Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-03-03 12:14:10 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_Rangefinder: search buses 0 and 1 for Maxbotix I2C driver

Browse Source
This commit is contained in:
Francisco Ferreira 2017-09-23 23:33:04 +01:00
parent be1f0801a3
commit 02586b0a2e
No known key found for this signature in database
GPG Key ID: F63C20A6773E787E
3 changed files with 15 additions and 7 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

10
libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarI2CXL.cpp
View File

@ -35,9 +35,10 @@ extern const AP_HAL::HAL& hal;
constructor is not called until detect() returns true, so we constructor is not called until detect() returns true, so we
already know that we should setup the rangefinder already know that we should setup the rangefinder
*/ */
AP_RangeFinder_MaxsonarI2CXL::AP_RangeFinder_MaxsonarI2CXL(RangeFinder::RangeFinder_State &_state) AP_RangeFinder_MaxsonarI2CXL::AP_RangeFinder_MaxsonarI2CXL(RangeFinder::RangeFinder_State &_state,
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev)
: AP_RangeFinder_Backend(_state) : AP_RangeFinder_Backend(_state)
, _dev(hal.i2c_mgr->get_device(1, AP_RANGE_FINDER_MAXSONARI2CXL_DEFAULT_ADDR)) , _dev(std::move(dev))
{ {
} }
@ -46,10 +47,11 @@ AP_RangeFinder_MaxsonarI2CXL::AP_RangeFinder_MaxsonarI2CXL(RangeFinder::RangeFin
trying to take a reading on I2C. If we get a result the sensor is trying to take a reading on I2C. If we get a result the sensor is
there. there.
*/ */
AP_RangeFinder_Backend *AP_RangeFinder_MaxsonarI2CXL::detect(RangeFinder::RangeFinder_State &_state) AP_RangeFinder_Backend *AP_RangeFinder_MaxsonarI2CXL::detect(RangeFinder::RangeFinder_State &_state,
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev)
{ {
AP_RangeFinder_MaxsonarI2CXL *sensor AP_RangeFinder_MaxsonarI2CXL *sensor
= new AP_RangeFinder_MaxsonarI2CXL(_state); = new AP_RangeFinder_MaxsonarI2CXL(_state, std::move(dev));
if (!sensor) { if (!sensor) {
return nullptr; return nullptr;
} }

6
libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarI2CXL.h
View File

@ -17,7 +17,8 @@ class AP_RangeFinder_MaxsonarI2CXL : public AP_RangeFinder_Backend
{ {
public: public:
// static detection function // static detection function
static AP_RangeFinder_Backend *detect(RangeFinder::RangeFinder_State &_state); static AP_RangeFinder_Backend *detect(RangeFinder::RangeFinder_State &_state,
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev);
// update state // update state
void update(void); void update(void);
@ -30,7 +31,8 @@ protected:
private: private:
// constructor // constructor
AP_RangeFinder_MaxsonarI2CXL(RangeFinder::RangeFinder_State &_state); AP_RangeFinder_MaxsonarI2CXL(RangeFinder::RangeFinder_State &_state,
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev);
bool _init(void); bool _init(void);
void _timer(void); void _timer(void);

6
libraries/AP_RangeFinder/RangeFinder.cpp
View File

@ -614,7 +614,11 @@ void RangeFinder::detect_instance(uint8_t instance)
} }
break; break;
case RangeFinder_TYPE_MBI2C: case RangeFinder_TYPE_MBI2C:
_add_backend(AP_RangeFinder_MaxsonarI2CXL::detect(state[instance])); if (!_add_backend(AP_RangeFinder_MaxsonarI2CXL::detect(state[instance],
hal.i2c_mgr->get_device(1, AP_RANGE_FINDER_MAXSONARI2CXL_DEFAULT_ADDR)))) {
_add_backend(AP_RangeFinder_MaxsonarI2CXL::detect(state[instance],
hal.i2c_mgr->get_device(0, AP_RANGE_FINDER_MAXSONARI2CXL_DEFAULT_ADDR)));
}
break; break;
case RangeFinder_TYPE_LWI2C: case RangeFinder_TYPE_LWI2C:
if (state[instance].address) { if (state[instance].address) {