fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-05-01 04:24:07 +08:00
Code Issues Packages Projects Releases Wiki Activity

Delete unnecessary #includes from the imu driver directory.

Browse Source
This commit is contained in:
mcsauder 2019-07-08 09:21:56 -06:00 committed by Daniel Agar
parent be414f7ab1
commit b495ddbdd3
42 changed files with 178 additions and 327 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
src/drivers/imu/adis16448/ADIS16448.h
View File

@ -42,15 +42,15 @@
* @author Lorenz Meier <lm@inf.ethz.ch>
*/
#include <ecl/geo/geo.h>
#include <perf/perf_counter.h>
#include <drivers/device/spi.h>
#include <px4_work_queue/ScheduledWorkItem.hpp>
#include <conversion/rotation.h>
#include <ecl/geo/geo.h>
#include <lib/conversion/rotation.h>
#include <lib/drivers/accelerometer/PX4Accelerometer.hpp>
#include <lib/drivers/barometer/PX4Barometer.hpp>
#include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
#include <lib/drivers/magnetometer/PX4Magnetometer.hpp>
#include <perf/perf_counter.h>
#include <px4_work_queue/ScheduledWorkItem.hpp>
using namespace time_literals;

3
src/drivers/imu/adis16477/ADIS16477.cpp
View File

@ -33,9 +33,6 @@
#include "ADIS16477.hpp"
#include <px4_config.h>
#include <ecl/geo/geo.h>
#define DIR_READ 0x00
#define DIR_WRITE 0x80

7
src/drivers/imu/adis16477/ADIS16477.hpp
View File

@ -39,12 +39,13 @@
#pragma once
#include <drivers/device/spi.h>
#include <lib/conversion/rotation.h>
#include <perf/perf_counter.h>
#include <ecl/geo/geo.h>
#include <px4_work_queue/ScheduledWorkItem.hpp>
#include <lib/conversion/rotation.h>
#include <lib/drivers/accelerometer/PX4Accelerometer.hpp>
#include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
#include <perf/perf_counter.h>
#include <px4_getopt.h>
#include <px4_work_queue/ScheduledWorkItem.hpp>
class ADIS16477 : public device::SPI, public px4::ScheduledWorkItem
{

2
src/drivers/imu/adis16477/adis16477_main.cpp
View File

@ -33,8 +33,6 @@
#include "ADIS16477.hpp"
#include <px4_getopt.h>
extern "C" { __EXPORT int adis16477_main(int argc, char *argv[]); }
/**

3
src/drivers/imu/adis16497/ADIS16497.cpp
View File

@ -33,9 +33,6 @@
#include "ADIS16497.hpp"
#include <px4_config.h>
#include <ecl/geo/geo.h>
#define DIR_READ 0x00
#define DIR_WRITE 0x80

7
src/drivers/imu/adis16497/ADIS16497.hpp
View File

@ -39,12 +39,13 @@
#pragma once
#include <drivers/device/spi.h>
#include <lib/conversion/rotation.h>
#include <perf/perf_counter.h>
#include <ecl/geo/geo.h>
#include <px4_work_queue/ScheduledWorkItem.hpp>
#include <lib/conversion/rotation.h>
#include <lib/drivers/accelerometer/PX4Accelerometer.hpp>
#include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
#include <perf/perf_counter.h>
#include <px4_getopt.h>
#include <px4_work_queue/ScheduledWorkItem.hpp>
// TODO : This is a copy of the NuttX CRC32 table
static constexpr uint32_t crc32_tab[] = {

2
src/drivers/imu/adis16497/adis16497_main.cpp
View File

@ -33,8 +33,6 @@
#include "ADIS16497.hpp"
#include <px4_getopt.h>
extern "C" { __EXPORT int adis16497_main(int argc, char *argv[]); }
/**

8
src/drivers/imu/bmi055/BMI055.hpp
View File

@ -33,14 +33,10 @@
#pragma once
#include <drivers/device/integrator.h>
#include <drivers/device/spi.h>
#include <drivers/drv_hrt.h>
#include <lib/conversion/rotation.h>
#include <ecl/geo/geo.h>
#include <lib/perf/perf_counter.h>
#include <px4_config.h>
#include <systemlib/conversions.h>
#include <systemlib/err.h>
#include <px4_getopt.h>
#include <px4_work_queue/ScheduledWorkItem.hpp>
#define DIR_READ 0x80

2
src/drivers/imu/bmi055/BMI055_accel.cpp
View File

@ -33,8 +33,6 @@
#include "BMI055_accel.hpp"
#include <ecl/geo/geo.h>
/*
list of registers that will be checked in check_registers(). Note
that ADDR_WHO_AM_I must be first in the list.

