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AP_InertialSensor: BMI160: Make it possible to use I2C

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The BMI160 chip talks the same protocol over SPI and I2C,
so simply allowing I2C in hwdef is sufficient to allow it to be used.
This commit is contained in:
Scott Parlane 2021-08-11 21:51:32 +12:00 committed by Andrew Tridgell
parent 6554c535a1
commit 700edd241f
2 changed files with 26 additions and 0 deletions
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21
libraries/AP_InertialSensor/AP_InertialSensor_BMI160.cpp
View File

@ -146,6 +146,27 @@ AP_InertialSensor_BMI160::probe(AP_InertialSensor &imu,
return sensor; return sensor;
} }
AP_InertialSensor_Backend *
AP_InertialSensor_BMI160::probe(AP_InertialSensor &imu,
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev)
{
if (!dev) {
return nullptr;
}
auto sensor = new AP_InertialSensor_BMI160(imu, std::move(dev));
if (!sensor) {
return nullptr;
}
if (!sensor->_init()) {
delete sensor;
return nullptr;
}
return sensor;
}
void AP_InertialSensor_BMI160::start() void AP_InertialSensor_BMI160::start()
{ {
bool r; bool r;

5
libraries/AP_InertialSensor/AP_InertialSensor_BMI160.h
View File

@ -17,6 +17,8 @@
#pragma once #pragma once
#include <AP_HAL/AP_HAL.h> #include <AP_HAL/AP_HAL.h>
#include <AP_HAL/SPIDevice.h>
#include <AP_HAL/I2CDevice.h>
#include "AP_InertialSensor.h" #include "AP_InertialSensor.h"
#include "AP_InertialSensor_Backend.h" #include "AP_InertialSensor_Backend.h"
@ -26,6 +28,9 @@ public:
static AP_InertialSensor_Backend *probe(AP_InertialSensor &imu, static AP_InertialSensor_Backend *probe(AP_InertialSensor &imu,
AP_HAL::OwnPtr<AP_HAL::SPIDevice> dev); AP_HAL::OwnPtr<AP_HAL::SPIDevice> dev);
static AP_InertialSensor_Backend *probe(AP_InertialSensor &imu,
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev);
/** /**
* Configure the sensors and start reading routine. * Configure the sensors and start reading routine.
*/ */