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Made HMC bus-agnostic

This commit is contained in:
Lorenz Meier 2013-04-27 19:27:15 +02:00
parent 7ca82801bd
commit ee498a9d7c
2 changed files with 29 additions and 11 deletions
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6
apps/drivers/device/i2c.h
View File

@ -60,6 +60,11 @@ protected:
*/
unsigned _retries;
/**
* The I2C bus number the device is attached to.
*/
int _bus;
/**
* @ Constructor
*
@ -123,7 +128,6 @@ protected:
}
private:
int _bus;
uint16_t _address;
uint32_t _frequency;
struct i2c_dev_s *_dev;

34
src/drivers/hmc5883/hmc5883.cpp
View File

@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -75,7 +75,6 @@
* HMC5883 internal constants and data structures.
*/
#define HMC5883L_BUS PX4_I2C_BUS_ONBOARD
#define HMC5883L_ADDRESS PX4_I2C_OBDEV_HMC5883
/* Max measurement rate is 160Hz */
@ -842,12 +841,21 @@ HMC5883::collect()
* 74 from all measurements centers them around zero.
*/
/* to align the sensor axes with the board, x and y need to be flipped */
_reports[_next_report].x = ((report.y * _range_scale) - _scale.x_offset) * _scale.x_scale;
/* flip axes and negate value for y */
_reports[_next_report].y = ((((report.x == -32768) ? 32767 : -report.x) * _range_scale) - _scale.y_offset) * _scale.y_scale;
/* z remains z */
_reports[_next_report].z = ((report.z * _range_scale) - _scale.z_offset) * _scale.z_scale;
if (_bus == PX4_I2C_BUS_ONBOARD) {
/* to align the sensor axes with the board, x and y need to be flipped */
_reports[_next_report].x = ((report.y * _range_scale) - _scale.x_offset) * _scale.x_scale;
/* flip axes and negate value for y */
_reports[_next_report].y = ((((report.x == -32768) ? 32767 : -report.x) * _range_scale) - _scale.y_offset) * _scale.y_scale;
/* z remains z */
_reports[_next_report].z = ((report.z * _range_scale) - _scale.z_offset) * _scale.z_scale;
} else {
/* XXX axis assignment of external sensor is yet unknown */
_reports[_next_report].x = ((report.y * _range_scale) - _scale.x_offset) * _scale.x_scale;
/* flip axes and negate value for y */
_reports[_next_report].y = ((((report.x == -32768) ? 32767 : -report.x) * _range_scale) - _scale.y_offset) * _scale.y_scale;
/* z remains z */
_reports[_next_report].z = ((report.z * _range_scale) - _scale.z_offset) * _scale.z_scale;
}
/* publish it */
orb_publish(ORB_ID(sensor_mag), _mag_topic, &_reports[_next_report]);
@ -1211,8 +1219,14 @@ start()
if (g_dev != nullptr)
errx(1, "already started");
/* create the driver */
g_dev = new HMC5883(HMC5883L_BUS);
/* create the driver, attempt expansion bus first */
g_dev = new HMC5883(PX4_I2C_BUS_EXPANSION);
#ifdef PX4_I2C_BUS_ONBOARD
/* if this failed, attempt onboard sensor */
if (g_dev == nullptr)
g_dev = new HMC5883(PX4_I2C_BUS_ONBOARD);
#endif
if (g_dev == nullptr)
goto fail;