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AP_Compass: Add support for more then one AK8963

This commit is contained in:
mirkix 2015-10-05 22:42:00 +02:00 committed by Andrew Tridgell
parent 22af74bfe6
commit ddb8e67954
3 changed files with 7 additions and 7 deletions
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8
libraries/AP_Compass/AP_Compass_AK8963.cpp
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@ -91,9 +91,9 @@ AP_Compass_AK8963::AP_Compass_AK8963(Compass &compass, AP_AK8963_SerialBus *bus)
_reset_filter(); _reset_filter();
} }
AP_Compass_Backend *AP_Compass_AK8963::detect_mpu9250(Compass &compass) AP_Compass_Backend *AP_Compass_AK8963::detect_mpu9250(Compass &compass, AP_HAL::SPIDeviceDriver *spi)
{ {
AP_AK8963_SerialBus *bus = new AP_AK8963_SerialBus_MPU9250(); AP_AK8963_SerialBus *bus = new AP_AK8963_SerialBus_MPU9250(spi);
if (!bus) if (!bus)
return nullptr; return nullptr;
return _detect(compass, bus); return _detect(compass, bus);
@ -402,9 +402,9 @@ void AP_Compass_AK8963::_dump_registers()
} }
/* MPU9250 implementation of the AK8963 */ /* MPU9250 implementation of the AK8963 */
AP_AK8963_SerialBus_MPU9250::AP_AK8963_SerialBus_MPU9250() AP_AK8963_SerialBus_MPU9250::AP_AK8963_SerialBus_MPU9250(AP_HAL::SPIDeviceDriver *spi)
{ {
_spi = hal.spi->device(AP_HAL::SPIDevice_MPU9250); _spi = spi;
if (_spi == NULL) { if (_spi == NULL) {
hal.console->printf("Cannot get SPIDevice_MPU9250\n"); hal.console->printf("Cannot get SPIDevice_MPU9250\n");

4
libraries/AP_Compass/AP_Compass_AK8963.h
View File

@ -35,7 +35,7 @@ public:
class AP_Compass_AK8963 : public AP_Compass_Backend class AP_Compass_AK8963 : public AP_Compass_Backend
{ {
public: public:
static AP_Compass_Backend *detect_mpu9250(Compass &compass); static AP_Compass_Backend *detect_mpu9250(Compass &compass, AP_HAL::SPIDeviceDriver *spi);
static AP_Compass_Backend *detect_i2c(Compass &compass, static AP_Compass_Backend *detect_i2c(Compass &compass,
AP_HAL::I2CDriver *i2c, AP_HAL::I2CDriver *i2c,
uint8_t addr); uint8_t addr);
@ -85,7 +85,7 @@ private:
class AP_AK8963_SerialBus_MPU9250: public AP_AK8963_SerialBus class AP_AK8963_SerialBus_MPU9250: public AP_AK8963_SerialBus
{ {
public: public:
AP_AK8963_SerialBus_MPU9250(); AP_AK8963_SerialBus_MPU9250(AP_HAL::SPIDeviceDriver *spi);
void register_read(uint8_t reg, uint8_t *value, uint8_t count); void register_read(uint8_t reg, uint8_t *value, uint8_t count);
void register_write(uint8_t reg, uint8_t value); void register_write(uint8_t reg, uint8_t value);
AP_HAL::Semaphore* get_semaphore(); AP_HAL::Semaphore* get_semaphore();

2
libraries/AP_Compass/Compass.cpp
View File

@ -456,7 +456,7 @@ void Compass::_detect_backends(void)
_add_backend(AP_Compass_LSM303D::detect_spi(*this)); _add_backend(AP_Compass_LSM303D::detect_spi(*this));
#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX && CONFIG_HAL_BOARD_SUBTYPE != HAL_BOARD_SUBTYPE_LINUX_NONE && CONFIG_HAL_BOARD_SUBTYPE != HAL_BOARD_SUBTYPE_LINUX_BEBOP #elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX && CONFIG_HAL_BOARD_SUBTYPE != HAL_BOARD_SUBTYPE_LINUX_NONE && CONFIG_HAL_BOARD_SUBTYPE != HAL_BOARD_SUBTYPE_LINUX_BEBOP
_add_backend(AP_Compass_HMC5843::detect_i2c(*this, hal.i2c)); _add_backend(AP_Compass_HMC5843::detect_i2c(*this, hal.i2c));
_add_backend(AP_Compass_AK8963::detect_mpu9250(*this)); _add_backend(AP_Compass_AK8963::detect_mpu9250(*this, hal.spi->device(AP_HAL::SPIDevice_MPU9250)));
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_HIL #elif HAL_COMPASS_DEFAULT == HAL_COMPASS_HIL
_add_backend(AP_Compass_HIL::detect(*this)); _add_backend(AP_Compass_HIL::detect(*this));
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_HMC5843 #elif HAL_COMPASS_DEFAULT == HAL_COMPASS_HMC5843