aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

AP_InertialSensor: use method for downcast

Browse Source 
Instead of just doing a static cast to the desired class, use a method
named "from". Pros:

  - When we have data shared on the parent class, the code is cleaner in
    child class when it needs to access this data. Almost all the data
    we use in AP_HAL benefits from this

  - There's a minimal type checking because now we are using a method
    that can only receive the type of the parent class
This commit is contained in:
Lucas De Marchi 2015-09-13 15:28:02 -03:00 committed by Andrew Tridgell
parent 54c2c5f682
commit 294298ea34
2 changed files with 8 additions and 5 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

10
libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp
View File

@ -952,7 +952,7 @@ AP_MPU6000_AuxiliaryBusSlave::AP_MPU6000_AuxiliaryBusSlave(AuxiliaryBus &bus, ui
int AP_MPU6000_AuxiliaryBusSlave::_set_passthrough(uint8_t reg, uint8_t size,
uint8_t *out)
{
AP_InertialSensor_MPU6000 &backend = static_cast<AP_InertialSensor_MPU6000&>(_bus.get_backend());
auto backend = AP_InertialSensor_MPU6000::from(_bus.get_backend());
uint8_t addr;
/* Ensure the slave read/write is disabled before changing the registers */
@ -989,7 +989,7 @@ int AP_MPU6000_AuxiliaryBusSlave::passthrough_read(uint8_t reg, uint8_t *buf,
/* wait the value to be read from the slave and read it back */
hal.scheduler->delay(10);
AP_InertialSensor_MPU6000 &backend = static_cast<AP_InertialSensor_MPU6000&>(_bus.get_backend());
auto backend = AP_InertialSensor_MPU6000::from(_bus.get_backend());
backend._read_block(MPUREG_EXT_SENS_DATA_00 + _ext_sens_data, buf, size);
/* disable new reads */
@ -1012,7 +1012,7 @@ int AP_MPU6000_AuxiliaryBusSlave::passthrough_write(uint8_t reg, uint8_t val)
/* wait the value to be written to the slave */
hal.scheduler->delay(10);
AP_InertialSensor_MPU6000 &backend = static_cast<AP_InertialSensor_MPU6000&>(_bus.get_backend());
auto backend = AP_InertialSensor_MPU6000::from(_bus.get_backend());
/* disable new writes */
backend._register_write(_mpu6000_ctrl, 0);
@ -1027,7 +1027,7 @@ int AP_MPU6000_AuxiliaryBusSlave::read(uint8_t *buf)
return -1;
}
AP_InertialSensor_MPU6000 &backend = static_cast<AP_InertialSensor_MPU6000&>(_bus.get_backend());
auto backend = AP_InertialSensor_MPU6000::from(_bus.get_backend());
backend._read_block(MPUREG_EXT_SENS_DATA_00 + _ext_sens_data, buf, _sample_size);
return 0;
@ -1056,7 +1056,7 @@ AuxiliaryBusSlave *AP_MPU6000_AuxiliaryBus::_instantiate_slave(uint8_t addr, uin
void AP_MPU6000_AuxiliaryBus::_configure_slaves()
{
AP_InertialSensor_MPU6000 &backend = static_cast<AP_InertialSensor_MPU6000&>(_ins_backend);
auto backend = AP_InertialSensor_MPU6000::from(_ins_backend);
uint8_t user_ctrl;
user_ctrl = backend._register_read(MPUREG_USER_CTRL);

3
libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.h
View File

@ -65,6 +65,9 @@ public:
AP_HAL::I2CDriver *i2c,
uint8_t addr);
static AP_InertialSensor_Backend *detect_spi(AP_InertialSensor &_imu);
static AP_InertialSensor_MPU6000 &from(AP_InertialSensor_Backend &backend) {
return static_cast<AP_InertialSensor_MPU6000&>(backend);
}
/* update accel and gyro state */
bool update();