10
src/drivers/imu/bmi055/BMI055_accel.hpp
View File

@ -33,15 +33,9 @@
#pragma once
#include "BMI055.hpp"
#include <drivers/device/spi.h>
#include <drivers/drv_hrt.h>
#include <lib/conversion/rotation.h>
#include <lib/perf/perf_counter.h>
#include <lib/drivers/accelerometer/PX4Accelerometer.hpp>
#include <px4_config.h>
#include <systemlib/conversions.h>
#include "BMI055.hpp"
#define BMI055_DEVICE_PATH_ACCEL "/dev/bmi055_accel"
#define BMI055_DEVICE_PATH_ACCEL_EXT "/dev/bmi055_accel_ext"

10
src/drivers/imu/bmi055/BMI055_gyro.hpp
View File

@ -33,15 +33,9 @@
#pragma once
#include "BMI055.hpp"
#include <drivers/device/spi.h>
#include <drivers/drv_hrt.h>
#include <lib/conversion/rotation.h>
#include <lib/perf/perf_counter.h>
#include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
#include <px4_config.h>
#include <systemlib/conversions.h>
#include "BMI055.hpp"
#define BMI055_DEVICE_PATH_GYRO "/dev/bmi055_gyro"
#define BMI055_DEVICE_PATH_GYRO_EXT "/dev/bmi055_gyro_ext"

3
src/drivers/imu/bmi055/bmi055_main.cpp
View File

@ -34,9 +34,6 @@
#include "BMI055_accel.hpp"
#include "BMI055_gyro.hpp"
#include <px4_config.h>
#include <px4_getopt.h>
/** driver 'main' command */
extern "C" { __EXPORT int bmi055_main(int argc, char *argv[]); }

34
src/drivers/imu/bmi160/bmi160.cpp
View File

@ -1,5 +1,37 @@
/****************************************************************************
*
* Copyright (c) 2018 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include "bmi160.hpp"
#include <ecl/geo/geo.h>
/*
list of registers that will be checked in check_registers(). Note

50
src/drivers/imu/bmi160/bmi160.hpp
View File

@ -1,15 +1,47 @@
#ifndef BMI160_HPP_
#define BMI160_HPP_
/****************************************************************************
*
* Copyright (c) 2018 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#pragma once
#include <px4_config.h>
#include <perf/perf_counter.h>
#include <systemlib/conversions.h>
#include <drivers/drv_hrt.h>
#include <drivers/device/spi.h>
#include <ecl/geo/geo.h>
#include <lib/conversion/rotation.h>
#include <px4_work_queue/ScheduledWorkItem.hpp>
#include <lib/drivers/accelerometer/PX4Accelerometer.hpp>
#include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
#include <perf/perf_counter.h>
#include <px4_getopt.h>
#include <px4_work_queue/ScheduledWorkItem.hpp>
#include <systemlib/conversions.h>
#define DIR_READ 0x80
#define DIR_WRITE 0x00
@ -379,7 +411,3 @@ private:
};
#pragma pack(pop)
};
#endif /* BMI160_HPP_ */

35
src/drivers/imu/bmi160/bmi160_main.cpp
View File

@ -1,9 +1,38 @@
/****************************************************************************
*
* Copyright (c) 2018 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include "bmi160.hpp"
#include <px4_config.h>
#include <px4_getopt.h>
/** driver 'main' command */
extern "C" { __EXPORT int bmi160_main(int argc, char *argv[]); }

6
src/drivers/imu/fxas21002c/FXAS21002C.cpp
View File

@ -33,12 +33,6 @@
#include "FXAS21002C.hpp"
#include <drivers/drv_hrt.h>
#include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
#include <px4_config.h>
#include <px4_defines.h>
#include <px4_work_queue/ScheduledWorkItem.hpp>
/* SPI protocol address bits */
#define DIR_READ(a) ((a) | (1 << 7))
#define DIR_WRITE(a) ((a) & 0x7f)

