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AP_InertialSensor: allow for LSM9DS0 to be used on I2C

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This commit is contained in:
Andrew Tridgell 2019-03-10 08:08:58 +11:00
parent cf8a7fd423
commit dff3ea416c
2 changed files with 10 additions and 10 deletions
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8
libraries/AP_InertialSensor/AP_InertialSensor_LSM9DS0.cpp
View File

@ -372,8 +372,8 @@ extern const AP_HAL::HAL &hal;
#define ACT_DUR 0x3F
AP_InertialSensor_LSM9DS0::AP_InertialSensor_LSM9DS0(AP_InertialSensor &imu,
AP_HAL::OwnPtr<AP_HAL::SPIDevice> dev_gyro,
AP_HAL::OwnPtr<AP_HAL::SPIDevice> dev_accel,
AP_HAL::OwnPtr<AP_HAL::Device> dev_gyro,
AP_HAL::OwnPtr<AP_HAL::Device> dev_accel,
int drdy_pin_num_a,
int drdy_pin_num_g,
enum Rotation rotation_a,
@ -391,8 +391,8 @@ AP_InertialSensor_LSM9DS0::AP_InertialSensor_LSM9DS0(AP_InertialSensor &imu,
}
AP_InertialSensor_Backend *AP_InertialSensor_LSM9DS0::probe(AP_InertialSensor &_imu,
AP_HAL::OwnPtr<AP_HAL::SPIDevice> dev_gyro,
AP_HAL::OwnPtr<AP_HAL::SPIDevice> dev_accel,
AP_HAL::OwnPtr<AP_HAL::Device> dev_gyro,
AP_HAL::OwnPtr<AP_HAL::Device> dev_accel,
enum Rotation rotation_a,
enum Rotation rotation_g,
enum Rotation rotation_gH)

12
libraries/AP_InertialSensor/AP_InertialSensor_LSM9DS0.h
View File

@ -16,16 +16,16 @@ public:
bool update() override;
static AP_InertialSensor_Backend *probe(AP_InertialSensor &imu,
AP_HAL::OwnPtr<AP_HAL::SPIDevice> dev_gyro,
AP_HAL::OwnPtr<AP_HAL::SPIDevice> dev_accel,
AP_HAL::OwnPtr<AP_HAL::Device> dev_gyro,
AP_HAL::OwnPtr<AP_HAL::Device> dev_accel,
enum Rotation rotation_a = ROTATION_NONE,
enum Rotation rotation_g = ROTATION_NONE,
enum Rotation rotation_gH = ROTATION_NONE);
private:
AP_InertialSensor_LSM9DS0(AP_InertialSensor &imu,
AP_HAL::OwnPtr<AP_HAL::SPIDevice> dev_gyro,
AP_HAL::OwnPtr<AP_HAL::SPIDevice> dev_accel,
AP_HAL::OwnPtr<AP_HAL::Device> dev_gyro,
AP_HAL::OwnPtr<AP_HAL::Device> dev_accel,
int drdy_pin_num_a, int drdy_pin_num_b,
enum Rotation rotation_a,
enum Rotation rotation_g,
@ -80,8 +80,8 @@ private:
void _dump_registers();
#endif
AP_HAL::OwnPtr<AP_HAL::SPIDevice> _dev_gyro;
AP_HAL::OwnPtr<AP_HAL::SPIDevice> _dev_accel;
AP_HAL::OwnPtr<AP_HAL::Device> _dev_gyro;
AP_HAL::OwnPtr<AP_HAL::Device> _dev_accel;
AP_HAL::Semaphore *_spi_sem;
/*