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MPU6000: minor fixes

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the hardware functions should be private, and cs_pin should be uint8_t
This commit is contained in:
Andrew Tridgell 2011-12-27 07:34:18 +11:00
parent d35113f8a6
commit f2bbfb1296
2 changed files with 6 additions and 6 deletions
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4
libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp
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@ -64,7 +64,7 @@
#define BIT_I2C_IF_DIS 0x10 #define BIT_I2C_IF_DIS 0x10
#define BIT_INT_STATUS_DATA 0x01 #define BIT_INT_STATUS_DATA 0x01
int AP_InertialSensor_MPU6000::_cs_pin; uint8_t AP_InertialSensor_MPU6000::_cs_pin;
/* pch: by the data sheet, the gyro scale should be 16.4LSB per DPS /* pch: by the data sheet, the gyro scale should be 16.4LSB per DPS
* Given the radians conversion factor (0.174532), the gyro scale factor * Given the radians conversion factor (0.174532), the gyro scale factor
@ -90,7 +90,7 @@ const uint8_t AP_InertialSensor_MPU6000::_temp_data_index = 3;
static volatile uint8_t _new_data; static volatile uint8_t _new_data;
AP_InertialSensor_MPU6000::AP_InertialSensor_MPU6000( int cs_pin ) AP_InertialSensor_MPU6000::AP_InertialSensor_MPU6000( uint8_t cs_pin )
{ {
_cs_pin = cs_pin; /* can't use initializer list, is static */ _cs_pin = cs_pin; /* can't use initializer list, is static */
_gyro.x = 0; _gyro.x = 0;

8
libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.h
View File

@ -14,7 +14,7 @@ class AP_InertialSensor_MPU6000 : public AP_InertialSensor
{ {
public: public:
AP_InertialSensor_MPU6000( int cs_pin ); AP_InertialSensor_MPU6000( uint8_t cs_pin );
void init( AP_PeriodicProcess * scheduler ); void init( AP_PeriodicProcess * scheduler );
@ -33,14 +33,14 @@ class AP_InertialSensor_MPU6000 : public AP_InertialSensor
uint32_t sample_time(); uint32_t sample_time();
void reset_sample_time(); void reset_sample_time();
private:
static void read(uint32_t); static void read(uint32_t);
static void data_interrupt(void); static void data_interrupt(void);
static uint8_t register_read( uint8_t reg ); static uint8_t register_read( uint8_t reg );
static void register_write( uint8_t reg, uint8_t val ); static void register_write( uint8_t reg, uint8_t val );
static void hardware_init(); static void hardware_init();
private:
Vector3f _gyro; Vector3f _gyro;
Vector3f _accel; Vector3f _accel;
float _temp; float _temp;
@ -63,7 +63,7 @@ class AP_InertialSensor_MPU6000 : public AP_InertialSensor
static int16_t _data[7]; static int16_t _data[7];
/* TODO deprecate _cs_pin */ /* TODO deprecate _cs_pin */
static int _cs_pin; static uint8_t _cs_pin;
}; };
#endif // __AP_INERTIAL_SENSOR_MPU6000_H__ #endif // __AP_INERTIAL_SENSOR_MPU6000_H__