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AP_InertialSensor: implement device IDs for AuxilaryBus

This commit is contained in:
Andrew Tridgell 2016-11-04 20:23:54 +11:00
parent 16489d2a13
commit ac2c25539b
2 changed files with 14 additions and 2 deletions
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3
libraries/AP_InertialSensor/AuxiliaryBus.cpp
View File

@ -16,9 +16,10 @@ AuxiliaryBusSlave::~AuxiliaryBusSlave()
{
}
AuxiliaryBus::AuxiliaryBus(AP_InertialSensor_Backend &backend, uint8_t max_slaves)
AuxiliaryBus::AuxiliaryBus(AP_InertialSensor_Backend &backend, uint8_t max_slaves, uint32_t devid)
: _max_slaves(max_slaves)
, _ins_backend(backend)
, _devid(devid)
{
_slaves = (AuxiliaryBusSlave**) calloc(max_slaves, sizeof(AuxiliaryBusSlave*));
}

13
libraries/AP_InertialSensor/AuxiliaryBus.h
View File

@ -117,9 +117,19 @@ public:
*/
virtual AP_HAL::Semaphore *get_semaphore() = 0;
// set device type within a device class
void set_device_type(uint8_t devtype) {
_devid = AP_HAL::Device::change_bus_id(_devid, devtype);
}
// return 24 bit bus identifier
uint32_t get_bus_id(void) const {
return _devid;
}
protected:
/* Only AP_InertialSensor_Backend is able to create a bus */
AuxiliaryBus(AP_InertialSensor_Backend &backend, uint8_t max_slaves);
AuxiliaryBus(AP_InertialSensor_Backend &backend, uint8_t max_slaves, uint32_t devid);
virtual ~AuxiliaryBus();
virtual AuxiliaryBusSlave *_instantiate_slave(uint8_t addr, uint8_t instance) = 0;
@ -130,4 +140,5 @@ protected:
const uint8_t _max_slaves;
AuxiliaryBusSlave **_slaves;
AP_InertialSensor_Backend &_ins_backend;
uint32_t _devid;
};