From a9d34ac3bd230ca15b6596103ba56f93b3fd702c Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Jos=C3=A9=20Roberto=20de=20Souza?= Date: Mon, 14 Sep 2015 13:19:34 -0300 Subject: [PATCH] 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. --- libraries/AP_Compass/AP_Compass_AK8963.cpp | 28 ++++++++--------- libraries/AP_Compass/AP_Compass_AK8963.h | 36 +++++++++++----------- 2 files changed, 32 insertions(+), 32 deletions(-) diff --git a/libraries/AP_Compass/AP_Compass_AK8963.cpp b/libraries/AP_Compass/AP_Compass_AK8963.cpp index 43f5b4c779..14c3a6f7bc 100644 --- a/libraries/AP_Compass/AP_Compass_AK8963.cpp +++ b/libraries/AP_Compass/AP_Compass_AK8963.cpp @@ -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) diff --git a/libraries/AP_Compass/AP_Compass_AK8963.h b/libraries/AP_Compass/AP_Compass_AK8963.h index 488f563c49..c7aafeb4de 100644 --- a/libraries/AP_Compass/AP_Compass_AK8963.h +++ b/libraries/AP_Compass/AP_Compass_AK8963.h @@ -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, ®, 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;