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Cleanup mpu9250 driver
This commit is contained in:
Dennis Shtatnov
2016-09-04 19:12:08 +02:00
committed by Lorenz Meier
parent 5100785f51
commit e6b98b2ab8
16 changed files with 172 additions and 381 deletions
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src/drivers/mpu9250/main.cpp
+3 -4
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@@ -69,8 +69,6 @@
#include <mathlib/math/filter/LowPassFilter2p.hpp>
#include <lib/conversion/rotation.h>
#include "mag.h"
#include "gyro.h"
#include "mpu9250.h"
#define MPU_DEVICE_PATH_ACCEL "/dev/mpu9250_accel"
@@ -125,7 +123,7 @@ struct mpu9250_bus_option {
{ MPU9250_BUS_SPI_INTERNAL, MPU_DEVICE_PATH_ACCEL, MPU_DEVICE_PATH_GYRO, MPU_DEVICE_PATH_MAG, &MPU9250_SPI_interface, true, PX4_SPI_BUS_SENSORS, NULL },
#endif
#if defined(PX4_SPI_BUS_EXT)
{ MPU9250_BUS_SPI_EXTERNAL, MPU_DEVICE_PATH_ACCEL_EXT, MPU_DEVICE_PATH_GYRO_EXT, MPU_DEVICE_PATH_MAG_EXT &MPU9250_SPI_interface, true, PX4_SPI_BUS_EXT, NULL },
{ MPU9250_BUS_SPI_EXTERNAL, MPU_DEVICE_PATH_ACCEL_EXT, MPU_DEVICE_PATH_GYRO_EXT, MPU_DEVICE_PATH_MAG_EXT, &MPU9250_SPI_interface, true, PX4_SPI_BUS_EXT, NULL },
#endif
};
@@ -189,9 +187,11 @@ start_bus(struct mpu9250_bus_option &bus, enum Rotation rotation, bool external)
#ifdef USE_I2C
/* For i2c interfaces, connect to the magnetomer directly */
bool is_i2c = bus.busid == MPU9250_BUS_I2C_INTERNAL || bus.busid == MPU9250_BUS_I2C_EXTERNAL;
if (is_i2c) {
mag_interface = AK8963_I2C_interface(bus.busnum, external);
}
#endif
bus.dev = new MPU9250(interface, mag_interface, bus.accelpath, bus.gyropath, bus.magpath, rotation);
@@ -494,7 +494,6 @@ mpu9250_main(int argc, char *argv[])
int ch;
bool external = false;
enum Rotation rotation = ROTATION_NONE;
//int accel_range = 8;
/* jump over start/off/etc and look at options first */
while ((ch = getopt(argc, argv, "XISsR:")) != EOF) {