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AP_Compass: fix C++ One Definition Rule violations #25585

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merged 1 commit into from
Nov 21, 2023
Merged

AP_Compass: fix C++ One Definition Rule violations #25585

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9 changes: 1 addition & 8 deletions libraries/AP_Compass/AP_Compass_AK09916.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -58,13 +58,6 @@ extern const AP_HAL::HAL &hal;

extern const AP_HAL::HAL &hal;

struct PACKED sample_regs {
uint8_t st1;
int16_t val[3];
uint8_t tmps;
uint8_t st2;
};

AP_Compass_AK09916::AP_Compass_AK09916(AP_AK09916_BusDriver *bus,
bool force_external,
enum Rotation rotation)
Expand Down Expand Up @@ -477,7 +470,7 @@ bool AP_AK09916_BusDriver_Auxiliary::configure()

bool AP_AK09916_BusDriver_Auxiliary::start_measurements()
{
if (_bus->register_periodic_read(_slave, REG_ST1, sizeof(sample_regs)) < 0) {
if (_bus->register_periodic_read(_slave, REG_ST1, sizeof(AP_Compass_AK09916::sample_regs)) < 0) {
return false;
}

Expand Down
8 changes: 8 additions & 0 deletions libraries/AP_Compass/AP_Compass_AK09916.h
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Expand Up @@ -75,6 +75,14 @@ class AP_Compass_AK09916 : public AP_Compass_Backend

void read() override;

/* Must be public so the BusDriver can access its definition */
struct PACKED sample_regs {
uint8_t st1;
int16_t val[3];
uint8_t tmps;
uint8_t st2;
};

private:
AP_Compass_AK09916(AP_AK09916_BusDriver *bus, bool force_external,
enum Rotation rotation);
Expand Down
7 changes: 1 addition & 6 deletions libraries/AP_Compass/AP_Compass_AK8963.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -49,11 +49,6 @@

#define AK8963_MILLIGAUSS_SCALE 10.0f

struct PACKED sample_regs {
int16_t val[3];
uint8_t st2;
};

extern const AP_HAL::HAL &hal;

AP_Compass_AK8963::AP_Compass_AK8963(AP_AK8963_BusDriver *bus,
Expand Down Expand Up @@ -379,7 +374,7 @@ bool AP_AK8963_BusDriver_Auxiliary::configure()

bool AP_AK8963_BusDriver_Auxiliary::start_measurements()
{
if (_bus->register_periodic_read(_slave, AK8963_HXL, sizeof(sample_regs)) < 0) {
if (_bus->register_periodic_read(_slave, AK8963_HXL, sizeof(AP_Compass_AK8963::sample_regs)) < 0) {
return false;
}

Expand Down
6 changes: 6 additions & 0 deletions libraries/AP_Compass/AP_Compass_AK8963.h
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Original file line number Diff line number Diff line change
Expand Up @@ -39,6 +39,12 @@ class AP_Compass_AK8963 : public AP_Compass_Backend

void read() override;

/* Must be public so the BusDriver can access its definition */
struct PACKED sample_regs {
int16_t val[3];
uint8_t st2;
};

private:
AP_Compass_AK8963(AP_AK8963_BusDriver *bus,
enum Rotation rotation);
Expand Down
5 changes: 0 additions & 5 deletions libraries/AP_Compass/AP_Compass_LSM9DS1.cpp
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Expand Up @@ -47,11 +47,6 @@
#define LSM9DS1M_INT_THS_L_M 0x32
#define LSM9DS1M_INT_THS_H_M 0x33

struct PACKED sample_regs {
uint8_t status;
int16_t val[3];
};

extern const AP_HAL::HAL &hal;

AP_Compass_LSM9DS1::AP_Compass_LSM9DS1(AP_HAL::OwnPtr<AP_HAL::Device> dev,
Expand Down
5 changes: 5 additions & 0 deletions libraries/AP_Compass/AP_Compass_LSM9DS1.h
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Expand Up @@ -42,6 +42,11 @@ class AP_Compass_LSM9DS1 : public AP_Compass_Backend
uint8_t _compass_instance;
float _scaling;
enum Rotation _rotation;

struct PACKED sample_regs {
uint8_t status;
int16_t val[3];
};
};

#endif