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AP_InertialSensor: Return product ID from sensor initialization 

this exposes the product ID to the IMU Layer
This commit is contained in:
Craig Elder 2012-05-08 19:26:35 -07:00
parent 4c46955612
commit 4a1d8b0875
7 changed files with 19 additions and 8 deletions
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2
libraries/AP_InertialSensor/AP_InertialSensor.h
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@ -13,7 +13,7 @@ class AP_InertialSensor
public: public:
AP_InertialSensor() {} AP_InertialSensor() {}
virtual void init( AP_PeriodicProcess * scheduler ) = 0; virtual uint16_t init( AP_PeriodicProcess * scheduler ) = 0;
/* Update the sensor data, so that getters are nonblocking. /* Update the sensor data, so that getters are nonblocking.
* Returns a bool of whether data was updated or not. * Returns a bool of whether data was updated or not.

5
libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp
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@ -119,14 +119,15 @@ AP_InertialSensor_MPU6000::AP_InertialSensor_MPU6000( uint8_t cs_pin )
_initialised = 0; _initialised = 0;
} }
void AP_InertialSensor_MPU6000::init( AP_PeriodicProcess * scheduler ) uint16_t AP_InertialSensor_MPU6000::init( AP_PeriodicProcess * scheduler )
{ {
if (_initialised) return; if (_initialised) return _product_id;
_initialised = 1; _initialised = 1;
scheduler->suspend_timer(); scheduler->suspend_timer();
hardware_init(); hardware_init();
scheduler->resume_timer(); scheduler->resume_timer();
scheduler->register_process( &AP_InertialSensor_MPU6000::read ); scheduler->register_process( &AP_InertialSensor_MPU6000::read );
return _product_id;
} }
// accumulation in ISR - must be read with interrupts disabled // accumulation in ISR - must be read with interrupts disabled

2
libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.h
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@ -16,7 +16,7 @@ class AP_InertialSensor_MPU6000 : public AP_InertialSensor
AP_InertialSensor_MPU6000( uint8_t cs_pin ); AP_InertialSensor_MPU6000( uint8_t cs_pin );
void init( AP_PeriodicProcess * scheduler ); uint16_t init( AP_PeriodicProcess * scheduler );
/* Concrete implementation of AP_InertialSensor functions: */ /* Concrete implementation of AP_InertialSensor functions: */
bool update(); bool update();

10
libraries/AP_InertialSensor/AP_InertialSensor_Oilpan.cpp
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@ -48,9 +48,17 @@ AP_InertialSensor_Oilpan::AP_InertialSensor_Oilpan( AP_ADC * adc ) :
_accel.z = 0; _accel.z = 0;
} }
void AP_InertialSensor_Oilpan::init( AP_PeriodicProcess * scheduler) uint16_t AP_InertialSensor_Oilpan::init( AP_PeriodicProcess * scheduler)
{ {
_adc->Init(scheduler); _adc->Init(scheduler);
#if defined(DESKTOP_BUILD)
return AP_PRODUCT_ID_SITL;
#elif defined(__AVR_ATmega1280__)
return AP_PRODUCT_ID_APM1_1280;
#else
return AP_PRODUCT_ID_APM1_2560;
#endif
} }
bool AP_InertialSensor_Oilpan::update() bool AP_InertialSensor_Oilpan::update()

2
libraries/AP_InertialSensor/AP_InertialSensor_Oilpan.h
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@ -17,7 +17,7 @@ class AP_InertialSensor_Oilpan : public AP_InertialSensor
AP_InertialSensor_Oilpan( AP_ADC * adc ); AP_InertialSensor_Oilpan( AP_ADC * adc );
/* Concrete implementation of AP_InertialSensor functions: */ /* Concrete implementation of AP_InertialSensor functions: */
void init(AP_PeriodicProcess * scheduler); uint16_t init(AP_PeriodicProcess * scheduler);
bool update(); bool update();
bool new_data_available(); bool new_data_available();
float gx(); float gx();

4
libraries/AP_InertialSensor/AP_InertialSensor_Stub.cpp
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@ -2,7 +2,9 @@
#include "AP_InertialSensor_Stub.h" #include "AP_InertialSensor_Stub.h"
void AP_InertialSensor_Stub::init( AP_PeriodicProcess * scheduler ) {} uint16_t AP_InertialSensor_Stub::init( AP_PeriodicProcess * scheduler ) {
return AP_PRODUCT_ID_NONE;
}
/*================ AP_INERTIALSENSOR PUBLIC INTERFACE ==================== */ /*================ AP_INERTIALSENSOR PUBLIC INTERFACE ==================== */

2
libraries/AP_InertialSensor/AP_InertialSensor_Stub.h
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@ -15,7 +15,7 @@ class AP_InertialSensor_Stub : public AP_InertialSensor
AP_InertialSensor_Stub() {} AP_InertialSensor_Stub() {}
void init( AP_PeriodicProcess * scheduler ); uint16_t init( AP_PeriodicProcess * scheduler );
/* Concrete implementation of AP_InertialSensor functions: */ /* Concrete implementation of AP_InertialSensor functions: */
bool update(); bool update();