From dff3ea416c2b959b9bf649d604ee03ddc8537c4b Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sun, 10 Mar 2019 08:08:58 +1100
Subject: [PATCH] AP_InertialSensor: allow for LSM9DS0 to be used on I2C

---
 .../AP_InertialSensor/AP_InertialSensor_LSM9DS0.cpp  |  8 ++++----
 .../AP_InertialSensor/AP_InertialSensor_LSM9DS0.h    | 12 ++++++------
 2 files changed, 10 insertions(+), 10 deletions(-)

diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_LSM9DS0.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_LSM9DS0.cpp
index 716c38232f..0c774ab017 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_LSM9DS0.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_LSM9DS0.cpp
@@ -372,8 +372,8 @@ extern const AP_HAL::HAL &hal;
 #define ACT_DUR                                       0x3F
 
 AP_InertialSensor_LSM9DS0::AP_InertialSensor_LSM9DS0(AP_InertialSensor &imu,
-                                                     AP_HAL::OwnPtr<AP_HAL::SPIDevice> dev_gyro,
-                                                     AP_HAL::OwnPtr<AP_HAL::SPIDevice> dev_accel,
+                                                     AP_HAL::OwnPtr<AP_HAL::Device> dev_gyro,
+                                                     AP_HAL::OwnPtr<AP_HAL::Device> dev_accel,
                                                      int drdy_pin_num_a,
                                                      int drdy_pin_num_g,
                                                      enum Rotation rotation_a,
@@ -391,8 +391,8 @@ AP_InertialSensor_LSM9DS0::AP_InertialSensor_LSM9DS0(AP_InertialSensor &imu,
 }
 
 AP_InertialSensor_Backend *AP_InertialSensor_LSM9DS0::probe(AP_InertialSensor &_imu,
-                                                            AP_HAL::OwnPtr<AP_HAL::SPIDevice> dev_gyro,
-                                                            AP_HAL::OwnPtr<AP_HAL::SPIDevice> dev_accel,
+                                                            AP_HAL::OwnPtr<AP_HAL::Device> dev_gyro,
+                                                            AP_HAL::OwnPtr<AP_HAL::Device> dev_accel,
                                                             enum Rotation rotation_a,
                                                             enum Rotation rotation_g,
                                                             enum Rotation rotation_gH)
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_LSM9DS0.h b/libraries/AP_InertialSensor/AP_InertialSensor_LSM9DS0.h
index e797ad13cb..b3a0519f36 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_LSM9DS0.h
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_LSM9DS0.h
@@ -16,16 +16,16 @@ public:
     bool update() override;
 
     static AP_InertialSensor_Backend *probe(AP_InertialSensor &imu,
-                                            AP_HAL::OwnPtr<AP_HAL::SPIDevice> dev_gyro,
-                                            AP_HAL::OwnPtr<AP_HAL::SPIDevice> dev_accel,
+                                            AP_HAL::OwnPtr<AP_HAL::Device> dev_gyro,
+                                            AP_HAL::OwnPtr<AP_HAL::Device> dev_accel,
                                             enum Rotation rotation_a = ROTATION_NONE,
                                             enum Rotation rotation_g = ROTATION_NONE,
                                             enum Rotation rotation_gH = ROTATION_NONE);
 
 private:
     AP_InertialSensor_LSM9DS0(AP_InertialSensor &imu,
-                              AP_HAL::OwnPtr<AP_HAL::SPIDevice> dev_gyro,
-                              AP_HAL::OwnPtr<AP_HAL::SPIDevice> dev_accel,
+                              AP_HAL::OwnPtr<AP_HAL::Device> dev_gyro,
+                              AP_HAL::OwnPtr<AP_HAL::Device> dev_accel,
                               int drdy_pin_num_a, int drdy_pin_num_b,
                               enum Rotation rotation_a,
                               enum Rotation rotation_g,
@@ -80,8 +80,8 @@ private:
     void        _dump_registers();
 #endif
 
-    AP_HAL::OwnPtr<AP_HAL::SPIDevice> _dev_gyro;
-    AP_HAL::OwnPtr<AP_HAL::SPIDevice> _dev_accel;
+    AP_HAL::OwnPtr<AP_HAL::Device> _dev_gyro;
+    AP_HAL::OwnPtr<AP_HAL::Device> _dev_accel;
     AP_HAL::Semaphore *_spi_sem;
 
     /*