* MPU9250 is restricted to 1MHz for non-data and interrupt registers */
-    SPIDeviceDriver(0, 1, AP_HAL::SPIDevice_MPU9250, SPI_MODE_0, 8, SPI_CS_KERNEL,  1*MHZ, 20*MHZ),
-    SPIDeviceDriver(0, 0, AP_HAL::SPIDevice_Ublox, SPI_MODE_0, 8, SPI_CS_KERNEL,  250*KHZ, 5*MHZ),
+    SPIDeviceDriver("mpu9250",    0, 1, AP_HAL::SPIDevice_MPU9250, 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,  250*KHZ, 5*MHZ),
 };
 #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(0, 1, AP_HAL::SPIDevice_MPU9250, SPI_MODE_0, 8, SPI_CS_KERNEL,  1*MHZ, 20*MHZ),
-    SPIDeviceDriver(0, 0, AP_HAL::SPIDevice_MS5611,  SPI_MODE_0, 8, SPI_CS_KERNEL,  1*KHZ, 10*MHZ),
+    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),
 };
 #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(2, 0, AP_HAL::SPIDevice_MPU9250,    SPI_MODE_3, 8, SPI_CS_KERNEL,  1*MHZ, 20*MHZ),
-    SPIDeviceDriver(2, 1, AP_HAL::SPIDevice_MS5611,     SPI_MODE_3, 8, SPI_CS_KERNEL,  10*MHZ,10*MHZ),
+    SPIDeviceDriver("mpu9250",    2, 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),
 };
 #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(0, 0, AP_HAL::SPIDevice_MPU6000, SPI_MODE_3, 8, RPI_GPIO_25,  1*MHZ, 8*MHZ),
-    SPIDeviceDriver(0, 0, AP_HAL::SPIDevice_MS5611,  SPI_MODE_3, 8, RPI_GPIO_23,  1*MHZ, 8*MHZ),
-    SPIDeviceDriver(0, 0, AP_HAL::SPIDevice_L3GD20,  SPI_MODE_3, 8, RPI_GPIO_12,  1*MHZ, 8*MHZ),
-    SPIDeviceDriver(0, 0, AP_HAL::SPIDevice_LSM303D, SPI_MODE_3, 8, RPI_GPIO_22,  1*MHZ, 8*MHZ),
-    SPIDeviceDriver(0, 0, AP_HAL::SPIDevice_Dataflash, SPI_MODE_3, 8, RPI_GPIO_5,  1*MHZ, 8*MHZ),
-    SPIDeviceDriver(0, 0, AP_HAL::SPIDevice_RASPIO, SPI_MODE_3, 8, RPI_GPIO_7,  8*MHZ, 8*MHZ),
+    SPIDeviceDriver("mpu6000",    0, 0, AP_HAL::SPIDevice_MPU6000, SPI_MODE_3, 8, RPI_GPIO_25,  1*MHZ, 8*MHZ),
+    SPIDeviceDriver("ms5611",     0, 0, AP_HAL::SPIDevice_MS5611,  SPI_MODE_3, 8, RPI_GPIO_23,  1*MHZ, 8*MHZ),
+    SPIDeviceDriver("l3gd20",     0, 0, AP_HAL::SPIDevice_L3GD20,  SPI_MODE_3, 8, RPI_GPIO_12,  1*MHZ, 8*MHZ),
+    SPIDeviceDriver("lsm303d",    0, 0, AP_HAL::SPIDevice_LSM303D, SPI_MODE_3, 8, RPI_GPIO_22,  1*MHZ, 8*MHZ),
+    SPIDeviceDriver("dataflash",  0, 0, AP_HAL::SPIDevice_Dataflash, SPI_MODE_3, 8, RPI_GPIO_5,  1*MHZ, 8*MHZ),
+    SPIDeviceDriver("raspio",     0, 0, AP_HAL::SPIDevice_RASPIO,  SPI_MODE_3, 8, RPI_GPIO_7,  8*MHZ, 8*MHZ),
 };
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH
 SPIDeviceDriver SPIDeviceManager::_device[] = {
-    SPIDeviceDriver(0, 0, AP_HAL::SPIDevice_MPU9250, SPI_MODE_0, 8, RPI_GPIO_7, 1*MHZ, 20*MHZ),
-    SPIDeviceDriver(0, 0, AP_HAL::SPIDevice_Ublox, SPI_MODE_0, 8, RPI_GPIO_8, 250*KHZ, 5*MHZ),
+    SPIDeviceDriver("mpu9250", 0, 0, AP_HAL::SPIDevice_MPU9250, 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),
 };
 #else
 // empty device table
@@ -82,7 +82,8 @@ SPIDeviceDriver SPIDeviceManager::_device[0];
 // have a separate semaphore per bus
 Semaphore SPIDeviceManager::_semaphore[LINUX_SPI_MAX_BUSES];
 
-SPIDeviceDriver::SPIDeviceDriver(uint16_t bus, uint16_t subdev, enum AP_HAL::SPIDeviceType type, uint8_t mode, uint8_t bitsPerWord, int16_t cs_pin, uint32_t lowspeed, uint32_t highspeed):
+SPIDeviceDriver::SPIDeviceDriver(const char *name, uint16_t bus, uint16_t subdev, enum AP_HAL::SPIDeviceType type, uint8_t mode, uint8_t bitsPerWord, int16_t cs_pin, uint32_t lowspeed, uint32_t highspeed):
+    _name(name),
     _bus(bus),
     _subdev(subdev),
     _type(type),

libraries/AP_HAL_Linux/SPIDriver.h

@@ -18,7 +18,9 @@
 class Linux::SPIDeviceDriver : public AP_HAL::SPIDeviceDriver {
 public:
     friend class Linux::SPIDeviceManager;
-    SPIDeviceDriver(uint16_t bus, uint16_t subdev, enum AP_HAL::SPIDeviceType type, uint8_t mode, uint8_t bitsPerWord, int16_t cs_pin, uint32_t lowspeed, uint32_t highspeed);
+
+    SPIDeviceDriver(const char *name, uint16_t bus, uint16_t subdev, enum AP_HAL::SPIDeviceType type, uint8_t mode, uint8_t bitsPerWord, int16_t cs_pin, uint32_t lowspeed, uint32_t highspeed);
+
     void init();
     AP_HAL::Semaphore *get_semaphore();
     bool transaction(const uint8_t *tx, uint8_t *rx, uint16_t len);
@@ -34,6 +36,7 @@ private:
     uint16_t _subdev;
     int16_t _cs_pin;
     AP_HAL::DigitalSource *_cs;
+    const char *_name;
     uint8_t _mode;
     uint8_t _bitsPerWord;
     uint32_t _lowspeed;