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Teach the compass init code how to detect whether there is a compass present

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at all.  This lets systems where it's optional decide whether to try to use
it or not...



git-svn-id: https://arducopter.googlecode.com/svn/trunk@684 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
DrZiplok 2010-10-17 21:07:25 +00:00
parent 2e5be5d86b
commit 502b6ee0f7
2 changed files with 6 additions and 3 deletions
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7
libraries/APM_Compass/APM_Compass.cpp
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@ -1,3 +1,4 @@
// -*- tab-width: 4; Mode: C++; c-basic-offset: 3; indent-tabs-mode: t -*-
/* /*
APM_Compass.cpp - Arduino Library for HMC5843 I2C Magnetometer APM_Compass.cpp - Arduino Library for HMC5843 I2C Magnetometer
Code by Jordi Muñoz and Jose Julio. DIYDrones.com Code by Jordi Muñoz and Jose Julio. DIYDrones.com
@ -78,7 +79,7 @@ APM_Compass_Class::APM_Compass_Class() : orientation(0), declination(0.0)
} }
// Public Methods ////////////////////////////////////////////////////////////// // Public Methods //////////////////////////////////////////////////////////////
void APM_Compass_Class::Init(void) bool APM_Compass_Class::Init(void)
{ {
unsigned long currentTime = millis(); // record current time unsigned long currentTime = millis(); // record current time
int numAttempts = 0; int numAttempts = 0;
@ -102,7 +103,8 @@ void APM_Compass_Class::Init(void)
Wire.beginTransmission(CompassAddress); Wire.beginTransmission(CompassAddress);
Wire.send(ConfigRegA); Wire.send(ConfigRegA);
Wire.send(PositiveBiasConfig); Wire.send(PositiveBiasConfig);
Wire.endTransmission(); if (0 != Wire.endTransmission())
continue; // compass not responding on the bus
delay(50); delay(50);
// set gains // set gains
@ -146,6 +148,7 @@ void APM_Compass_Class::Init(void)
Wire.endTransmission(); // End transmission Wire.endTransmission(); // End transmission
delay(50); delay(50);
} }
return(success);
} }
// Read Sensor data // Read Sensor data

2
libraries/APM_Compass/APM_Compass.h
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@ -35,7 +35,7 @@ class APM_Compass_Class
unsigned long lastUpdate; unsigned long lastUpdate;
APM_Compass_Class(); // Constructor APM_Compass_Class(); // Constructor
void Init(); bool Init();
void Read(); void Read();
void Calculate(float roll, float pitch); void Calculate(float roll, float pitch);
void SetOrientation(int newOrientation); void SetOrientation(int newOrientation);