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AP_InertialSensor: pass backend instead of pointer to function

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Different detect() function might need different arguments and passing a
pointer to function here is cumbersome. For example, it forces to have a
method like "detect_i2c2" rather than allowing hal.i2c2 to be passed as
parameter.
This commit is contained in:
Lucas De Marchi 2015-07-28 11:02:09 -03:00 committed by Randy Mackay
parent f31fe780eb
commit a9a0e228ac
2 changed files with 16 additions and 22 deletions
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36
libraries/AP_InertialSensor/AP_InertialSensor.cpp
View File

@ -379,21 +379,15 @@ AP_InertialSensor::init( Start_style style,
_have_sample = false;
}
/*
try to load a backend
*/
void AP_InertialSensor::_add_backend(AP_InertialSensor_Backend *(detect)(AP_InertialSensor &))
void AP_InertialSensor::_add_backend(AP_InertialSensor_Backend *backend)
{
if (_backend_count == INS_MAX_BACKENDS) {
if (!backend)
return;
if (_backend_count == INS_MAX_BACKENDS)
hal.scheduler->panic(PSTR("Too many INS backends"));
}
_backends[_backend_count] = detect(*this);
if (_backends[_backend_count] != NULL) {
_backend_count++;
}
_backends[_backend_count++] = backend;
}
/*
detect available backends for this board
*/
@ -401,27 +395,27 @@ void
AP_InertialSensor::_detect_backends(void)
{
if (_hil_mode) {
_add_backend(AP_InertialSensor_HIL::detect);
_add_backend(AP_InertialSensor_HIL::detect(*this));
return;
}
#if HAL_INS_DEFAULT == HAL_INS_HIL
_add_backend(AP_InertialSensor_HIL::detect);
_add_backend(AP_InertialSensor_HIL::detect(*this));
#elif HAL_INS_DEFAULT == HAL_INS_MPU60XX_SPI
_add_backend(AP_InertialSensor_MPU6000::detect_spi);
_add_backend(AP_InertialSensor_MPU6000::detect_spi(*this));
#elif HAL_INS_DEFAULT == HAL_INS_MPU60XX_I2C && HAL_INS_MPU60XX_I2C_BUS == 2
_add_backend(AP_InertialSensor_MPU6000::detect_i2c2);
_add_backend(AP_InertialSensor_MPU6000::detect_i2c2(*this));
#elif HAL_INS_DEFAULT == HAL_INS_PX4 || HAL_INS_DEFAULT == HAL_INS_VRBRAIN
_add_backend(AP_InertialSensor_PX4::detect);
_add_backend(AP_InertialSensor_PX4::detect(*this));
#elif HAL_INS_DEFAULT == HAL_INS_OILPAN
_add_backend(AP_InertialSensor_Oilpan::detect);
_add_backend(AP_InertialSensor_Oilpan::detect(*this));
#elif HAL_INS_DEFAULT == HAL_INS_MPU9250
_add_backend(AP_InertialSensor_MPU9250::detect);
_add_backend(AP_InertialSensor_MPU9250::detect(*this));
#elif HAL_INS_DEFAULT == HAL_INS_FLYMAPLE
_add_backend(AP_InertialSensor_Flymaple::detect);
_add_backend(AP_InertialSensor_Flymaple::detect(*this));
#elif HAL_INS_DEFAULT == HAL_INS_LSM9DS0
_add_backend(AP_InertialSensor_LSM9DS0::detect);
_add_backend(AP_InertialSensor_LSM9DS0::detect(*this));
#elif HAL_INS_DEFAULT == HAL_INS_L3G4200D
_add_backend(AP_InertialSensor_L3G4200D::detect);
_add_backend(AP_InertialSensor_L3G4200D::detect(*this));
#else
#error Unrecognised HAL_INS_TYPE setting
#endif

2
libraries/AP_InertialSensor/AP_InertialSensor.h
View File

@ -236,7 +236,7 @@ public:
private:
// load backend drivers
void _add_backend(AP_InertialSensor_Backend *(detect)(AP_InertialSensor &));
void _add_backend(AP_InertialSensor_Backend *backend);
void _detect_backends(void);
// gyro initialisation