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bmi055 split accel and gyro headers

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This commit is contained in:
Daniel Agar
2018-07-08 20:14:34 +02:00
committed by Lorenz Meier
parent 4c5ace9b75
commit eef325e2af
8 changed files with 833 additions and 710 deletions
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src/drivers/imu/bmi055/bmi055_main.cpp
+36 -4
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@@ -1,6 +1,41 @@
/****************************************************************************
*
* 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 "BMI055_accel.hpp"
#include "BMI055_gyro.hpp"
#include <px4_config.h>
#include <platforms/px4_getopt.h>
#include "bmi055.hpp"
/** driver 'main' command */
extern "C" { __EXPORT int bmi055_main(int argc, char *argv[]); }
@@ -15,7 +50,6 @@ enum sensor_type {
BMI055_GYRO
};
namespace bmi055
{
@@ -24,7 +58,6 @@ BMI055_accel *g_acc_dev_ext; // on external bus (accel)
BMI055_gyro *g_gyr_dev_int; // on internal bus (gyro)
BMI055_gyro *g_gyr_dev_ext; // on external bus (gyro)
void start(bool, enum Rotation, enum sensor_type);
void stop(bool, enum sensor_type);
void test(bool, enum sensor_type);
@@ -51,7 +84,6 @@ start(bool external_bus, enum Rotation rotation, enum sensor_type sensor)
BMI055_gyro **g_dev_gyr_ptr = external_bus ? &g_gyr_dev_ext : &g_gyr_dev_int;
const char *path_gyro = external_bus ? BMI055_DEVICE_PATH_GYRO_EXT : BMI055_DEVICE_PATH_GYRO;
if (sensor == BMI055_ACCEL) {
if (*g_dev_acc_ptr != nullptr)
/* if already started, the still command succeeded */