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make i2c device configurable through parameter for ets modules

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This commit is contained in:
Felix Ruess
2010-10-26 11:21:33 +00:00
parent ffe91b0fae
commit 99fcf70ecf
5 changed files with 17 additions and 2 deletions
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1
conf/modules/airspeed_ets.xml
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@@ -4,6 +4,7 @@
Airspeed ETS module (I2C)
@param AIRSPEED_ETS_SCALE scale factor (default 1.8)
@param AIRSPEED_ETS_OFFSET offset (default 0)
@param AIRSPEED_ETS_I2C_DEV i2c device (default i2c0)
-->
<module name="airspeed_ets" dir="sensors">

1
conf/modules/baro_ets.xml
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@@ -2,6 +2,7 @@
<!--
Baro ETS module (I2C)
@param BARO_ETS_I2C_DEV i2c device (default i2c0)
-->
<module name="baro_ets" dir="sensors">

5
conf/modules/baro_scp_i2c.xml
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@@ -1,5 +1,10 @@
<!DOCTYPE module SYSTEM "module.dtd">
<!--
Baro SCP module (I2C)
@param SCP_I2C_DEV i2c device (default i2c0)
-->
<module name="baro_scp_i2c" dir="sensors">
<header>
<file name="baro_scp_i2c.h"/>

6
sw/airborne/modules/sensors/airspeed_ets.c
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@@ -51,6 +51,10 @@
#define AIRSPEED_ETS_OFFSET_NBSAMPLES_AVRG 60
#define AIRSPEED_ETS_NBSAMPLES_AVRG 10
#ifndef AIRSPEED_ETS_I2C_DEV
#define AIRSPEED_ETS_I2C_DEV i2c0
#endif
// Global variables
uint16_t airspeed_ets_raw;
uint16_t airspeed_ets_offset;
@@ -88,7 +92,7 @@ void airspeed_ets_init( void ) {
void airspeed_ets_read_periodic( void ) {
#ifndef SITL
if (airspeed_ets_i2c_trans.status == I2CTransDone)
I2CReceive(i2c0, airspeed_ets_i2c_trans, AIRSPEED_ETS_ADDR, 2);
I2CReceive(AIRSPEED_ETS_I2C_DEV, airspeed_ets_i2c_trans, AIRSPEED_ETS_ADDR, 2);
#else // SITL
extern float sim_air_speed;
EstimatorSetAirspeed(sim_air_speed);

6
sw/airborne/modules/sensors/baro_ets.c
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@@ -54,6 +54,10 @@
#define BARO_ETS_R 0.5
#define BARO_ETS_SIGMA2 0.1
#ifndef BARO_ETS_I2C_DEV
#define BARO_ETS_I2C_DEV i2c0
#endif
// Global variables
uint16_t baro_ets_adc;
uint16_t baro_ets_offset;
@@ -89,7 +93,7 @@ void baro_ets_read_periodic( void ) {
// Initiate next read
#ifndef SITL
if (baro_ets_i2c_trans.status == I2CTransDone)
I2CReceive(i2c0, baro_ets_i2c_trans, BARO_ETS_ADDR, 2);
I2CReceive(BARO_ETS_I2C_DEV, baro_ets_i2c_trans, BARO_ETS_ADDR, 2);
#else // SITL
baro_ets_adc = 0;
baro_ets_altitude = gps_alt / 100.0;