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AP_InertialSensor: fixeup DRDY pin for different boards

This commit is contained in:
Andrew Tridgell 2014-07-05 18:19:08 +10:00
parent 1c89f54934
commit 06b6d7aaf0
1 changed files with 10 additions and 4 deletions
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14
libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp
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@ -2,13 +2,18 @@
#include <AP_HAL.h>
#include "AP_InertialSensor_MPU6000.h"
#include "../AP_HAL_Linux/GPIO.h"
extern const AP_HAL::HAL& hal;
// MPU6000 accelerometer scaling
#define MPU6000_ACCEL_SCALE_1G (GRAVITY_MSS / 4096.0f)
#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
#define MPU6000_DRDY_PIN 70
#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX || CONFIG_HAL_BOARD == HAL_BOARD_ERLE
#define MPU6000_DRDY_PIN BBB_P8_14
#endif
// MPU 6000 registers
#define MPUREG_XG_OFFS_TC 0x00
#define MPUREG_YG_OFFS_TC 0x01
@ -181,9 +186,10 @@ uint16_t AP_InertialSensor_MPU6000::_init_sensor( Sample_rate sample_rate )
_spi = hal.spi->device(AP_HAL::SPIDevice_MPU6000);
_spi_sem = _spi->get_semaphore();
_drdy_pin = hal.gpio->channel(BBB_P8_14);
// For some reason configuring the pin as an input make the driver fail
//_drdy_pin->mode(GPIO_IN);
#ifdef MPU6000_DRDY_PIN
_drdy_pin = hal.gpio->channel(MPU6000_DRDY_PIN);
_drdy_pin->mode(HAL_GPIO_INPUT);
#endif
hal.scheduler->suspend_timer_procs();