6
src/drivers/imu/fxas21002c/FXAS21002C.hpp
View File

@ -40,14 +40,12 @@
#pragma once
#include <drivers/device/spi.h>
#include <drivers/drv_hrt.h>
#include <lib/conversion/rotation.h>
#include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
#include <perf/perf_counter.h>
#include <px4_config.h>
#include <px4_defines.h>
#include <px4_getopt.h>
#include <px4_work_queue/ScheduledWorkItem.hpp>
class FXAS21002C : public device::SPI, public px4::ScheduledWorkItem
{
public:

4
src/drivers/imu/fxas21002c/fxas21002c_main.cpp
View File

@ -33,10 +33,6 @@
#include "FXAS21002C.hpp"
#include <px4_getopt.h>
#include <px4_config.h>
#include <px4_defines.h>
extern "C" { __EXPORT int fxas21002c_main(int argc, char *argv[]); }
/**

47
src/drivers/imu/fxos8701cq/fxos8701cq.cpp
View File

@ -37,48 +37,21 @@
* magnetometer connected via SPI.
*/
#include <px4_config.h>
#include <px4_defines.h>
#include <ecl/geo/geo.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <stdint.h>
#include <stdbool.h>
#include <stddef.h>
#include <stdlib.h>
#include <semaphore.h>
#include <string.h>
#include <fcntl.h>
#include <poll.h>
#include <errno.h>
#include <stdio.h>
#include <math.h>
#include <unistd.h>
#include <px4_log.h>
#include <perf/perf_counter.h>
#include <nuttx/arch.h>
#include <nuttx/clock.h>
#include <drivers/drv_hrt.h>
#include <drivers/device/integrator.h>
#include <drivers/device/ringbuffer.h>
#include <drivers/device/spi.h>
#include <drivers/drv_accel.h>
#include <ecl/geo/geo.h>
#include <lib/conversion/rotation.h>
#include <mathlib/math/filter/LowPassFilter2p.hpp>
#include <perf/perf_counter.h>
#include <px4_getopt.h>
#include <px4_work_queue/ScheduledWorkItem.hpp>
#include <systemlib/err.h>
#if !defined(BOARD_HAS_NOISY_FXOS8700_MAG)
# include <drivers/drv_mag.h>
#endif
#include <drivers/device/ringbuffer.h>
#include <drivers/device/integrator.h>
#include <board_config.h>
#include <mathlib/math/filter/LowPassFilter2p.hpp>
#include <lib/conversion/rotation.h>
#include <px4_getopt.h>
#include <systemlib/err.h>
#include <px4_work_queue/ScheduledWorkItem.hpp>
/* SPI protocol address bits */
#define DIR_READ(a) ((a) & 0x7f)

26
src/drivers/imu/icm20948/accel.cpp
View File

@ -41,33 +41,9 @@
* based on the mpu6000 driver
*/
#include <px4_config.h>
#include <ecl/geo/geo.h>
#include <sys/types.h>
#include <stdint.h>
#include <stdbool.h>
#include <stddef.h>
#include <stdlib.h>
#include <errno.h>
#include <stdio.h>
#include <perf/perf_counter.h>
#include <board_config.h>
#include <drivers/drv_hrt.h>
#include <drivers/device/spi.h>
#include <drivers/device/ringbuffer.h>
#include <drivers/device/integrator.h>
#include <drivers/drv_accel.h>
#include <drivers/drv_gyro.h>
#include <drivers/drv_mag.h>
#include <mathlib/math/filter/LowPassFilter2p.hpp>
#include <lib/conversion/rotation.h>
#include "mag.h"
#include "gyro.h"
#include "accel.h"
#include "icm20948.h"
ICM20948_accel::ICM20948_accel(ICM20948 *parent, const char *path) :

4
src/drivers/imu/icm20948/accel.h
View File

@ -33,6 +33,10 @@
#pragma once
#include <drivers/device/device.h>
#include <drivers/drv_accel.h>
#include <uORB/uORB.h>
class ICM20948;
/**

12
src/drivers/imu/icm20948/gyro.cpp
View File

@ -40,18 +40,6 @@
* based on the mpu9250 driver
*/
#include <px4_config.h>
#include <lib/perf/perf_counter.h>
#include <drivers/device/spi.h>
#include <drivers/device/ringbuffer.h>
#include <drivers/device/integrator.h>
#include <drivers/drv_accel.h>
#include <drivers/drv_gyro.h>
#include <drivers/drv_mag.h>
#include <lib/mathlib/math/filter/LowPassFilter2p.hpp>
#include <lib/conversion/rotation.h>
#include "mag.h"
#include "gyro.h"
#include "icm20948.h"

