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AP_Compass: AK8963: refactor constructors 

Declare a common constructor that others can call.
This commit is contained in:
Lucas De Marchi 2015-08-06 11:54:01 -03:00 committed by Andrew Tridgell
parent a5df93bf10
commit 868d0bf3c3
2 changed files with 29 additions and 23 deletions
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42
libraries/AP_Compass/AP_Compass_AK8963.cpp
View File

@ -93,13 +93,30 @@ AP_Compass_AK8963::AP_Compass_AK8963(Compass &compass, AP_AK8963_SerialBus *bus)
AP_Compass_Backend *AP_Compass_AK8963::detect_mpu9250(Compass &compass)
{
AP_Compass_AK8963 *sensor = new AP_Compass_AK8963(compass,
new AP_AK8963_SerialBus_MPU9250());
AP_AK8963_SerialBus *bus = new AP_AK8963_SerialBus_MPU9250();
if (!bus)
return nullptr;
return _detect(compass, bus);
}
AP_Compass_Backend *AP_Compass_AK8963::detect_i2c(Compass &compass,
AP_HAL::I2CDriver *i2c,
uint8_t addr)
{
AP_AK8963_SerialBus *bus = new AP_AK8963_SerialBus_I2C(i2c, addr);
if (!bus)
return nullptr;
return _detect(compass, bus);
}
AP_Compass_Backend *AP_Compass_AK8963::_detect(Compass &compass,
AP_AK8963_SerialBus *bus)
{
AP_Compass_AK8963 *sensor = new AP_Compass_AK8963(compass, bus);
if (sensor == nullptr) {
delete bus;
return nullptr;
}
if (!sensor->init()) {
delete sensor;
return nullptr;
@ -108,24 +125,9 @@ AP_Compass_Backend *AP_Compass_AK8963::detect_mpu9250(Compass &compass)
return sensor;
}
AP_Compass_Backend *AP_Compass_AK8963::detect_i2c(Compass &compass,
AP_HAL::I2CDriver *i2c,
uint8_t addr)
AP_Compass_AK8963::~AP_Compass_AK8963()
{
AP_Compass_AK8963 *sensor =
new AP_Compass_AK8963(compass, new AP_AK8963_SerialBus_I2C(i2c, addr));
if (sensor == nullptr) {
return nullptr;
}
if (!sensor->init()) {
delete sensor;
return nullptr;
}
return sensor;
delete _bus;
}
/* stub to satisfy Compass API*/

10
libraries/AP_Compass/AP_Compass_AK8963.h
View File

@ -17,6 +17,7 @@ public:
uint8_t st2;
};
virtual ~AP_AK8963_SerialBus() { }
virtual void register_read(uint8_t address, uint8_t *value, uint8_t count) = 0;
uint8_t register_read(uint8_t address) {
uint8_t reg;
@ -34,18 +35,21 @@ public:
class AP_Compass_AK8963 : public AP_Compass_Backend
{
public:
AP_Compass_AK8963(Compass &compass, AP_AK8963_SerialBus *bus);
static AP_Compass_Backend *detect_mpu9250(Compass &compass);
static AP_Compass_Backend *detect_i2c(Compass &compass,
AP_HAL::I2CDriver *i2c,
uint8_t addr);
AP_Compass_AK8963(Compass &compass, AP_AK8963_SerialBus *bus);
~AP_Compass_AK8963();
bool init(void);
void read(void);
void accumulate(void);
private:
static AP_Compass_Backend *_detect(Compass &compass, AP_AK8963_SerialBus *bus);
void _make_factory_sensitivity_adjustment(Vector3f& field) const;
Vector3f _get_filtered_field() const;
void _reset_filter();
@ -73,7 +77,7 @@ private:
uint32_t _last_update_timestamp;
uint32_t _last_accum_time;
AP_AK8963_SerialBus *_bus;
AP_AK8963_SerialBus *_bus = nullptr;
AP_HAL::Semaphore *_bus_sem;
};