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AP_InertialSensor: implement periodic thread for AuxiliaryBus

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This commit is contained in:
Lucas De Marchi 2017-08-02 09:08:09 -07:00
parent 4263c1a90c
commit 06fe5ce8ba
4 changed files with 15 additions and 13 deletions
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6
libraries/AP_InertialSensor/AP_InertialSensor_Invensense.cpp
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@ -1120,3 +1120,9 @@ int AP_Invensense_AuxiliaryBus::_configure_periodic_read(AuxiliaryBusSlave *slav
return 0;
}
AP_HAL::Device::PeriodicHandle AP_Invensense_AuxiliaryBus::register_periodic_callback(uint32_t period_usec, AP_HAL::Device::PeriodicCb cb)
{
auto &backend = AP_InertialSensor_Invensense::from(_ins_backend);
return backend._dev->register_periodic_callback(period_usec, cb);
}

1
libraries/AP_InertialSensor/AP_InertialSensor_Invensense.h
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@ -173,6 +173,7 @@ class AP_Invensense_AuxiliaryBus : public AuxiliaryBus
public:
AP_HAL::Semaphore *get_semaphore() override;
AP_HAL::Device::PeriodicHandle register_periodic_callback(uint32_t period_usec, AP_HAL::Device::PeriodicCb cb) override;
protected:
AP_Invensense_AuxiliaryBus(AP_InertialSensor_Invensense &backend, uint32_t devid);

9
libraries/AP_InertialSensor/AuxiliaryBus.cpp
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@ -100,12 +100,3 @@ int AuxiliaryBus::register_periodic_read(AuxiliaryBusSlave *slave, uint8_t reg,
return 0;
}
/*
add a periodic callback. This is added to a list which the backend needs to then process
*/
AP_HAL::Device::PeriodicHandle AuxiliaryBus::register_periodic_callback(uint32_t period_usec, AP_HAL::Device::PeriodicCb cb)
{
// not implemented yet
return nullptr;
}

12
libraries/AP_InertialSensor/AuxiliaryBus.h
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@ -102,9 +102,13 @@ public:
AuxiliaryBusSlave *request_next_slave(uint8_t addr);
int register_periodic_read(AuxiliaryBusSlave *slave, uint8_t reg, uint8_t size);
/* See AP_HAL::Device::register_periodic_callback() */
AP_HAL::Device::PeriodicHandle register_periodic_callback(uint32_t, AP_HAL::Device::PeriodicCb);
/* See AP_HAL::Device::register_periodic_callback()
*
* This method must be implemented by the sensor exposing the
* AuxiliaryBus.
*/
virtual AP_HAL::Device::PeriodicHandle register_periodic_callback(uint32_t, AP_HAL::Device::PeriodicCb) = 0;
/*
* Get the semaphore needed to call methods on the bus this sensor is on.
* Internally no locks are taken and it's the caller's duty to lock and
@ -126,7 +130,7 @@ public:
uint32_t get_bus_id(void) const {
return _devid;
}
protected:
/* Only AP_InertialSensor_Backend is able to create a bus */
AuxiliaryBus(AP_InertialSensor_Backend &backend, uint8_t max_slaves, uint32_t devid);