4
src/drivers/imu/icm20948/gyro.h
View File

@ -33,6 +33,10 @@
#pragma once
#include <drivers/device/device.h>
#include <drivers/drv_gyro.h>
#include <uORB/uORB.h>
class ICM20948;
/**

20
src/drivers/imu/icm20948/icm20948.cpp
View File

@ -36,29 +36,9 @@
*
* Driver for the Invensense ICM20948 connected via I2C or SPI.
*
*
* based on the mpu9250 driver
*/
#include <px4_config.h>
#include <px4_time.h>
#include <lib/ecl/geo/geo.h>
#include <lib/perf/perf_counter.h>
#include <systemlib/conversions.h>
#include <systemlib/px4_macros.h>
#include <drivers/drv_hrt.h>
#include <drivers/device/spi.h>
#include <drivers/device/ringbuffer.h>
#include <drivers/device/integrator.h>
#include <drivers/drv_accel.h>
#include <drivers/drv_gyro.h>
#include <drivers/drv_mag.h>
#include <lib/mathlib/math/filter/LowPassFilter2p.hpp>
#include <lib/conversion/rotation.h>
#include "mag.h"
#include "accel.h"
#include "gyro.h"
#include "icm20948.h"
/*

24
src/drivers/imu/icm20948/icm20948.h
View File

@ -31,30 +31,26 @@
*
****************************************************************************/
#include <stdint.h>
#include <perf/perf_counter.h>
#include <systemlib/conversions.h>
#include <board_config.h>
#include <drivers/drv_hrt.h>
#include <drivers/device/ringbuffer.h>
#include <drivers/device/integrator.h>
#include <drivers/drv_accel.h>
#include <drivers/drv_gyro.h>
#include <drivers/drv_mag.h>
#include <mathlib/math/filter/LowPassFilter2p.hpp>
#include <lib/mathlib/math/filter/LowPassFilter2p.hpp>
#include <lib/conversion/rotation.h>
#include <systemlib/err.h>
#include <lib/ecl/geo/geo.h>
#include <lib/perf/perf_counter.h>
#include <px4_config.h>
#include <px4_getopt.h>
#include <px4_work_queue/ScheduledWorkItem.hpp>
#include <sys/types.h>
#include <systemlib/conversions.h>
#include <systemlib/err.h>
#include <systemlib/px4_macros.h>
#include <uORB/uORB.h>
#include <uORB/topics/debug_key_value.h>
#include "mag.h"
#include "accel.h"
#include "gyro.h"
#include "mag.h"
#if defined(PX4_I2C_OBDEV_MPU9250) || defined(PX4_I2C_BUS_EXPANSION)

3
src/drivers/imu/icm20948/icm20948_i2c.cpp
View File

@ -37,10 +37,7 @@
* I2C interface for ICM20948
*/
#include <px4_config.h>
#include <drivers/device/i2c.h>
#include <drivers/drv_accel.h>
#include <drivers/drv_device.h>
#include "icm20948.h"

3
src/drivers/imu/icm20948/icm20948_spi.cpp
View File

@ -41,10 +41,7 @@
* @author David sidrane
*/
#include <px4_config.h>
#include <drivers/device/spi.h>
#include <drivers/drv_accel.h>
#include <drivers/drv_device.h>
#include "icm20948.h"

14
src/drivers/imu/icm20948/mag.cpp
View File

@ -40,20 +40,6 @@
*
*/
#include <px4_config.h>
#include <px4_log.h>
#include <px4_time.h>
#include <lib/perf/perf_counter.h>
#include <drivers/drv_hrt.h>
#include <drivers/device/spi.h>
#include <drivers/device/ringbuffer.h>
#include <drivers/device/integrator.h>
#include <drivers/drv_accel.h>
#include <drivers/drv_gyro.h>
#include <drivers/drv_mag.h>
#include <lib/mathlib/math/filter/LowPassFilter2p.hpp>
#include <lib/conversion/rotation.h>
#include "mag.h"
#include "icm20948.h"

