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AP_InertialSensor: MPU6000: remove _bus_type field

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Use _dev->bus_type instead.
This commit is contained in:
Gustavo Jose de Sousa 2016-06-13 18:11:34 -03:00 committed by Lucas De Marchi
parent 0718649c8b
commit a6e5eb9e14
2 changed files with 4 additions and 16 deletions
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13
libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp
View File

@ -217,11 +217,9 @@ 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)
: AP_InertialSensor_Backend(imu)
, _use_fifo(use_fifo)
, _bus_type(type)
, _temp_filter(1000, 1)
, _dev(std::move(dev))
{
@ -236,7 +234,7 @@ 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);
new AP_InertialSensor_MPU6000(imu, std::move(dev), true);
if (!sensor || !sensor->_init()) {
delete sensor;
return nullptr;
@ -254,10 +252,7 @@ AP_InertialSensor_Backend *AP_InertialSensor_MPU6000::probe(AP_InertialSensor &i
dev->set_read_flag(0x80);
sensor = new AP_InertialSensor_MPU6000(imu,
std::move(dev),
BUS_TYPE_SPI,
false);
sensor = new AP_InertialSensor_MPU6000(imu, std::move(dev), false);
if (!sensor || !sensor->_init()) {
delete sensor;
return nullptr;
@ -302,7 +297,7 @@ void AP_InertialSensor_MPU6000::_fifo_enable()
bool AP_InertialSensor_MPU6000::_has_auxiliary_bus()
{
return _bus_type != BUS_TYPE_I2C;
return _dev->bus_type != AP_HAL::Device::I2C;
}
void AP_InertialSensor_MPU6000::start()
@ -615,7 +610,7 @@ bool AP_InertialSensor_MPU6000::_hardware_init(void)
hal.scheduler->delay(100);
/* bus-dependent initialization */
if (_bus_type == BUS_TYPE_SPI) {
if (_dev->bus_type == AP_HAL::Device::SPI) {
/* Disable I2C bus if SPI selected (Recommended in Datasheet to be
* done just after the device is reset) */
_register_write(MPUREG_USER_CTRL, BIT_USER_CTRL_I2C_IF_DIS);

7
libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.h
View File

@ -51,14 +51,8 @@ public:
void start() override;
private:
enum bus_type {
BUS_TYPE_I2C = 0,
BUS_TYPE_SPI,
};
AP_InertialSensor_MPU6000(AP_InertialSensor &imu,
AP_HAL::OwnPtr<AP_HAL::Device> dev,
enum bus_type bus_type,
bool use_fifo);
#if MPU6000_DEBUG
@ -99,7 +93,6 @@ private:
uint8_t _accel_instance;
const bool _use_fifo;
const enum bus_type _bus_type;
uint16_t _error_count;