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AP_Compass: AK8963: be agnostic to I2C bus/address

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This decision is better made by the caller rather than polluting the
driver with board-specific details.
This commit is contained in:
Lucas De Marchi 2015-08-05 19:02:56 -03:00 committed by Andrew Tridgell
parent d92c2ac9f5
commit a5df93bf10
3 changed files with 11 additions and 10 deletions
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14
libraries/AP_Compass/AP_Compass_AK8963.cpp
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@ -79,10 +79,6 @@
#endif #endif
#endif #endif
#if !defined(HAL_COMPASS_AK8963_I2C_ADDR)
#define HAL_COMPASS_AK8963_I2C_ADDR 0xC
#endif
extern const AP_HAL::HAL& hal; extern const AP_HAL::HAL& hal;
AP_Compass_AK8963::AP_Compass_AK8963(Compass &compass, AP_AK8963_SerialBus *bus) : AP_Compass_AK8963::AP_Compass_AK8963(Compass &compass, AP_AK8963_SerialBus *bus) :
@ -112,11 +108,13 @@ AP_Compass_Backend *AP_Compass_AK8963::detect_mpu9250(Compass &compass)
return sensor; return sensor;
} }
AP_Compass_Backend *AP_Compass_AK8963::detect_i2c1(Compass &compass)
AP_Compass_Backend *AP_Compass_AK8963::detect_i2c(Compass &compass,
AP_HAL::I2CDriver *i2c,
uint8_t addr)
{ {
AP_Compass_AK8963 *sensor = new AP_Compass_AK8963(compass, AP_Compass_AK8963 *sensor =
new AP_AK8963_SerialBus_I2C( new AP_Compass_AK8963(compass, new AP_AK8963_SerialBus_I2C(i2c, addr));
hal.i2c1, HAL_COMPASS_AK8963_I2C_ADDR));
if (sensor == nullptr) { if (sensor == nullptr) {
return nullptr; return nullptr;

4
libraries/AP_Compass/AP_Compass_AK8963.h
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@ -37,7 +37,9 @@ public:
AP_Compass_AK8963(Compass &compass, AP_AK8963_SerialBus *bus); AP_Compass_AK8963(Compass &compass, AP_AK8963_SerialBus *bus);
static AP_Compass_Backend *detect_mpu9250(Compass &compass); static AP_Compass_Backend *detect_mpu9250(Compass &compass);
static AP_Compass_Backend *detect_i2c1(Compass &compass); static AP_Compass_Backend *detect_i2c(Compass &compass,
AP_HAL::I2CDriver *i2c,
uint8_t addr);
bool init(void); bool init(void);
void read(void); void read(void);

3
libraries/AP_Compass/Compass.cpp
View File

@ -348,7 +348,8 @@ void Compass::_detect_backends(void)
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_HMC5843 #elif HAL_COMPASS_DEFAULT == HAL_COMPASS_HMC5843
_add_backend(AP_Compass_HMC5843::detect(*this)); _add_backend(AP_Compass_HMC5843::detect(*this));
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_AK8963_I2C && HAL_INS_AK8963_I2C_BUS == 1 #elif HAL_COMPASS_DEFAULT == HAL_COMPASS_AK8963_I2C && HAL_INS_AK8963_I2C_BUS == 1
_add_backend(AP_Compass_AK8963::detect_i2c1(*this)); _add_backend(AP_Compass_AK8963::detect_i2c(*this, hal.i2c1,
HAL_COMPASS_AK8963_I2C_ADDR));
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_PX4 || HAL_COMPASS_DEFAULT == HAL_COMPASS_VRBRAIN #elif HAL_COMPASS_DEFAULT == HAL_COMPASS_PX4 || HAL_COMPASS_DEFAULT == HAL_COMPASS_VRBRAIN
_add_backend(AP_Compass_PX4::detect(*this)); _add_backend(AP_Compass_PX4::detect(*this));
#else #else