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AP_RangeFinder: TeraRangerI2C: use address from parameter instead of hardcoded

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This commit is contained in:
Mateusz Sadowski 2017-07-28 14:20:10 +02:00 committed by Francisco Ferreira
parent 0993300506
commit eb56a010b3
3 changed files with 16 additions and 12 deletions
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13
libraries/AP_RangeFinder/AP_RangeFinder_TeraRangerI2C.cpp
View File

@ -23,8 +23,6 @@
extern const AP_HAL::HAL& hal;
#define TRONE_I2C_ADDR 0x30
// registers
#define TR_MEASURE 0x00
#define TR_WHOAMI 0x01
@ -35,9 +33,10 @@ extern const AP_HAL::HAL& hal;
constructor is not called until detect() returns true, so we
already know that we should setup the rangefinder
*/
AP_RangeFinder_TeraRangerI2C::AP_RangeFinder_TeraRangerI2C(uint8_t bus, RangeFinder::RangeFinder_State &_state)
AP_RangeFinder_TeraRangerI2C::AP_RangeFinder_TeraRangerI2C(RangeFinder::RangeFinder_State &_state,
AP_HAL::OwnPtr<AP_HAL::I2CDevice> i2c_dev)
: AP_RangeFinder_Backend(_state)
, dev(hal.i2c_mgr->get_device(bus, TRONE_I2C_ADDR))
, dev(std::move(i2c_dev))
{
}
@ -46,10 +45,10 @@ AP_RangeFinder_TeraRangerI2C::AP_RangeFinder_TeraRangerI2C(uint8_t bus, RangeFin
trying to take a reading on I2C. If we get a result the sensor is
there.
*/
AP_RangeFinder_Backend *AP_RangeFinder_TeraRangerI2C::detect(uint8_t bus,
RangeFinder::RangeFinder_State &_state)
AP_RangeFinder_Backend *AP_RangeFinder_TeraRangerI2C::detect(RangeFinder::RangeFinder_State &_state,
AP_HAL::OwnPtr<AP_HAL::I2CDevice> i2c_dev)
{
AP_RangeFinder_TeraRangerI2C *sensor = new AP_RangeFinder_TeraRangerI2C(bus, _state);
AP_RangeFinder_TeraRangerI2C *sensor = new AP_RangeFinder_TeraRangerI2C(_state, std::move(i2c_dev));
if (!sensor) {
return nullptr;
}

7
libraries/AP_RangeFinder/AP_RangeFinder_TeraRangerI2C.h
View File

@ -8,8 +8,8 @@ class AP_RangeFinder_TeraRangerI2C : public AP_RangeFinder_Backend
{
public:
// static detection function
static AP_RangeFinder_Backend *detect(uint8_t bus,
RangeFinder::RangeFinder_State &_state);
static AP_RangeFinder_Backend *detect(RangeFinder::RangeFinder_State &_state,
AP_HAL::OwnPtr<AP_HAL::I2CDevice> i2c_dev);
// update state
void update(void);
@ -22,7 +22,8 @@ protected:
private:
// constructor
AP_RangeFinder_TeraRangerI2C(uint8_t bus, RangeFinder::RangeFinder_State &_state);
AP_RangeFinder_TeraRangerI2C(RangeFinder::RangeFinder_State &_state,
AP_HAL::OwnPtr<AP_HAL::I2CDevice> i2c_dev);
bool measure(void);
bool collect(uint16_t &distance_cm);

8
libraries/AP_RangeFinder/RangeFinder.cpp
View File

@ -623,8 +623,12 @@ void RangeFinder::detect_instance(uint8_t instance)
}
break;
case RangeFinder_TYPE_TRI2C:
if (!_add_backend(AP_RangeFinder_TeraRangerI2C::detect(0, state[instance]))) {
_add_backend(AP_RangeFinder_TeraRangerI2C::detect(1, state[instance]));
if (state[instance].address) {
if (!_add_backend(AP_RangeFinder_TeraRangerI2C::detect(state[instance],
hal.i2c_mgr->get_device(1, state[instance].address)))) {
_add_backend(AP_RangeFinder_TeraRangerI2C::detect(state[instance],
hal.i2c_mgr->get_device(0, state[instance].address)));
}
}
break;
case RangeFinder_TYPE_VL53L0X: