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AP_InertialSensor_LSM9DS0: Remove previous CS handling.

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CS is now being automatically handled by the SPI Driver.
This commit is contained in:
Víctor Mayoral Vilches 2014-07-06 21:21:03 +02:00 committed by Andrew Tridgell
parent 5b438471a7
commit f213f01983
2 changed files with 2 additions and 11 deletions
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11
libraries/AP_InertialSensor/AP_InertialSensor_LSM9DS0.cpp
View File

@ -116,7 +116,7 @@ extern const AP_HAL::HAL& hal;
#define ACT_DUR 0x3F
// enable debug to see a register dump on startup
#define LSM9DS0_DEBUG 0
#define LSM9DS0_DEBUG 1
AP_InertialSensor_LSM9DS0::AP_InertialSensor_LSM9DS0():
@ -145,10 +145,7 @@ uint16_t AP_InertialSensor_LSM9DS0::_init_sensor( Sample_rate sample_rate)
// _drdy_pin_a->mode(GPIO_IN);
// _drdy_pin_m->mode(GPIO_IN);
// _drdy_pin_g->mode(GPIO_IN);
_cs_xm = hal.gpio->channel(BBB_P9_17);
_cs_g = hal.gpio->channel(BBB_P8_9);
hal.scheduler->suspend_timer_procs();
uint8_t tries = 0;
@ -534,7 +531,6 @@ bool AP_InertialSensor_LSM9DS0::_sample_available()
uint8_t AP_InertialSensor_LSM9DS0::_register_read_xm( uint8_t reg )
{
// TODO select the right CS
uint8_t addr = reg | 0x80; // Set most significant bit
uint8_t tx[2];
@ -549,7 +545,6 @@ uint8_t AP_InertialSensor_LSM9DS0::_register_read_xm( uint8_t reg )
uint8_t AP_InertialSensor_LSM9DS0::_register_read_g( uint8_t reg )
{
// TODO select the right CS
uint8_t addr = reg | 0x80; // Set most significant bit
uint8_t tx[2];
@ -565,7 +560,6 @@ uint8_t AP_InertialSensor_LSM9DS0::_register_read_g( uint8_t reg )
void AP_InertialSensor_LSM9DS0::_register_write_xm(uint8_t reg, uint8_t val)
{
// TODO select the right CS
uint8_t tx[2];
uint8_t rx[2];
@ -576,7 +570,6 @@ void AP_InertialSensor_LSM9DS0::_register_write_xm(uint8_t reg, uint8_t val)
void AP_InertialSensor_LSM9DS0::_register_write_g(uint8_t reg, uint8_t val)
{
// TODO select the right CS
uint8_t tx[2];
uint8_t rx[2];

2
libraries/AP_InertialSensor/AP_InertialSensor_LSM9DS0.h
View File

@ -117,8 +117,6 @@ private:
AP_HAL::DigitalSource *_drdy_pin_a;
AP_HAL::DigitalSource *_drdy_pin_m;
AP_HAL::DigitalSource *_drdy_pin_g;
AP_HAL::DigitalSource *_cs_xm;
AP_HAL::DigitalSource *_cs_g;
uint32_t _gRes, _aRes, _mRes;
void _calcgRes(gyro_scale_lsm9ds0 gScl);