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Introduce MPU6K multi-device uORB support

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Lorenz Meier
2014-06-10 15:06:05 +02:00
parent dc2df309cb
commit 506f900513
1 changed files with 50 additions and 21 deletions
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src/drivers/mpu6000/mpu6000.cpp
+50 -21
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@@ -491,31 +491,44 @@ MPU6000::init()
measure();
if (_accel_class_instance == CLASS_DEVICE_PRIMARY) {
/* advertise sensor topic, measure manually to initialize valid report */
struct accel_report arp;
_accel_reports->get(&arp);
/* advertise sensor topic, measure manually to initialize valid report */
struct accel_report arp;
_accel_reports->get(&arp);
/* measurement will have generated a report, publish */
_accel_topic = orb_advertise(ORB_ID(sensor_accel), &arp);
if (_accel_topic < 0)
debug("failed to create sensor_accel publication");
/* measurement will have generated a report, publish */
switch (_accel_class_instance) {
case CLASS_DEVICE_PRIMARY:
_accel_topic = orb_advertise(ORB_ID(sensor_accel0), &arp);
break;
case CLASS_DEVICE_SECONDARY:
_accel_topic = orb_advertise(ORB_ID(sensor_accel1), &arp);
break;
}
if (_gyro->_gyro_class_instance == CLASS_DEVICE_PRIMARY) {
if (_accel_topic < 0) {
warnx("failed to create sensor_accel publication");
}
/* advertise sensor topic, measure manually to initialize valid report */
struct gyro_report grp;
_gyro_reports->get(&grp);
_gyro->_gyro_topic = orb_advertise(ORB_ID(sensor_gyro), &grp);
/* advertise sensor topic, measure manually to initialize valid report */
struct gyro_report grp;
_gyro_reports->get(&grp);
if (_gyro->_gyro_topic < 0)
debug("failed to create sensor_gyro publication");
switch (_gyro->_gyro_class_instance) {
case CLASS_DEVICE_PRIMARY:
_gyro->_gyro_topic = orb_advertise(ORB_ID(sensor_gyro0), &grp);
break;
case CLASS_DEVICE_SECONDARY:
_gyro->_gyro_topic = orb_advertise(ORB_ID(sensor_gyro1), &grp);
break;
}
if (_gyro->_gyro_topic < 0) {
warnx("failed to create sensor_gyro publication");
}
out:
@@ -1326,14 +1339,30 @@ MPU6000::measure()
poll_notify(POLLIN);
_gyro->parent_poll_notify();
if (_accel_topic > 0 && !(_pub_blocked)) {
if (!(_pub_blocked)) {
/* publish it */
orb_publish(ORB_ID(sensor_accel), _accel_topic, &arb);
switch (_accel_class_instance) {
case CLASS_DEVICE_PRIMARY:
orb_publish(ORB_ID(sensor_accel0), _accel_topic, &arb);
break;
case CLASS_DEVICE_SECONDARY:
orb_publish(ORB_ID(sensor_accel1), _accel_topic, &arb);
break;
}
}
if (_gyro->_gyro_topic > 0 && !(_pub_blocked)) {
if (!(_pub_blocked)) {
/* publish it */
orb_publish(ORB_ID(sensor_gyro), _gyro->_gyro_topic, &grb);
switch (_gyro->_gyro_class_instance) {
case CLASS_DEVICE_PRIMARY:
orb_publish(ORB_ID(sensor_gyro0), _gyro->_gyro_topic, &grb);
break;
case CLASS_DEVICE_SECONDARY:
orb_publish(ORB_ID(sensor_gyro1), _gyro->_gyro_topic, &grb);
break;
}
}
/* stop measuring */