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HAL_Linux: Make the CS variables more readable in SPIDriver

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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
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24
libraries/AP_HAL_Linux/SPIDriver.cpp
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@ -119,18 +119,18 @@ void LinuxSPIDeviceDriver::transfer(const uint8_t *data, uint16_t len)
} }
LinuxSPIDeviceManager::LinuxSPIDeviceManager() : LinuxSPIDeviceManager::LinuxSPIDeviceManager() :
_device_cs0("/dev/spidev2.0", SPI_MODE_0, 8, 7, 6*1000*1000), /* SPIDevice_MS5611 */ _device_ms5611("/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_mpu6000("/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_mpu9250("/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_lsm9ds0("/dev/spidev1.0", SPI_MODE_0, 8, 5, 6*1000*1000) /* SPIDevice_LSM9DS0 */
{} {}
void LinuxSPIDeviceManager::init(void *) void LinuxSPIDeviceManager::init(void *)
{ {
_device_cs0.init(); _device_ms5611.init();
_device_cs1.init(); _device_mpu6000.init();
_device_cs2.init(); _device_mpu9250.init();
_device_cs3.init(); _device_lsm9ds0.init();
} }
/* /*
@ -140,13 +140,13 @@ AP_HAL::SPIDeviceDriver* LinuxSPIDeviceManager::device(enum AP_HAL::SPIDevice de
{ {
switch (dev) { switch (dev) {
case AP_HAL::SPIDevice_MPU6000: case AP_HAL::SPIDevice_MPU6000:
return &_device_cs1; return &_device_mpu6000;
case AP_HAL::SPIDevice_MPU9250: case AP_HAL::SPIDevice_MPU9250:
return &_device_cs2; return &_device_mpu9250;
case AP_HAL::SPIDevice_MS5611: case AP_HAL::SPIDevice_MS5611:
return &_device_cs0; return &_device_ms5611;
case AP_HAL::SPIDevice_LSM9DS0: case AP_HAL::SPIDevice_LSM9DS0:
return &_device_cs3; return &_device_lsm9ds0;
} }
return NULL; return NULL;
} }

8
libraries/AP_HAL_Linux/SPIDriver.h
View File

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