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AP_InertialSensor: Use MPU9250 DRDY pin only on boards that support it

This commit is contained in:
Mikhail Avkhimenia 2014-08-12 14:00:31 +04:00 committed by Andrew Tridgell
parent a09fbb4171
commit 34da221c3d
1 changed files with 14 additions and 12 deletions
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4
libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.cpp
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@ -205,8 +205,11 @@ uint16_t AP_InertialSensor_MPU9250::_init_sensor( Sample_rate sample_rate )
_spi = hal.spi->device(AP_HAL::SPIDevice_MPU9250); _spi = hal.spi->device(AP_HAL::SPIDevice_MPU9250);
_spi_sem = _spi->get_semaphore(); _spi_sem = _spi->get_semaphore();
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLE
_drdy_pin = hal.gpio->channel(BBB_P8_7); _drdy_pin = hal.gpio->channel(BBB_P8_7);
_drdy_pin->mode(HAL_GPIO_INPUT); _drdy_pin->mode(HAL_GPIO_INPUT);
#endif
hal.scheduler->suspend_timer_procs(); hal.scheduler->suspend_timer_procs();
@ -642,4 +645,3 @@ float AP_InertialSensor_MPU9250::get_delta_time() const
} }
#endif // CONFIG_HAL_BOARD #endif // CONFIG_HAL_BOARD