9
src/drivers/imu/icm20948/mag.h
View File

@ -33,9 +33,12 @@
#pragma once
#include "drivers/device/ringbuffer.h" // ringbuffer::RingBuffer
#include "drivers/drv_mag.h" // mag_calibration_s
#include <perf/perf_counter.h>
#include <drivers/device/i2c.h>
#include <drivers/device/ringbuffer.h>
#include <drivers/drv_device.h>
#include <drivers/drv_mag.h>
#include <lib/perf/perf_counter.h>
#include <uORB/uORB.h>
/* in 16-bit sampling mode the mag resolution is 1.5 milli Gauss per bit */

5
src/drivers/imu/icm20948/mag_i2c.cpp
View File

@ -37,11 +37,6 @@
* I2C interface for AK8963
*/
#include <px4_config.h>
#include <drivers/device/i2c.h>
#include <drivers/drv_accel.h>
#include <drivers/drv_device.h>
#include "icm20948.h"
#include "mag.h"

27
src/drivers/imu/icm20948/main.cpp
View File

@ -39,33 +39,6 @@
* based on the mpu9250 driver
*/
#include <px4_config.h>
#include <sys/types.h>
#include <stdint.h>
#include <stdbool.h>
#include <stdlib.h>
#include <fcntl.h>
#include <errno.h>
#include <stdio.h>
#include <px4_getopt.h>
#include <perf/perf_counter.h>
#include <systemlib/err.h>
#include <systemlib/conversions.h>
#include <board_config.h>
#include <drivers/drv_hrt.h>
#include <drivers/device/spi.h>
#include <drivers/device/ringbuffer.h>
#include <drivers/device/integrator.h>
#include <drivers/drv_accel.h>
#include <drivers/drv_gyro.h>
#include <drivers/drv_mag.h>
#include <mathlib/math/filter/LowPassFilter2p.hpp>
#include <lib/conversion/rotation.h>
#include "icm20948.h"
#define ICM_DEVICE_PATH_ACCEL_EXT "/dev/icm20948_accel_ext"

8
src/drivers/imu/l3gd20/l3gd20.cpp
View File

@ -39,14 +39,12 @@
* also supported by this driver.
*/
#include <px4_config.h>
#include <px4_defines.h>
#include <px4_getopt.h>
#include <perf/perf_counter.h>
#include <drivers/device/spi.h>
#include <lib/conversion/rotation.h>
#include <px4_work_queue/ScheduledWorkItem.hpp>
#include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
#include <perf/perf_counter.h>
#include <px4_getopt.h>
#include <px4_work_queue/ScheduledWorkItem.hpp>
#define L3GD20_DEVICE_PATH "/dev/l3gd20"

40
src/drivers/imu/lsm303d/lsm303d.cpp
View File

@ -36,43 +36,19 @@
* Driver for the ST LSM303D MEMS accelerometer / magnetometer connected via SPI.
*/
#include <px4_config.h>
#include <px4_defines.h>
#include <ecl/geo/geo.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <stdint.h>
#include <stdbool.h>
#include <stddef.h>
#include <stdlib.h>
#include <semaphore.h>
#include <string.h>
#include <fcntl.h>
#include <poll.h>
#include <errno.h>
#include <stdio.h>
#include <math.h>
#include <unistd.h>
#include <px4_getopt.h>
#include <perf/perf_counter.h>
#include <systemlib/err.h>
#include <nuttx/arch.h>
#include <nuttx/clock.h>
#include <drivers/drv_hrt.h>
#include <drivers/device/integrator.h>
#include <drivers/device/ringbuffer.h>
#include <drivers/device/spi.h>
#include <drivers/drv_accel.h>
#include <drivers/drv_mag.h>
#include <drivers/device/ringbuffer.h>
#include <drivers/device/integrator.h>
#include <board_config.h>
#include <mathlib/math/filter/LowPassFilter2p.hpp>
#include <ecl/geo/geo.h>
#include <lib/conversion/rotation.h>
#include <mathlib/math/filter/LowPassFilter2p.hpp>
#include <perf/perf_counter.h>
#include <px4_getopt.h>
#include <px4_work_queue/ScheduledWorkItem.hpp>
#include <systemlib/err.h>
/* SPI protocol address bits */
#define DIR_READ (1<<7)

