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AP_InertialSensor: Invensense: use capital letters for define

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Lucas De Marchi 2016-12-16 09:49:20 -08:00 committed by Randy Mackay
parent 86406199a9
commit 9569ed94a9
1 changed files with 10 additions and 10 deletions
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20
libraries/AP_InertialSensor/AP_InertialSensor_Invensense.cpp
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@ -30,13 +30,13 @@ extern const AP_HAL::HAL& hal;
#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX #if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
#include <AP_HAL_Linux/GPIO.h> #include <AP_HAL_Linux/GPIO.h>
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBOARD || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBOARD || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF
#define Invensense_DRDY_PIN BBB_P8_14 #define INVENSENSE_DRDY_PIN BBB_P8_14
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT
#define Invensense_DRDY_PIN RPI_GPIO_24 #define INVENSENSE_DRDY_PIN RPI_GPIO_24
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE
#define Invensense_DRDY_PIN MINNOW_GPIO_I2S_CLK #define INVENSENSE_DRDY_PIN MINNOW_GPIO_I2S_CLK
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
#define Invensense_EXT_SYNC_ENABLE 1 #define INVENSENSE_EXT_SYNC_ENABLE 1
#endif #endif
#endif #endif
@ -46,8 +46,8 @@ extern const AP_HAL::HAL& hal;
EXT_SYNC allows for frame synchronisation with an external device EXT_SYNC allows for frame synchronisation with an external device
such as a camera. When enabled the LSB of AccelZ holds the FSYNC bit such as a camera. When enabled the LSB of AccelZ holds the FSYNC bit
*/ */
#ifndef Invensense_EXT_SYNC_ENABLE #ifndef INVENSENSE_EXT_SYNC_ENABLE
#define Invensense_EXT_SYNC_ENABLE 0 #define INVENSENSE_EXT_SYNC_ENABLE 0
#endif #endif
// common registers // common registers
@ -338,8 +338,8 @@ AP_InertialSensor_Backend *AP_InertialSensor_Invensense::probe(AP_InertialSensor
bool AP_InertialSensor_Invensense::_init() bool AP_InertialSensor_Invensense::_init()
{ {
#ifdef Invensense_DRDY_PIN #ifdef INVENSENSE_DRDY_PIN
_drdy_pin = hal.gpio->channel(Invensense_DRDY_PIN); _drdy_pin = hal.gpio->channel(INVENSENSE_DRDY_PIN);
_drdy_pin->mode(HAL_GPIO_INPUT); _drdy_pin->mode(HAL_GPIO_INPUT);
#endif #endif
@ -531,7 +531,7 @@ bool AP_InertialSensor_Invensense::_accumulate(uint8_t *samples, uint8_t n_sampl
Vector3f accel, gyro; Vector3f accel, gyro;
bool fsync_set = false; bool fsync_set = false;
#if Invensense_EXT_SYNC_ENABLE #if INVENSENSE_EXT_SYNC_ENABLE
fsync_set = (int16_val(data, 2) & 1U) != 0; fsync_set = (int16_val(data, 2) & 1U) != 0;
#endif #endif
@ -765,7 +765,7 @@ void AP_InertialSensor_Invensense::_set_filter_register(void)
{ {
uint8_t config; uint8_t config;
#if Invensense_EXT_SYNC_ENABLE #if INVENSENSE_EXT_SYNC_ENABLE
// add in EXT_SYNC bit if enabled // add in EXT_SYNC bit if enabled
config = (MPUREG_CONFIG_EXT_SYNC_AZ << MPUREG_CONFIG_EXT_SYNC_SHIFT); config = (MPUREG_CONFIG_EXT_SYNC_AZ << MPUREG_CONFIG_EXT_SYNC_SHIFT);
#else #else