From d330cbecb31b4d6c9fc0a87141eb9d1af01d5fa5 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?V=C3=ADctor=20Mayoral=20Vilches?= Date: Thu, 5 Jun 2014 11:39:24 +0200 Subject: [PATCH] HAL_Linux: Make the CS variables more readable in SPIDriver --- libraries/AP_HAL_Linux/SPIDriver.cpp | 24 ++++++++++++------------ libraries/AP_HAL_Linux/SPIDriver.h | 8 ++++---- 2 files changed, 16 insertions(+), 16 deletions(-) diff --git a/libraries/AP_HAL_Linux/SPIDriver.cpp b/libraries/AP_HAL_Linux/SPIDriver.cpp index 3bf1e39ec4..acd62697e1 100644 --- a/libraries/AP_HAL_Linux/SPIDriver.cpp +++ b/libraries/AP_HAL_Linux/SPIDriver.cpp @@ -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; } diff --git a/libraries/AP_HAL_Linux/SPIDriver.h b/libraries/AP_HAL_Linux/SPIDriver.h index a0d40d65a0..daa04ed873 100644 --- a/libraries/AP_HAL_Linux/SPIDriver.h +++ b/libraries/AP_HAL_Linux/SPIDriver.h @@ -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__