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AP_InertialSensor: provide static methods for spi transactions

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Add static methods to do the SPI transactions and provide the wrapper
methods when we have an instance of the object. This is useful so these
methods can be called from other contexts when the AP_InertialSensor
hasn't been initialized yet.
This commit is contained in:
Lucas De Marchi 2015-07-02 17:33:22 -03:00 committed by Andrew Tridgell
parent fde43a77b3
commit 953bfbd3fe
2 changed files with 26 additions and 10 deletions
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28
libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.cpp
View File

@ -263,7 +263,7 @@ bool AP_InertialSensor_MPU9250::_init_sensor(void)
hal.scheduler->register_timer_process(FUNCTOR_BIND_MEMBER(&AP_InertialSensor_MPU9250::_poll_data, void));
#if MPU9250_DEBUG
_dump_registers();
_dump_registers(_spi);
#endif
return true;
}
@ -358,30 +358,42 @@ void AP_InertialSensor_MPU9250::_read_data_transaction()
/*
read an 8 bit register
*/
uint8_t AP_InertialSensor_MPU9250::_register_read( uint8_t reg )
uint8_t AP_InertialSensor_MPU9250::_register_read(AP_HAL::SPIDeviceDriver *spi,
uint8_t reg)
{
uint8_t addr = reg | 0x80; // Set most significant bit
uint8_t tx[2];
uint8_t rx[2];
tx[0] = addr;
tx[1] = 0;
_spi->transaction(tx, rx, 2);
spi->transaction(tx, rx, 2);
return rx[1];
}
/*
write an 8 bit register
*/
void AP_InertialSensor_MPU9250::_register_write(uint8_t reg, uint8_t val)
void AP_InertialSensor_MPU9250::_register_write(AP_HAL::SPIDeviceDriver *spi,
uint8_t reg, uint8_t val)
{
uint8_t tx[2];
uint8_t rx[2];
tx[0] = reg;
tx[1] = val;
_spi->transaction(tx, rx, 2);
spi->transaction(tx, rx, 2);
}
inline uint8_t AP_InertialSensor_MPU9250::_register_read(uint8_t reg)
{
return _register_read(_spi, reg);
}
inline void AP_InertialSensor_MPU9250::_register_write(uint8_t reg, uint8_t val)
{
_register_write(_spi, reg, val);
}
/*
@ -472,11 +484,11 @@ bool AP_InertialSensor_MPU9250::_hardware_init(void)
#if MPU9250_DEBUG
// dump all config registers - used for debug
void AP_InertialSensor_MPU9250::_dump_registers(void)
void AP_InertialSensor_MPU9250::_dump_registers(AP_HAL::SPIDeviceDriver *spi)
{
hal.console->println_P(PSTR("MPU9250 registers"));
for (uint8_t reg=0; reg<=126; reg++) {
uint8_t v = _register_read(reg);
uint8_t v = _register_read(spi, reg);
hal.console->printf_P(PSTR("%02x:%02x "), (unsigned)reg, (unsigned)v);
if ((reg - (MPUREG_PRODUCT_ID-1)) % 16 == 0) {
hal.console->println();

8
libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.h
View File

@ -30,8 +30,12 @@ public:
static AP_InertialSensor_Backend *detect(AP_InertialSensor &imu);
private:
bool _init_sensor(void);
static uint8_t _register_read(AP_HAL::SPIDeviceDriver *spi, uint8_t reg);
static void _register_write(AP_HAL::SPIDeviceDriver *spi, uint8_t reg,
uint8_t val);
bool _init_sensor(void);
void _read_data_transaction();
bool _data_ready();
void _poll_data(void);
@ -77,7 +81,7 @@ private:
enum Rotation _default_rotation;
#if MPU9250_DEBUG
void _dump_registers(void);
static void _dump_registers(AP_HAL::SPIDeviceDriver *spi);
#endif
};