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AP_InertialSensor: L3G4200D: add probe code

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This driver works properly but had the initialization logic missing. Add
the support to probe it.
This commit is contained in:
Gustavo Jose de Sousa 2015-02-23 13:46:16 -03:00 committed by Andrew Tridgell
parent 55279664c2
commit d3eebdb6aa
2 changed files with 19 additions and 0 deletions
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2
libraries/AP_InertialSensor/AP_InertialSensor.cpp
View File

@ -420,6 +420,8 @@ AP_InertialSensor::_detect_backends(void)
_add_backend(AP_InertialSensor_Flymaple::detect);
#elif HAL_INS_DEFAULT == HAL_INS_LSM9DS0
_add_backend(AP_InertialSensor_LSM9DS0::detect);
#elif HAL_INS_DEFAULT == HAL_INS_L3G4200D
_add_backend(AP_InertialSensor_L3G4200D::detect);
#else
#error Unrecognised HAL_INS_TYPE setting
#endif

17
libraries/AP_InertialSensor/AP_InertialSensor_L3G4200D.cpp
View File

@ -129,6 +129,23 @@ AP_InertialSensor_L3G4200D::~AP_InertialSensor_L3G4200D()
pthread_spin_destroy(&_data_lock);
}
/*
detect the sensor
*/
AP_InertialSensor_Backend *AP_InertialSensor_L3G4200D::detect(AP_InertialSensor &_imu)
{
AP_InertialSensor_L3G4200D *sensor = new AP_InertialSensor_L3G4200D(_imu);
if (sensor == NULL) {
return NULL;
}
if (!sensor->_init_sensor()) {
delete sensor;
return NULL;
}
return sensor;
}
bool AP_InertialSensor_L3G4200D::_init_sensor(void)
{
// get pointer to i2c bus semaphore