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| author | Lorenz Meier <lm@inf.ethz.ch> | 2015-01-25 17:51:50 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2015-01-29 16:33:52 +0100 |
| commit | 114465aba4b65ecdc9ffe3f4125afb2391fbdc2b (patch) | |
| tree | df2462ef64b60671a95720453051c3e2a7ee4388 /src/drivers/lsm303d/lsm303d.cpp | |
| parent | f30b02272beee4ad5c137a25c726ec158f0135de (diff) | |
| download | px4-firmware-114465aba4b65ecdc9ffe3f4125afb2391fbdc2b.tar.gz px4-firmware-114465aba4b65ecdc9ffe3f4125afb2391fbdc2b.tar.bz2 px4-firmware-114465aba4b65ecdc9ffe3f4125afb2391fbdc2b.zip | |
Move LSM303D mag to new multi-pub interface
Diffstat (limited to 'src/drivers/lsm303d/lsm303d.cpp')
| -rw-r--r-- | src/drivers/lsm303d/lsm303d.cpp | 22 |
1 files changed, 4 insertions, 18 deletions
diff --git a/src/drivers/lsm303d/lsm303d.cpp b/src/drivers/lsm303d/lsm303d.cpp index 57754e4c0..6b65965b4 100644 --- a/src/drivers/lsm303d/lsm303d.cpp +++ b/src/drivers/lsm303d/lsm303d.cpp @@ -507,7 +507,7 @@ private: LSM303D *_parent; orb_advert_t _mag_topic; - orb_id_t _mag_orb_id; + int _mag_orb_class_instance; int _mag_class_instance; void measure(); @@ -641,21 +641,7 @@ LSM303D::init() _mag_reports->get(&mrp); /* measurement will have generated a report, publish */ - switch (_mag->_mag_class_instance) { - case CLASS_DEVICE_PRIMARY: - _mag->_mag_orb_id = ORB_ID(sensor_mag0); - break; - - case CLASS_DEVICE_SECONDARY: - _mag->_mag_orb_id = ORB_ID(sensor_mag1); - break; - - case CLASS_DEVICE_TERTIARY: - _mag->_mag_orb_id = ORB_ID(sensor_mag2); - break; - } - - _mag->_mag_topic = orb_advertise(_mag->_mag_orb_id, &mrp); + _mag->_mag_topic = orb_advertise_multi(ORB_ID(sensor_mag), &mrp, &_mag->_mag_orb_class_instance, ORB_PRIO_LOW); if (_mag->_mag_topic < 0) { warnx("ADVERT ERR"); @@ -1641,7 +1627,7 @@ LSM303D::mag_measure() if (!(_pub_blocked)) { /* publish it */ - orb_publish(_mag->_mag_orb_id, _mag->_mag_topic, &mag_report); + orb_publish(ORB_ID(sensor_mag), _mag->_mag_topic, &mag_report); } _mag_read++; @@ -1742,7 +1728,7 @@ LSM303D_mag::LSM303D_mag(LSM303D *parent) : CDev("LSM303D_mag", LSM303D_DEVICE_PATH_MAG), _parent(parent), _mag_topic(-1), - _mag_orb_id(nullptr), + _mag_orb_class_instance(-1), _mag_class_instance(-1) { } |