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Improved drivers, allowed parallel use of multiple gyros

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Lorenz Meier
2012-11-23 22:52:37 +01:00
parent 0193d590db
commit b1bc5e0e46
3 changed files with 12 additions and 9 deletions
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apps/drivers/l3gd20/l3gd20.cpp
+4 -4
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@@ -151,7 +151,7 @@ extern "C" { __EXPORT int l3gd20_main(int argc, char *argv[]); }
class L3GD20 : public device::SPI
{
public:
L3GD20(int bus, spi_dev_e device);
L3GD20(int bus, const char* path, spi_dev_e device);
~L3GD20();
virtual int init();
@@ -265,8 +265,8 @@ private:
#define INCREMENT(_x, _lim) do { _x++; if (_x >= _lim) _x = 0; } while(0)
L3GD20::L3GD20(int bus, spi_dev_e device) :
SPI("L3GD20", GYRO_DEVICE_PATH, bus, device, SPIDEV_MODE3, 8000000),
L3GD20::L3GD20(int bus, const char* path, spi_dev_e device) :
SPI("L3GD20", path, bus, device, SPIDEV_MODE3, 8000000),
_call_interval(0),
_num_reports(0),
_next_report(0),
@@ -745,7 +745,7 @@ start()
errx(1, "already started");
/* create the driver */
g_dev = new L3GD20(1 /* XXX magic number */, (spi_dev_e)PX4_SPIDEV_GYRO);
g_dev = new L3GD20(1 /* XXX magic number */, GYRO_DEVICE_PATH, (spi_dev_e)PX4_SPIDEV_GYRO);
if (g_dev == nullptr)
goto fail;