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AP_InertialSensor: simplify using HAL board subtypes

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This commit is contained in:
Andrew Tridgell 2014-07-07 12:03:57 +10:00
parent fc8068adfe
commit abb53eb9a2
9 changed files with 16 additions and 8 deletions
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2
libraries/AP_InertialSensor/AP_InertialSensor.h
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@ -11,7 +11,7 @@
maximum number of INS instances available on this platform. If more maximum number of INS instances available on this platform. If more
than 1 then redundent sensors may be available 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 #define INS_MAX_INSTANCES 3
#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN #elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
#define INS_MAX_INSTANCES 2 #define INS_MAX_INSTANCES 2

2
libraries/AP_InertialSensor/AP_InertialSensor_L3G4200D.cpp
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@ -21,7 +21,7 @@
// L3G4200D gyro http://www.st.com/st-web-ui/static/active/en/resource/technical/document/datasheet/CD00265057.pdf // L3G4200D gyro http://www.st.com/st-web-ui/static/active/en/resource/technical/document/datasheet/CD00265057.pdf
#include <AP_HAL.h> #include <AP_HAL.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX || CONFIG_HAL_BOARD == HAL_BOARD_ERLE #if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
#include <AP_Math.h> #include <AP_Math.h>
#include "AP_InertialSensor_L3G4200D.h" #include "AP_InertialSensor_L3G4200D.h"

2
libraries/AP_InertialSensor/AP_InertialSensor_L3G4200D.h
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@ -4,7 +4,7 @@
#define __AP_INERTIAL_SENSOR_L3G4200D_H__ #define __AP_INERTIAL_SENSOR_L3G4200D_H__
#include <AP_HAL.h> #include <AP_HAL.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX || CONFIG_HAL_BOARD == HAL_BOARD_ERLE #if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
#include <AP_Progmem.h> #include <AP_Progmem.h>
#include "AP_InertialSensor.h" #include "AP_InertialSensor.h"

2
libraries/AP_InertialSensor/AP_InertialSensor_LSM9DS0.cpp
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@ -20,7 +20,7 @@
*/ */
#include <AP_HAL.h> #include <AP_HAL.h>
#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_InertialSensor_LSM9DS0.h"
#include "../AP_HAL_Linux/GPIO.h" #include "../AP_HAL_Linux/GPIO.h"

4
libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp
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@ -10,10 +10,12 @@ extern const AP_HAL::HAL& hal;
#if CONFIG_HAL_BOARD == HAL_BOARD_APM2 #if CONFIG_HAL_BOARD == HAL_BOARD_APM2
#define MPU6000_DRDY_PIN 70 #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" #include "../AP_HAL_Linux/GPIO.h"
#define MPU6000_DRDY_PIN BBB_P8_14 #define MPU6000_DRDY_PIN BBB_P8_14
#endif #endif
#endif
// MPU 6000 registers // MPU 6000 registers
#define MPUREG_XG_OFFS_TC 0x00 #define MPUREG_XG_OFFS_TC 0x00

2
libraries/AP_InertialSensor/AP_InertialSensor_MPU9150.cpp
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@ -22,7 +22,7 @@
*/ */
#include <AP_HAL.h> #include <AP_HAL.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX || CONFIG_HAL_BOARD == HAL_BOARD_ERLE #if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
#include <AP_Math.h> #include <AP_Math.h>
#include "AP_InertialSensor_MPU9150.h" #include "AP_InertialSensor_MPU9150.h"

2
libraries/AP_InertialSensor/AP_InertialSensor_MPU9150.h
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@ -4,7 +4,7 @@
#define __AP_INERTIAL_SENSOR_MPU9150_H__ #define __AP_INERTIAL_SENSOR_MPU9150_H__
#include <AP_HAL.h> #include <AP_HAL.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX || CONFIG_HAL_BOARD == HAL_BOARD_ERLE #if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
#include <AP_Progmem.h> #include <AP_Progmem.h>
#include "AP_InertialSensor.h" #include "AP_InertialSensor.h"

6
libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.cpp
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@ -17,6 +17,8 @@
*/ */
#include <AP_HAL.h> #include <AP_HAL.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
#include "AP_InertialSensor_MPU9250.h" #include "AP_InertialSensor_MPU9250.h"
#include "../AP_HAL_Linux/GPIO.h" #include "../AP_HAL_Linux/GPIO.h"
@ -621,4 +623,8 @@ float AP_InertialSensor_MPU9250::get_delta_time() const
{ {
// the sensor runs at 200Hz // the sensor runs at 200Hz
return 0.005 * _num_samples; return 0.005 * _num_samples;
} }
#endif // CONFIG_HAL_BOARD

2
libraries/AP_InertialSensor/AP_InertialSensor_Oilpan.cpp
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@ -1,7 +1,7 @@
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- /// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#include <AP_HAL.h> #include <AP_HAL.h>
#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" #include "AP_InertialSensor_Oilpan.h"
const extern AP_HAL::HAL& hal; const extern AP_HAL::HAL& hal;