Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-21 15:23:57 -04:00
Code Issues Packages Projects Releases Wiki Activity

HAL_Linux: Make the CS variables more readable in SPIDriver

Browse Source
This commit is contained in:
Víctor Mayoral Vilches 2014-06-05 11:39:24 +02:00 committed by Andrew Tridgell
parent 665bf4a247
commit d330cbecb3
2 changed files with 16 additions and 16 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

24
libraries/AP_HAL_Linux/SPIDriver.cpp
View File

@ -119,18 +119,18 @@ void LinuxSPIDeviceDriver::transfer(const uint8_t *data, uint16_t len)
}
LinuxSPIDeviceManager::LinuxSPIDeviceManager() :
_device_cs0("/dev/spidev2.0", SPI_MODE_0, 8, 7, 6*1000*1000), /* SPIDevice_MS5611 */
_device_cs1("/dev/spidev2.0", SPI_MODE_0, 8, 113, 20*1000*1000), /* SPIDevice_MPU6000 */
_device_cs2("/dev/spidev2.0", SPI_MODE_0, 8, 49, 6*1000*1000), /* SPIDevice_MPU9250 */
_device_cs3("/dev/spidev1.0", SPI_MODE_0, 8, 5, 6*1000*1000) /* SPIDevice_LSM9DS0 */
_device_ms5611("/dev/spidev2.0", SPI_MODE_0, 8, 7, 6*1000*1000), /* SPIDevice_MS5611 */
_device_mpu6000("/dev/spidev2.0", SPI_MODE_0, 8, 113, 20*1000*1000), /* SPIDevice_MPU6000 */
_device_mpu9250("/dev/spidev2.0", SPI_MODE_0, 8, 49, 6*1000*1000), /* SPIDevice_MPU9250 */
_device_lsm9ds0("/dev/spidev1.0", SPI_MODE_0, 8, 5, 6*1000*1000) /* SPIDevice_LSM9DS0 */
{}
void LinuxSPIDeviceManager::init(void *)
{
_device_cs0.init();
_device_cs1.init();
_device_cs2.init();
_device_cs3.init();
_device_ms5611.init();
_device_mpu6000.init();
_device_mpu9250.init();
_device_lsm9ds0.init();
}
/*
@ -140,13 +140,13 @@ AP_HAL::SPIDeviceDriver* LinuxSPIDeviceManager::device(enum AP_HAL::SPIDevice de
{
switch (dev) {
case AP_HAL::SPIDevice_MPU6000:
return &_device_cs1;
return &_device_mpu6000;
case AP_HAL::SPIDevice_MPU9250:
return &_device_cs2;
return &_device_mpu9250;
case AP_HAL::SPIDevice_MS5611:
return &_device_cs0;
return &_device_ms5611;
case AP_HAL::SPIDevice_LSM9DS0:
return &_device_cs3;
return &_device_lsm9ds0;
}
return NULL;
}

8
libraries/AP_HAL_Linux/SPIDriver.h
View File

@ -33,10 +33,10 @@ public:
void init(void *);
AP_HAL::SPIDeviceDriver* device(enum AP_HAL::SPIDevice);
private:
LinuxSPIDeviceDriver _device_cs0;
LinuxSPIDeviceDriver _device_cs1;
LinuxSPIDeviceDriver _device_cs2;
LinuxSPIDeviceDriver _device_cs3;
LinuxSPIDeviceDriver _device_ms5611;
LinuxSPIDeviceDriver _device_mpu6000;
LinuxSPIDeviceDriver _device_mpu9250;
LinuxSPIDeviceDriver _device_lsm9ds0;
};
#endif // __AP_HAL_LINUX_SPIDRIVER_H__