/* MPU6000 implementation of the HMC5843 */
AP_HMC5843_SerialBus_MPU6000::AP_HMC5843_SerialBus_MPU6000(AP_InertialSensor &ins,
uint8_t addr)
{
// Only initialize members. Fails are handled by configure or while
// getting the semaphore
_bus = ins.get_auxiliary_bus(HAL_INS_MPU60XX_SPI);
if (!_bus)
return;
_slave = _bus->request_next_slave(addr);
}
/* HMC5843 on an auxiliary bus of IMU driver */
AP_HMC5843_BusDriver_Auxiliary::AP_HMC5843_BusDriver_Auxiliary(AP_InertialSensor &ins, uint8_t backend_id,
uint8_t addr)
{
/*
* Only initialize members. Fails are handled by configure or while
* getting the semaphore
*/
_bus = ins.get_auxiliary_bus(backend_id);
if (!_bus) {
return;
}
_slave = _bus->request_next_slave(addr);
}