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AP_Compass: fixed build on non-Linux platforms

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This commit is contained in:
Andrew Tridgell 2015-01-07 08:39:54 +11:00
parent 2ddf3e728a
commit 9835544163
1 changed files with 7 additions and 9 deletions
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16
libraries/AP_Compass/AP_Compass_AK8963.cpp
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@ -24,10 +24,6 @@
#include <AP_Math.h>
#include <AP_HAL.h>
#include <cstdio>
#include <unistd.h>
#include <cassert>
#include "AP_Compass_AK8963.h"
@ -99,9 +95,11 @@
#if AK8963_DEBUG
#define error(...) fprintf(stderr, __VA_ARGS__)
#define debug(...) hal.console->printf(__VA_ARGS__)
#define ASSERT(x) assert(x)
#else
#define error(...)
#define debug(...)
#define ASSERT(x)
#endif
extern const AP_HAL::HAL& hal;
@ -111,7 +109,7 @@ AK8963_MPU9250_SPI_Backend::AK8963_MPU9250_SPI_Backend()
_spi = hal.spi->device(AP_HAL::SPIDevice_MPU9250);
if (_spi == NULL) {
hal.scheduler->panic("Cannot get SPIDevice_MPU9250");
hal.scheduler->panic(PSTR("Cannot get SPIDevice_MPU9250"));
}
_spi_sem = _spi->get_semaphore();
@ -153,7 +151,7 @@ bool AK8963_MPU9250_SPI_Backend::sem_take_nonblocking()
void AK8963_MPU9250_SPI_Backend::read(uint8_t address, uint8_t *buf, uint32_t count)
{
assert(count < 10);
ASSERT(count < 10);
uint8_t tx[11];
uint8_t rx[11];
@ -166,7 +164,7 @@ void AK8963_MPU9250_SPI_Backend::read(uint8_t address, uint8_t *buf, uint32_t co
void AK8963_MPU9250_SPI_Backend::write(uint8_t address, const uint8_t *buf, uint32_t count)
{
assert(count < 2);
ASSERT(count < 2);
uint8_t tx[2];
tx[0] = address;
@ -211,7 +209,7 @@ bool AP_Compass_AK8963_MPU9250::init()
#if MPU9250_SPI_BACKEND
_backend = new AK8963_MPU9250_SPI_Backend();
if (_backend == NULL) {
hal.scheduler->panic("_backend coudln't be allocated");
hal.scheduler->panic(PSTR("_backend coudln't be allocated"));
}
return AP_Compass_AK8963::init();
#else
@ -397,7 +395,7 @@ bool AP_Compass_AK8963::init()
if (id_mismatch_count == 5) {
_initialised = false;
hal.console->printf("WRONG AK8963 DEVICE ID: 0x%x\n", (unsigned)deviceid);
hal.scheduler->panic("AK8963: bad DEVICE ID");
hal.scheduler->panic(PSTR("AK8963: bad DEVICE ID"));
}
_calibrate();