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AP_Compass: AK8963: Rename some SPI/I2C method parameters 

On read/write operations the argument is the register that will be read or
write not the address, SPI don't even have the concept of device address.
This commit is contained in:
José Roberto de Souza 2015-09-14 13:19:34 -03:00
parent 3d7ec3704d
commit a9d34ac3bd
2 changed files with 32 additions and 32 deletions
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28
libraries/AP_Compass/AP_Compass_AK8963.cpp
View File

@ -167,7 +167,7 @@ bool AP_Compass_AK8963::init()
}
if (!_bus->start_measurements()) {
hal.console->printf("AK8963: Could not start measurments\n");
hal.console->printf("AK8963: Could not start measurements\n");
goto fail;
}
@ -412,41 +412,41 @@ AP_AK8963_SerialBus_MPU9250::AP_AK8963_SerialBus_MPU9250()
}
}
void AP_AK8963_SerialBus_MPU9250::register_write(uint8_t address, uint8_t value)
void AP_AK8963_SerialBus_MPU9250::register_write(uint8_t reg, uint8_t value)
{
const uint8_t count = 1;
_write(MPUREG_I2C_SLV0_ADDR, AK8963_I2C_ADDR);
_write(MPUREG_I2C_SLV0_REG, address);
_write(MPUREG_I2C_SLV0_REG, reg);
_write(MPUREG_I2C_SLV0_DO, value);
_write(MPUREG_I2C_SLV0_CTRL, I2C_SLV0_EN | count);
}
void AP_AK8963_SerialBus_MPU9250::register_read(uint8_t address, uint8_t *value, uint8_t count)
void AP_AK8963_SerialBus_MPU9250::register_read(uint8_t reg, uint8_t *value, uint8_t count)
{
_write(MPUREG_I2C_SLV0_ADDR, AK8963_I2C_ADDR | READ_FLAG);
_write(MPUREG_I2C_SLV0_REG, address);
_write(MPUREG_I2C_SLV0_REG, reg);
_write(MPUREG_I2C_SLV0_CTRL, I2C_SLV0_EN | count);
hal.scheduler->delay(10);
_read(MPUREG_EXT_SENS_DATA_00, value, count);
}
void AP_AK8963_SerialBus_MPU9250::_read(uint8_t address, uint8_t *buf, uint32_t count)
void AP_AK8963_SerialBus_MPU9250::_read(uint8_t reg, uint8_t *buf, uint32_t count)
{
ASSERT(count < 32);
address |= READ_FLAG;
uint8_t tx[32] = { address, };
reg |= READ_FLAG;
uint8_t tx[32] = { reg, };
uint8_t rx[32] = { };
_spi->transaction(tx, rx, count + 1);
memcpy(buf, rx + 1, count);
}
void AP_AK8963_SerialBus_MPU9250::_write(uint8_t address, const uint8_t *buf, uint32_t count)
void AP_AK8963_SerialBus_MPU9250::_write(uint8_t reg, const uint8_t *buf, uint32_t count)
{
ASSERT(count < 2);
uint8_t tx[2] = { address, };
uint8_t tx[2] = { reg, };
memcpy(tx+1, buf, count);
_spi->transaction(tx, NULL, count + 1);
@ -506,14 +506,14 @@ AP_AK8963_SerialBus_I2C::AP_AK8963_SerialBus_I2C(AP_HAL::I2CDriver *i2c, uint8_t
{
}
void AP_AK8963_SerialBus_I2C::register_write(uint8_t address, uint8_t value)
void AP_AK8963_SerialBus_I2C::register_write(uint8_t reg, uint8_t value)
{
_i2c->writeRegister(_addr, address, value);
_i2c->writeRegister(_addr, reg, value);
}
void AP_AK8963_SerialBus_I2C::register_read(uint8_t address, uint8_t *value, uint8_t count)
void AP_AK8963_SerialBus_I2C::register_read(uint8_t reg, uint8_t *value, uint8_t count)
{
_i2c->readRegisters(_addr, address, count, value);
_i2c->readRegisters(_addr, reg, count, value);
}
void AP_AK8963_SerialBus_I2C::read_raw(struct raw_value *rv)

36
libraries/AP_Compass/AP_Compass_AK8963.h
View File

@ -18,13 +18,13 @@ public:
};
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;
register_read(address, &reg, 1);
return reg;
virtual void register_read(uint8_t reg, uint8_t *value, uint8_t count) = 0;
uint8_t register_read(uint8_t reg) {
uint8_t value;
register_read(reg, &value, 1);
return value;
}
virtual void register_write(uint8_t address, uint8_t value) = 0;
virtual void register_write(uint8_t reg, uint8_t value) = 0;
virtual AP_HAL::Semaphore* get_semaphore() = 0;
virtual bool configure() = 0;
virtual bool start_measurements() = 0;
@ -86,18 +86,18 @@ class AP_AK8963_SerialBus_MPU9250: public AP_AK8963_SerialBus
{
public:
AP_AK8963_SerialBus_MPU9250();
void register_read(uint8_t address, uint8_t *value, uint8_t count);
void register_write(uint8_t address, uint8_t value);
void register_read(uint8_t reg, uint8_t *value, uint8_t count);
void register_write(uint8_t reg, uint8_t value);
AP_HAL::Semaphore* get_semaphore();
bool configure();
bool start_measurements();
void read_raw(struct raw_value *rv);
uint32_t get_dev_id();
private:
void _read(uint8_t address, uint8_t *value, uint32_t count);
void _write(uint8_t address, const uint8_t *value, uint32_t count);
void _write(uint8_t address, const uint8_t value) {
_write(address, &value, 1);
void _read(uint8_t reg, uint8_t *value, uint32_t count);
void _write(uint8_t reg, const uint8_t *value, uint32_t count);
void _write(uint8_t reg, const uint8_t value) {
_write(reg, &value, 1);
}
AP_HAL::SPIDeviceDriver *_spi;
AP_HAL::Semaphore *_spi_sem;
@ -107,18 +107,18 @@ class AP_AK8963_SerialBus_I2C: public AP_AK8963_SerialBus
{
public:
AP_AK8963_SerialBus_I2C(AP_HAL::I2CDriver *i2c, uint8_t addr);
void register_read(uint8_t address, uint8_t *value, uint8_t count);
void register_write(uint8_t address, uint8_t value);
void register_read(uint8_t reg, uint8_t *value, uint8_t count);
void register_write(uint8_t reg, uint8_t value);
AP_HAL::Semaphore* get_semaphore();
bool configure(){ return true; }
bool start_measurements() { return true; }
void read_raw(struct raw_value *rv);
uint32_t get_dev_id();
private:
void _read(uint8_t address, uint8_t *value, uint32_t count);
void _write(uint8_t address, const uint8_t *value, uint32_t count);
void _write(uint8_t address, const uint8_t value) {
_write(address, &value, 1);
void _read(uint8_t reg, uint8_t *value, uint32_t count);
void _write(uint8_t reg, const uint8_t *value, uint32_t count);
void _write(uint8_t reg, const uint8_t value) {
_write(reg, &value, 1);
}
AP_HAL::I2CDriver *_i2c;
AP_HAL::Semaphore *_i2c_sem;