diff options
Diffstat (limited to 'src/drivers/l3gd20/l3gd20.cpp')
| -rw-r--r-- | src/drivers/l3gd20/l3gd20.cpp | 40 |
1 files changed, 20 insertions, 20 deletions
diff --git a/src/drivers/l3gd20/l3gd20.cpp b/src/drivers/l3gd20/l3gd20.cpp index 08bc1fead..bd1bd9f86 100644 --- a/src/drivers/l3gd20/l3gd20.cpp +++ b/src/drivers/l3gd20/l3gd20.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2012-2014 PX4 Development Team. All rights reserved. + * Copyright (c) 2012-2015 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 @@ -33,7 +33,7 @@ /** * @file l3gd20.cpp - * Driver for the ST L3GD20 MEMS gyro connected via SPI. + * Driver for the ST L3GD20 MEMS and L3GD20H mems gyros connected via SPI. * * Note: With the exception of the self-test feature, the ST L3G4200D is * also supported by this driver. @@ -179,6 +179,12 @@ static const int ERROR = -1; #define L3GD20_DEFAULT_FILTER_FREQ 30 #define L3GD20_TEMP_OFFSET_CELSIUS 40 +#ifdef PX4_SPI_BUS_EXT +#define EXTERNAL_BUS PX4_SPI_BUS_EXT +#else +#define EXTERNAL_BUS 0 +#endif + #ifndef SENSOR_BOARD_ROTATION_DEFAULT #define SENSOR_BOARD_ROTATION_DEFAULT SENSOR_BOARD_ROTATION_270_DEG #endif @@ -221,7 +227,7 @@ private: float _gyro_range_scale; float _gyro_range_rad_s; orb_advert_t _gyro_topic; - orb_id_t _orb_id; + int _orb_class_instance; int _class_instance; unsigned _current_rate; @@ -274,6 +280,13 @@ private: void disable_i2c(); /** + * Get the internal / external state + * + * @return true if the sensor is not on the main MCU board + */ + bool is_external() { return (_bus == EXTERNAL_BUS); } + + /** * Static trampoline from the hrt_call context; because we don't have a * generic hrt wrapper yet. * @@ -391,7 +404,7 @@ L3GD20::L3GD20(int bus, const char* path, spi_dev_e device, enum Rotation rotati _gyro_range_scale(0.0f), _gyro_range_rad_s(0.0f), _gyro_topic(-1), - _orb_id(nullptr), + _orb_class_instance(-1), _class_instance(-1), _current_rate(0), _orientation(SENSOR_BOARD_ROTATION_DEFAULT), @@ -456,20 +469,6 @@ L3GD20::init() _class_instance = register_class_devname(GYRO_DEVICE_PATH); - switch (_class_instance) { - case CLASS_DEVICE_PRIMARY: - _orb_id = ORB_ID(sensor_gyro0); - break; - - case CLASS_DEVICE_SECONDARY: - _orb_id = ORB_ID(sensor_gyro1); - break; - - case CLASS_DEVICE_TERTIARY: - _orb_id = ORB_ID(sensor_gyro2); - break; - } - reset(); measure(); @@ -478,7 +477,8 @@ L3GD20::init() struct gyro_report grp; _reports->get(&grp); - _gyro_topic = orb_advertise(_orb_id, &grp); + _gyro_topic = orb_advertise_multi(ORB_ID(sensor_gyro), &grp, + &_orb_class_instance, (is_external()) ? ORB_PRIO_VERY_HIGH : ORB_PRIO_DEFAULT); if (_gyro_topic < 0) { debug("failed to create sensor_gyro publication"); @@ -1050,7 +1050,7 @@ L3GD20::measure() /* publish for subscribers */ if (!(_pub_blocked)) { /* publish it */ - orb_publish(_orb_id, _gyro_topic, &report); + orb_publish(ORB_ID(sensor_gyro), _gyro_topic, &report); } _read++; |