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

AP_InertialSensor: implement device IDs for MPU6000 and MPU9250 AuxilaryBus

Browse Source
This commit is contained in:
Andrew Tridgell 2016-11-04 20:24:24 +11:00
parent ac2c25539b
commit 64a5d3938c
4 changed files with 12 additions and 12 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

@ -314,7 +314,7 @@ void AP_InertialSensor_MPU6000::_fifo_enable()
bool AP_InertialSensor_MPU6000::_has_auxiliary_bus()
{
return _dev->bus_type != AP_HAL::Device::BUS_TYPE_I2C;
return _dev->bus_type() != AP_HAL::Device::BUS_TYPE_I2C;
}
void AP_InertialSensor_MPU6000::start()
@ -416,7 +416,7 @@ AuxiliaryBus *AP_InertialSensor_MPU6000::get_auxiliary_bus()
}
if (_has_auxiliary_bus()) {
_auxiliary_bus = new AP_MPU6000_AuxiliaryBus(*this);
_auxiliary_bus = new AP_MPU6000_AuxiliaryBus(*this, _dev->get_bus_id());
}
return _auxiliary_bus;
@ -647,7 +647,7 @@ bool AP_InertialSensor_MPU6000::_hardware_init(void)
hal.scheduler->delay(100);
/* bus-dependent initialization */
if (_dev->bus_type == AP_HAL::Device::BUS_TYPE_SPI) {
if (_dev->bus_type() == AP_HAL::Device::BUS_TYPE_SPI) {
/* Disable I2C bus if SPI selected (Recommended in Datasheet to be
* done just after the device is reset) */
_register_write(MPUREG_USER_CTRL, BIT_USER_CTRL_I2C_IF_DIS);
@ -809,8 +809,8 @@ int AP_MPU6000_AuxiliaryBusSlave::read(uint8_t *buf)
/* MPU6000 provides up to 5 slave devices, but the 5th is way too different to
* configure and is seldom used */
AP_MPU6000_AuxiliaryBus::AP_MPU6000_AuxiliaryBus(AP_InertialSensor_MPU6000 &backend)
: AuxiliaryBus(backend, 4)
AP_MPU6000_AuxiliaryBus::AP_MPU6000_AuxiliaryBus(AP_InertialSensor_MPU6000 &backend, uint32_t devid)
: AuxiliaryBus(backend, 4, devid)
{
}

2
libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.h
View File

@ -140,7 +140,7 @@ public:
AP_HAL::Semaphore *get_semaphore() override;
protected:
AP_MPU6000_AuxiliaryBus(AP_InertialSensor_MPU6000 &backend);
AP_MPU6000_AuxiliaryBus(AP_InertialSensor_MPU6000 &backend, uint32_t devid);
AuxiliaryBusSlave *_instantiate_slave(uint8_t addr, uint8_t instance) override;
int _configure_periodic_read(AuxiliaryBusSlave *slave, uint8_t reg,

10
libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.cpp
View File

@ -274,7 +274,7 @@ bool AP_InertialSensor_MPU9250::_init()
bool AP_InertialSensor_MPU9250::_has_auxiliary_bus()
{
return _dev->bus_type != AP_HAL::Device::BUS_TYPE_I2C;
return _dev->bus_type() != AP_HAL::Device::BUS_TYPE_I2C;
}
void AP_InertialSensor_MPU9250::start()
@ -347,7 +347,7 @@ AuxiliaryBus *AP_InertialSensor_MPU9250::get_auxiliary_bus()
}
if (_has_auxiliary_bus()) {
_auxiliary_bus = new AP_MPU9250_AuxiliaryBus(*this);
_auxiliary_bus = new AP_MPU9250_AuxiliaryBus(*this, _dev->get_bus_id());
}
return _auxiliary_bus;
@ -464,7 +464,7 @@ bool AP_InertialSensor_MPU9250::_hardware_init(void)
hal.scheduler->delay(100);
/* bus-dependent initialization */
if (_dev->bus_type == AP_HAL::Device::BUS_TYPE_SPI) {
if (_dev->bus_type() == AP_HAL::Device::BUS_TYPE_SPI) {
/* Disable I2C bus if SPI selected (Recommended in Datasheet to be
* done just after the device is reset) */
_register_write(MPUREG_USER_CTRL, BIT_USER_CTRL_I2C_IF_DIS);
@ -623,8 +623,8 @@ int AP_MPU9250_AuxiliaryBusSlave::read(uint8_t *buf)
/* MPU9250 provides up to 5 slave devices, but the 5th is way too different to
* configure and is seldom used */
AP_MPU9250_AuxiliaryBus::AP_MPU9250_AuxiliaryBus(AP_InertialSensor_MPU9250 &backend)
: AuxiliaryBus(backend, 4)
AP_MPU9250_AuxiliaryBus::AP_MPU9250_AuxiliaryBus(AP_InertialSensor_MPU9250 &backend, uint32_t devid)
: AuxiliaryBus(backend, 4, devid)
{
}

2
libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.h
View File

@ -119,7 +119,7 @@ public:
AP_HAL::Semaphore *get_semaphore() override;
protected:
AP_MPU9250_AuxiliaryBus(AP_InertialSensor_MPU9250 &backend);
AP_MPU9250_AuxiliaryBus(AP_InertialSensor_MPU9250 &backend, uint32_t devid);
AuxiliaryBusSlave *_instantiate_slave(uint8_t addr, uint8_t instance);
int _configure_periodic_read(AuxiliaryBusSlave *slave, uint8_t reg,