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AP_InertialSensor: MPU6000: let Device handle read flag

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There's no need to handle that in MPU6000 anymore.
This commit is contained in:
Gustavo Jose de Sousa 2016-06-13 17:39:12 -03:00 committed by Lucas De Marchi
parent 309fe4a88c
commit 0718649c8b
2 changed files with 11 additions and 13 deletions
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20
libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp
View File

@ -218,10 +218,8 @@ static const float GYRO_SCALE = (0.0174532f / 16.4f);
AP_InertialSensor_MPU6000::AP_InertialSensor_MPU6000(AP_InertialSensor &imu,
AP_HAL::OwnPtr<AP_HAL::Device> dev,
enum bus_type type,
bool use_fifo,
uint8_t read_flag)
bool use_fifo)
: AP_InertialSensor_Backend(imu)
, _read_flag(read_flag)
, _use_fifo(use_fifo)
, _bus_type(type)
, _temp_filter(1000, 1)
@ -238,7 +236,7 @@ AP_InertialSensor_Backend *AP_InertialSensor_MPU6000::probe(AP_InertialSensor &i
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev)
{
AP_InertialSensor_MPU6000 *sensor =
new AP_InertialSensor_MPU6000(imu, std::move(dev), BUS_TYPE_I2C, true, 0);
new AP_InertialSensor_MPU6000(imu, std::move(dev), BUS_TYPE_I2C, true);
if (!sensor || !sensor->_init()) {
delete sensor;
return nullptr;
@ -252,8 +250,14 @@ AP_InertialSensor_Backend *AP_InertialSensor_MPU6000::probe(AP_InertialSensor &i
AP_InertialSensor_Backend *AP_InertialSensor_MPU6000::probe(AP_InertialSensor &imu,
AP_HAL::OwnPtr<AP_HAL::SPIDevice> dev)
{
AP_InertialSensor_MPU6000 *sensor =
new AP_InertialSensor_MPU6000(imu, std::move(dev), BUS_TYPE_SPI, false, 0x80);
AP_InertialSensor_MPU6000 *sensor;
dev->set_read_flag(0x80);
sensor = new AP_InertialSensor_MPU6000(imu,
std::move(dev),
BUS_TYPE_SPI,
false);
if (!sensor || !sensor->_init()) {
delete sensor;
return nullptr;
@ -543,17 +547,13 @@ void AP_InertialSensor_MPU6000::_read_sample()
bool AP_InertialSensor_MPU6000::_block_read(uint8_t reg, uint8_t *buf,
uint32_t size)
{
reg |= _read_flag;
return _dev->read_registers(reg, buf, size);
}
uint8_t AP_InertialSensor_MPU6000::_register_read(uint8_t reg)
{
uint8_t val = 0;
reg |= _read_flag;
_dev->read_registers(reg, &val, 1);
return val;
}

4
libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.h
View File

@ -59,8 +59,7 @@ private:
AP_InertialSensor_MPU6000(AP_InertialSensor &imu,
AP_HAL::OwnPtr<AP_HAL::Device> dev,
enum bus_type bus_type,
bool use_fifo,
uint8_t read_flag);
bool use_fifo);
#if MPU6000_DEBUG
void _dump_registers();
@ -99,7 +98,6 @@ private:
uint8_t _gyro_instance;
uint8_t _accel_instance;
const uint8_t _read_flag;
const bool _use_fifo;
const enum bus_type _bus_type;