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AP_RangeFinder: handle all I2C rangefinder types on PX4 in PX4Firmware

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This commit is contained in:
Andrew Tridgell 2014-10-09 11:06:16 +11:00
parent 49fa887773
commit 70ca87c4e6
1 changed files with 12 additions and 4 deletions
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16
libraries/AP_RangeFinder/RangeFinder.cpp
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@ -206,14 +206,22 @@ void RangeFinder::update(void)
*/ */
void RangeFinder::detect_instance(uint8_t instance) void RangeFinder::detect_instance(uint8_t instance)
{ {
if (_type[instance] == RangeFinder_TYPE_PLI2C) { uint8_t type = _type[instance];
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
if (type == RangeFinder_TYPE_PLI2C ||
type == RangeFinder_TYPE_MBI2C) {
// I2C sensor types are handled by the PX4Firmware code
type = RangeFinder_TYPE_PX4;
}
#endif
if (type == RangeFinder_TYPE_PLI2C) {
if (AP_RangeFinder_PulsedLightLRF::detect(*this, instance)) { if (AP_RangeFinder_PulsedLightLRF::detect(*this, instance)) {
state[instance].instance = instance; state[instance].instance = instance;
drivers[instance] = new AP_RangeFinder_PulsedLightLRF(*this, instance, state[instance]); drivers[instance] = new AP_RangeFinder_PulsedLightLRF(*this, instance, state[instance]);
return; return;
} }
} }
if (_type[instance] == RangeFinder_TYPE_MBI2C) { if (type == RangeFinder_TYPE_MBI2C) {
if (AP_RangeFinder_MaxsonarI2CXL::detect(*this, instance)) { if (AP_RangeFinder_MaxsonarI2CXL::detect(*this, instance)) {
state[instance].instance = instance; state[instance].instance = instance;
drivers[instance] = new AP_RangeFinder_MaxsonarI2CXL(*this, instance, state[instance]); drivers[instance] = new AP_RangeFinder_MaxsonarI2CXL(*this, instance, state[instance]);
@ -221,7 +229,7 @@ void RangeFinder::detect_instance(uint8_t instance)
} }
} }
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 #if CONFIG_HAL_BOARD == HAL_BOARD_PX4
if (_type[instance] == RangeFinder_TYPE_PX4) { if (type == RangeFinder_TYPE_PX4) {
if (AP_RangeFinder_PX4::detect(*this, instance)) { if (AP_RangeFinder_PX4::detect(*this, instance)) {
state[instance].instance = instance; state[instance].instance = instance;
drivers[instance] = new AP_RangeFinder_PX4(*this, instance, state[instance]); drivers[instance] = new AP_RangeFinder_PX4(*this, instance, state[instance]);
@ -229,7 +237,7 @@ void RangeFinder::detect_instance(uint8_t instance)
} }
} }
#endif #endif
if (_type[instance] == RangeFinder_TYPE_ANALOG) { if (type == RangeFinder_TYPE_ANALOG) {
// note that analog must be the last to be checked, as it will // note that analog must be the last to be checked, as it will
// always come back as present if the pin is valid // always come back as present if the pin is valid
if (AP_RangeFinder_analog::detect(*this, instance)) { if (AP_RangeFinder_analog::detect(*this, instance)) {