From abb53eb9a297bb38b797aaf3e825ccf0d7d004b7 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 7 Jul 2014 12:03:57 +1000 Subject: [PATCH] AP_InertialSensor: simplify using HAL board subtypes --- libraries/AP_InertialSensor/AP_InertialSensor.h | 2 +- libraries/AP_InertialSensor/AP_InertialSensor_L3G4200D.cpp | 2 +- libraries/AP_InertialSensor/AP_InertialSensor_L3G4200D.h | 2 +- libraries/AP_InertialSensor/AP_InertialSensor_LSM9DS0.cpp | 2 +- libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp | 4 +++- libraries/AP_InertialSensor/AP_InertialSensor_MPU9150.cpp | 2 +- libraries/AP_InertialSensor/AP_InertialSensor_MPU9150.h | 2 +- libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.cpp | 6 ++++++ libraries/AP_InertialSensor/AP_InertialSensor_Oilpan.cpp | 2 +- 9 files changed, 16 insertions(+), 8 deletions(-) diff --git a/libraries/AP_InertialSensor/AP_InertialSensor.h b/libraries/AP_InertialSensor/AP_InertialSensor.h index 33b6ff9bba..9d065d19a1 100644 --- a/libraries/AP_InertialSensor/AP_InertialSensor.h +++ b/libraries/AP_InertialSensor/AP_InertialSensor.h @@ -11,7 +11,7 @@ maximum number of INS instances available on this platform. If more than 1 then redundent sensors may be available */ -#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_LINUX || CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL || CONFIG_HAL_BOARD == HAL_BOARD_ERLE +#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_LINUX || CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL #define INS_MAX_INSTANCES 3 #elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN #define INS_MAX_INSTANCES 2 diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_L3G4200D.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_L3G4200D.cpp index 4995374fe7..60281bd559 100644 --- a/libraries/AP_InertialSensor/AP_InertialSensor_L3G4200D.cpp +++ b/libraries/AP_InertialSensor/AP_InertialSensor_L3G4200D.cpp @@ -21,7 +21,7 @@ // L3G4200D gyro http://www.st.com/st-web-ui/static/active/en/resource/technical/document/datasheet/CD00265057.pdf #include -#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX || CONFIG_HAL_BOARD == HAL_BOARD_ERLE +#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX #include #include "AP_InertialSensor_L3G4200D.h" diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_L3G4200D.h b/libraries/AP_InertialSensor/AP_InertialSensor_L3G4200D.h index 12c157b1ea..5aa035a6aa 100644 --- a/libraries/AP_InertialSensor/AP_InertialSensor_L3G4200D.h +++ b/libraries/AP_InertialSensor/AP_InertialSensor_L3G4200D.h @@ -4,7 +4,7 @@ #define __AP_INERTIAL_SENSOR_L3G4200D_H__ #include -#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX || CONFIG_HAL_BOARD == HAL_BOARD_ERLE +#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX #include #include "AP_InertialSensor.h" diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_LSM9DS0.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_LSM9DS0.cpp index 40386f6ffd..bf67671522 100644 --- a/libraries/AP_InertialSensor/AP_InertialSensor_LSM9DS0.cpp +++ b/libraries/AP_InertialSensor/AP_InertialSensor_LSM9DS0.cpp @@ -20,7 +20,7 @@ */ #include -#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX || CONFIG_HAL_BOARD == HAL_BOARD_ERLE +#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX #include "AP_InertialSensor_LSM9DS0.h" #include "../AP_HAL_Linux/GPIO.h" diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp index db0d093100..3618939b17 100644 --- a/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp +++ b/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp @@ -10,10 +10,12 @@ extern const AP_HAL::HAL& hal; #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 +#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX +#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLE || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF #include "../AP_HAL_Linux/GPIO.h" #define MPU6000_DRDY_PIN BBB_P8_14 #endif +#endif // MPU 6000 registers #define MPUREG_XG_OFFS_TC 0x00 diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_MPU9150.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_MPU9150.cpp index 648b83fc94..44cd2b117a 100644 --- a/libraries/AP_InertialSensor/AP_InertialSensor_MPU9150.cpp +++ b/libraries/AP_InertialSensor/AP_InertialSensor_MPU9150.cpp @@ -22,7 +22,7 @@ */ #include -#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX || CONFIG_HAL_BOARD == HAL_BOARD_ERLE +#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX #include #include "AP_InertialSensor_MPU9150.h" diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_MPU9150.h b/libraries/AP_InertialSensor/AP_InertialSensor_MPU9150.h index 664c39ebc2..a1d31fadab 100644 --- a/libraries/AP_InertialSensor/AP_InertialSensor_MPU9150.h +++ b/libraries/AP_InertialSensor/AP_InertialSensor_MPU9150.h @@ -4,7 +4,7 @@ #define __AP_INERTIAL_SENSOR_MPU9150_H__ #include -#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX || CONFIG_HAL_BOARD == HAL_BOARD_ERLE +#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX #include #include "AP_InertialSensor.h" diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.cpp index 49f32f7b2b..1bb7d78928 100644 --- a/libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.cpp +++ b/libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.cpp @@ -17,6 +17,8 @@ */ #include +#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX + #include "AP_InertialSensor_MPU9250.h" #include "../AP_HAL_Linux/GPIO.h" @@ -621,4 +623,8 @@ float AP_InertialSensor_MPU9250::get_delta_time() const { // the sensor runs at 200Hz return 0.005 * _num_samples; + } + +#endif // CONFIG_HAL_BOARD + diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_Oilpan.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_Oilpan.cpp index dfaa5feee1..7070ff8e87 100644 --- a/libraries/AP_InertialSensor/AP_InertialSensor_Oilpan.cpp +++ b/libraries/AP_InertialSensor/AP_InertialSensor_Oilpan.cpp @@ -1,7 +1,7 @@ /// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- #include -#if CONFIG_HAL_BOARD == HAL_BOARD_APM1 || CONFIG_HAL_BOARD == HAL_BOARD_LINUX || CONFIG_HAL_BOARD == HAL_BOARD_ERLE +#if CONFIG_HAL_BOARD == HAL_BOARD_APM1 #include "AP_InertialSensor_Oilpan.h" const extern AP_HAL::HAL& hal;