8
src/drivers/imu/mpu6000/MPU6000.hpp
View File

@ -55,21 +55,19 @@
* @author David Sidrane
*/
#include <drivers/drv_hrt.h>
#include <lib/cdev/CDev.hpp>
#include <lib/conversion/rotation.h>
#include <lib/drivers/accelerometer/PX4Accelerometer.hpp>
#include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
#include <lib/drivers/device/i2c.h>
#include <lib/drivers/device/spi.h>
#include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
#include <lib/ecl/geo/geo.h>
#include <lib/perf/perf_counter.h>
#include <px4_config.h>
#include <px4_getopt.h>
#include <px4_time.h>
#include <px4_work_queue/ScheduledWorkItem.hpp>
#include <systemlib/conversions.h>
#include <systemlib/px4_macros.h>
/*
we set the timer interrupt to run a bit faster than the desired
sample rate and then throw away duplicates by comparing

3
src/drivers/imu/mpu6000/MPU6000_I2C.cpp
View File

@ -37,10 +37,7 @@
* I2C interface for MPU6000 /MPU6050
*/
#include <px4_config.h>
#include <drivers/device/i2c.h>
#include <drivers/drv_accel.h>
#include <drivers/drv_device.h>
#include "MPU6000.hpp"

5
src/drivers/imu/mpu6000/MPU6000_SPI.cpp
View File

@ -41,15 +41,10 @@
* @author David sidrane
*/
#include <px4_config.h>
#include <drivers/device/spi.h>
#include <drivers/drv_accel.h>
#include <drivers/drv_device.h>
#include "MPU6000.hpp"
#include <string.h>
#define DIR_READ 0x80
#define DIR_WRITE 0x00

6
src/drivers/imu/mpu9250/MPU9250_mag.cpp
View File

@ -40,12 +40,6 @@
*
*/
#include <px4_config.h>
#include <px4_log.h>
#include <px4_time.h>
#include <lib/perf/perf_counter.h>
#include <drivers/drv_hrt.h>
#include "MPU9250_mag.h"
#include "mpu9250.h"

11
src/drivers/imu/mpu9250/mpu9250.cpp
View File

@ -41,17 +41,6 @@
* based on the mpu6000 driver
*/
#include <px4_config.h>
#include <px4_time.h>
#include <lib/ecl/geo/geo.h>
#include <lib/perf/perf_counter.h>
#include <systemlib/conversions.h>
#include <systemlib/px4_macros.h>
#include <drivers/drv_hrt.h>
#include <drivers/device/spi.h>
#include <lib/conversion/rotation.h>
#include "MPU9250_mag.h"
#include "mpu9250.h"
/*

12
src/drivers/imu/mpu9250/mpu9250.h
View File

@ -31,19 +31,17 @@
*
****************************************************************************/
#include <stdint.h>
#include <perf/perf_counter.h>
#include <systemlib/conversions.h>
#include <drivers/drv_hrt.h>
#include <lib/drivers/accelerometer/PX4Accelerometer.hpp>
#include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
#include <lib/conversion/rotation.h>
#include <lib/ecl/geo/geo.h>
#include <px4_getopt.h>
#include <px4_work_queue/ScheduledWorkItem.hpp>
#include <uORB/uORB.h>
#include <systemlib/conversions.h>
#include <systemlib/px4_macros.h>
#include "MPU9250_mag.h"
#if defined(PX4_I2C_OBDEV_MPU9250) || defined(PX4_I2C_BUS_EXPANSION)
# define USE_I2C
#endif

2
src/drivers/imu/mpu9250/mpu9250_i2c.cpp
View File

@ -37,9 +37,7 @@
* I2C interface for MPU9250
*/
#include <px4_config.h>
#include <drivers/device/i2c.h>
#include <drivers/drv_device.h>
#include "mpu9250.h"

9
src/drivers/imu/mpu9250/mpu9250_main.cpp
View File

@ -42,15 +42,6 @@
* based on the mpu6000 driver
*/
#include <px4_config.h>
#include <px4_getopt.h>
#include <lib/perf/perf_counter.h>
#include <lib/systemlib/conversions.h>
#include <board_config.h>
#include <drivers/drv_hrt.h>
#include <drivers/device/spi.h>
#include <lib/conversion/rotation.h>
#include "mpu9250.h"
#define MPU_DEVICE_PATH "/dev/mpu9250"

3
src/drivers/imu/mpu9250/mpu9250_spi.cpp
View File

@ -41,10 +41,7 @@
* @author David sidrane
*/
#include <px4_config.h>
#include <drivers/device/spi.h>
#include <drivers/drv_device.h>
#include "mpu9250.h"
#define DIR_READ 0x80