mirror of
https://github.com/ArduPilot/ardupilot.git
synced 2026-10-06 19:00:27 +08:00
Peter Barker
dabcf0e91c
rather than each backend storing this itself. This allows many methods to assume that they are working on the current instance number rather than being passed the instance number registering the compass via the compass backend method now infers setting the device ID
63 lines
1.5 KiB
C++
63 lines
1.5 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "AP_Compass_MSP.h"
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#if AP_COMPASS_MSP_ENABLED
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#include <AP_HAL/AP_HAL.h>
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AP_Compass_Backend *AP_Compass_MSP::probe(uint8_t _msp_instance)
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{
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auto *ret = NEW_NOTHROW AP_Compass_MSP(_msp_instance);
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if (ret == nullptr) {
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return nullptr;
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}
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if (!ret->init()) {
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delete ret;
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return nullptr;
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}
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return ret;
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}
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bool AP_Compass_MSP::init()
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{
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auto devid = AP_HAL::Device::make_bus_id(AP_HAL::Device::BUS_TYPE_MSP, 0, msp_instance, 0);
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if (!register_compass(devid)) {
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return false;
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}
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set_external(true);
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return true;
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}
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void AP_Compass_MSP::handle_msp(const MSP::msp_compass_data_message_t &pkt)
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{
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if (pkt.instance != msp_instance) {
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return;
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}
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Vector3f field(pkt.magX, pkt.magY, pkt.magZ);
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accumulate_sample(field, instance);
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}
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void AP_Compass_MSP::read(void)
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{
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drain_accumulated_samples();
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}
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#endif // AP_COMPASS_MSP_ENABLED
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