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AP_Compass: LSM303D: rename members to follow convention

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Make the members have similar names as HMC5843 driver and prepend
underscore on private fields.
This commit is contained in:
Lucas De Marchi 2015-09-11 10:39:29 -03:00 committed by Andrew Tridgell
parent 19b4f5559a
commit 3a017c8702
2 changed files with 21 additions and 21 deletions
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32
libraries/AP_Compass/AP_Compass_LSM303D.cpp
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@ -247,7 +247,7 @@ bool AP_Compass_LSM303D::_data_ready()
// Read Sensor data // Read Sensor data
bool AP_Compass_LSM303D::read_raw() bool AP_Compass_LSM303D::_read_raw()
{ {
if (_register_read(ADDR_CTRL_REG7) != _reg7_expected) { if (_register_read(ADDR_CTRL_REG7) != _reg7_expected) {
hal.console->println_P( hal.console->println_P(
@ -339,9 +339,9 @@ AP_Compass_LSM303D::init()
} }
} while (1); } while (1);
calibration[0] = 1.0; _scaling[0] = 1.0;
calibration[1] = 1.0; _scaling[1] = 1.0;
calibration[2] = 1.0; _scaling[2] = 1.0;
_spi_sem->give(); _spi_sem->give();
hal.scheduler->resume_timer_procs(); hal.scheduler->resume_timer_procs();
@ -368,7 +368,7 @@ bool AP_Compass_LSM303D::_hardware_init(void)
_spi->set_bus_speed(AP_HAL::SPIDeviceDriver::SPI_SPEED_LOW); _spi->set_bus_speed(AP_HAL::SPIDeviceDriver::SPI_SPEED_LOW);
// ensure the chip doesn't interpret any other bus traffic as I2C // ensure the chip doesn't interpret any other bus traffic as I2C
disable_i2c(); _disable_i2c();
/* enable mag */ /* enable mag */
_reg7_expected = REG7_CONT_MODE_M; _reg7_expected = REG7_CONT_MODE_M;
@ -376,8 +376,8 @@ bool AP_Compass_LSM303D::_hardware_init(void)
_register_write(ADDR_CTRL_REG5, REG5_RES_HIGH_M); _register_write(ADDR_CTRL_REG5, REG5_RES_HIGH_M);
_register_write(ADDR_CTRL_REG4, 0x04); // DRDY on MAG on INT2 _register_write(ADDR_CTRL_REG4, 0x04); // DRDY on MAG on INT2
mag_set_range(LSM303D_MAG_DEFAULT_RANGE_GA); _mag_set_range(LSM303D_MAG_DEFAULT_RANGE_GA);
mag_set_samplerate(LSM303D_MAG_DEFAULT_RATE); _mag_set_samplerate(LSM303D_MAG_DEFAULT_RATE);
// TODO: Software filtering // TODO: Software filtering
@ -410,8 +410,8 @@ void AP_Compass_LSM303D::_collect_samples()
return; return;
} }
if (!read_raw()) { if (!_read_raw()) {
error("read_raw failed\n"); error("_read_raw() failed\n");
} else { } else {
Vector3f raw_field = Vector3f(_mag_x, _mag_y, _mag_z); Vector3f raw_field = Vector3f(_mag_x, _mag_y, _mag_z);
uint32_t time_us = hal.scheduler->micros(); uint32_t time_us = hal.scheduler->micros();
@ -419,7 +419,7 @@ void AP_Compass_LSM303D::_collect_samples()
// rotate raw_field from sensor frame to body frame // rotate raw_field from sensor frame to body frame
rotate_field(raw_field, _compass_instance); rotate_field(raw_field, _compass_instance);
// publish raw_field (uncorrected point sample) for calibration use // publish raw_field (uncorrected point sample) for _scaling use
publish_raw_field(raw_field, time_us, _compass_instance); publish_raw_field(raw_field, time_us, _compass_instance);
// correct raw_field for known errors // correct raw_field for known errors
@ -456,9 +456,9 @@ void AP_Compass_LSM303D::read()
return; return;
} }
Vector3f field(_mag_x_accum * calibration[0], Vector3f field(_mag_x_accum * _scaling[0],
_mag_y_accum * calibration[1], _mag_y_accum * _scaling[1],
_mag_z_accum * calibration[2]); _mag_z_accum * _scaling[2]);
field /= _accum_count; field /= _accum_count;
_accum_count = 0; _accum_count = 0;
@ -467,7 +467,7 @@ void AP_Compass_LSM303D::read()
publish_filtered_field(field, _compass_instance); publish_filtered_field(field, _compass_instance);
} }
void AP_Compass_LSM303D::disable_i2c(void) void AP_Compass_LSM303D::_disable_i2c(void)
{ {
// TODO: use the register names // TODO: use the register names
uint8_t a = _register_read(0x02); uint8_t a = _register_read(0x02);
@ -480,7 +480,7 @@ void AP_Compass_LSM303D::disable_i2c(void)
_register_write(0x02, (0xE7 & a)); _register_write(0x02, (0xE7 & a));
} }
uint8_t AP_Compass_LSM303D::mag_set_range(uint8_t max_ga) uint8_t AP_Compass_LSM303D::_mag_set_range(uint8_t max_ga)
{ {
uint8_t setbits = 0; uint8_t setbits = 0;
uint8_t clearbits = REG6_FULL_SCALE_BITS_M; uint8_t clearbits = REG6_FULL_SCALE_BITS_M;
@ -518,7 +518,7 @@ uint8_t AP_Compass_LSM303D::mag_set_range(uint8_t max_ga)
return 0; return 0;
} }
uint8_t AP_Compass_LSM303D::mag_set_samplerate(uint16_t frequency) uint8_t AP_Compass_LSM303D::_mag_set_samplerate(uint16_t frequency)
{ {
uint8_t setbits = 0; uint8_t setbits = 0;
uint8_t clearbits = REG5_RATE_BITS_M; uint8_t clearbits = REG5_RATE_BITS_M;

10
libraries/AP_Compass/AP_Compass_LSM303D.h
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@ -12,9 +12,9 @@ class AP_Compass_LSM303D : public AP_Compass_Backend
{ {
private: private:
AP_HAL::DigitalSource *_drdy_pin_m; AP_HAL::DigitalSource *_drdy_pin_m;
float calibration[3]; float _scaling[3] = { 0 };
bool _initialised; bool _initialised;
bool read_raw(void); bool _read_raw(void);
uint8_t _register_read( uint8_t reg ); uint8_t _register_read( uint8_t reg );
void _register_write( uint8_t reg, uint8_t val ); void _register_write( uint8_t reg, uint8_t val );
void _register_modify(uint8_t reg, uint8_t clearbits, uint8_t setbits); void _register_modify(uint8_t reg, uint8_t clearbits, uint8_t setbits);
@ -22,9 +22,9 @@ private:
bool _hardware_init(void); bool _hardware_init(void);
void _collect_samples(); void _collect_samples();
void _update(); void _update();
void disable_i2c(void); void _disable_i2c(void);
uint8_t mag_set_range(uint8_t max_ga); uint8_t _mag_set_range(uint8_t max_ga);
uint8_t mag_set_samplerate(uint16_t frequency); uint8_t _mag_set_samplerate(uint16_t frequency);
AP_HAL::SPIDeviceDriver *_spi; AP_HAL::SPIDeviceDriver *_spi;
AP_HAL::Semaphore *_spi_sem; AP_HAL::Semaphore *_spi_sem;