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AP_Compass: make orientation of LSM9DS1 compass configurable

This commit is contained in:
Alexey Bulatov 2016-11-11 16:38:54 +03:00 committed by Lucas De Marchi
parent 181e4de343
commit 163fa07ac0
2 changed files with 19 additions and 10 deletions
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22
libraries/AP_Compass/AP_Compass_LSM9DS1.cpp
View File

@ -57,13 +57,23 @@ struct PACKED sample_regs {
extern const AP_HAL::HAL &hal;
AP_Compass_LSM9DS1::AP_Compass_LSM9DS1(Compass &compass,
AP_HAL::OwnPtr<AP_HAL::Device> dev,
enum Rotation rotation)
: AP_Compass_Backend(compass)
, _dev(std::move(dev))
, _rotation(rotation)
{
}
AP_Compass_Backend *AP_Compass_LSM9DS1::probe(Compass &compass,
AP_HAL::OwnPtr<AP_HAL::Device> dev)
AP_HAL::OwnPtr<AP_HAL::Device> dev,
enum Rotation rotation)
{
if (!dev) {
return nullptr;
}
AP_Compass_LSM9DS1 *sensor = new AP_Compass_LSM9DS1(compass, std::move(dev));
AP_Compass_LSM9DS1 *sensor = new AP_Compass_LSM9DS1(compass, std::move(dev), rotation);
if (!sensor || !sensor->init()) {
delete sensor;
return nullptr;
@ -98,6 +108,8 @@ bool AP_Compass_LSM9DS1::init()
_compass_instance = register_compass();
set_rotation(_compass_instance, _rotation);
_dev->set_device_type(DEVTYPE_LSM9DS1);
set_dev_id(_compass_instance, _dev->get_bus_id());
@ -235,12 +247,6 @@ bool AP_Compass_LSM9DS1::_set_scale(void)
return true;
}
AP_Compass_LSM9DS1::AP_Compass_LSM9DS1(Compass &compass, AP_HAL::OwnPtr<AP_HAL::Device> dev)
: AP_Compass_Backend(compass)
, _dev(std::move(dev))
{
}
uint8_t AP_Compass_LSM9DS1::_register_read(uint8_t reg)
{
uint8_t val = 0;

7
libraries/AP_Compass/AP_Compass_LSM9DS1.h
View File

@ -12,7 +12,8 @@ class AP_Compass_LSM9DS1 : public AP_Compass_Backend
{
public:
static AP_Compass_Backend *probe(Compass &compass,
AP_HAL::OwnPtr<AP_HAL::Device> dev);
AP_HAL::OwnPtr<AP_HAL::Device> dev,
enum Rotation rotation = ROTATION_NONE);
static constexpr const char *name = "LSM9DS1";
@ -21,7 +22,8 @@ public:
virtual ~AP_Compass_LSM9DS1() {}
private:
AP_Compass_LSM9DS1(Compass &compass, AP_HAL::OwnPtr<AP_HAL::Device> dev);
AP_Compass_LSM9DS1(Compass &compass, AP_HAL::OwnPtr<AP_HAL::Device> dev,
enum Rotation rotation = ROTATION_NONE);
bool init();
bool _check_id(void);
bool _configure(void);
@ -41,4 +43,5 @@ private:
float _mag_y_accum;
float _mag_z_accum;
uint32_t _accum_count;
enum Rotation _rotation;
};