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Move LSM303D mag to new multi-pub interface

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This commit is contained in:
Lorenz Meier 2015-01-25 17:51:50 +01:00
parent f30b02272b
commit 114465aba4
1 changed files with 4 additions and 18 deletions
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22
src/drivers/lsm303d/lsm303d.cpp
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@ -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)
{
}