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authorKyle Repinski <repinski23@gmail.com>2015-11-09 15:13:48 -0600
committerZiyan <jaraidaniel@gmail.com>2016-01-17 22:41:00 +0100
commit85779371e527f94e865dc0450c703676d858bc30 (patch)
treeb2260d27aa6f47d2891197ebbcb71915eed679c4
parentaeea3ec86137d05eb1285a05e3f1518d0645b87f (diff)
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invensense: Remove MPU6050 ifdef stuff.
The header files necessary for those sensors aren't even here anyway.
-rw-r--r--invensense/libinvensense_hal/Android.mk1
-rw-r--r--invensense/mlsdk/Android.mk2
-rw-r--r--invensense/mlsdk/mllite/compass.c41
-rw-r--r--invensense/mlsdk/mllite/dmpKey.h34
-rw-r--r--invensense/mlsdk/mllite/ml.c105
-rw-r--r--invensense/mlsdk/mllite/ml.h7
-rw-r--r--invensense/mlsdk/mllite/mlBiasNoMotion.c86
-rw-r--r--invensense/mlsdk/mllite/mlFIFO.c141
-rw-r--r--invensense/mlsdk/mllite/mlFIFOHW.c10
-rw-r--r--invensense/mlsdk/mllite/ml_mputest.c4
-rw-r--r--invensense/mlsdk/mllite/mldl.c43
-rw-r--r--invensense/mlsdk/mllite/mldl_cfg.h14
-rw-r--r--invensense/mlsdk/mllite/mldl_cfg_mpu.c3
-rw-r--r--invensense/mlsdk/mllite/mlsupervisor.c10
-rw-r--r--invensense/mlsdk/mlutils/mputest.c301
-rw-r--r--invensense/mlsdk/platform/include/mpu3050.h4
-rw-r--r--invensense/mlsdk/platform/linux/mlsl_linux_mpu.c10
17 files changed, 13 insertions, 803 deletions
diff --git a/invensense/libinvensense_hal/Android.mk b/invensense/libinvensense_hal/Android.mk
index dbcd799..33e0e2f 100644
--- a/invensense/libinvensense_hal/Android.mk
+++ b/invensense/libinvensense_hal/Android.mk
@@ -23,7 +23,6 @@ LOCAL_MODULE := libinvensense_hal.$(TARGET_BOOTLOADER_BOARD_NAME)
LOCAL_MODULE_TAGS := optional
LOCAL_CFLAGS := -DLOG_TAG=\"Sensors\" -Werror -Wall
-LOCAL_CFLAGS += -DCONFIG_MPU_SENSORS_MPU3050=1
LOCAL_SRC_FILES := SensorBase.cpp MPLSensor.cpp
diff --git a/invensense/mlsdk/Android.mk b/invensense/mlsdk/Android.mk
index e57d2e5..3371c1a 100644
--- a/invensense/mlsdk/Android.mk
+++ b/invensense/mlsdk/Android.mk
@@ -6,7 +6,6 @@ LOCAL_MODULE_TAGS := optional
LOCAL_MODULE := libmlplatform
LOCAL_CFLAGS := -D_REENTRANT -DLINUX -DANDROID
-LOCAL_CFLAGS += -DCONFIG_MPU_SENSORS_MPU3050
LOCAL_CFLAGS += -Wall -Werror
LOCAL_C_INCLUDES := \
@@ -29,7 +28,6 @@ LOCAL_MODULE := libmllite
LOCAL_MODULE_TAGS := optional
LOCAL_CFLAGS := -DNDEBUG -D_REENTRANT -DLINUX -DANDROID
-LOCAL_CFLAGS += -DCONFIG_MPU_SENSORS_MPU3050
LOCAL_CFLAGS += -DUNICODE -D_UNICODE -DSK_RELEASE
LOCAL_CFLAGS += -DI2CDEV=\"/dev/mpu\"
LOCAL_CFLAGS += -Wall -Werror
diff --git a/invensense/mlsdk/mllite/compass.c b/invensense/mlsdk/mllite/compass.c
index dcae0cd..c008fbf 100644
--- a/invensense/mlsdk/mllite/compass.c
+++ b/invensense/mlsdk/mllite/compass.c
@@ -304,48 +304,7 @@ inv_error_t inv_get_compass_data(long *data)
inv_obj.compass_overunder = (int)tmp[6];
} else {
-#if defined CONFIG_MPU_SENSORS_MPU6050A2 || \
- defined CONFIG_MPU_SENSORS_MPU6050B1
- result = inv_get_external_sensor_data(data, 3);
- if (result) {
- LOG_RESULT_LOCATION(result);
- return result;
- }
-#if defined CONFIG_MPU_SENSORS_MPU6050A2
- {
- static unsigned char first = TRUE;
- // one-off write to AKM
- if (first) {
- unsigned char regs[] = {
- // beginning Mantis register for one-off slave R/W
- MPUREG_I2C_SLV4_ADDR,
- // the slave to write to
- mldl_cfg->pdata->compass.address,
- // the register to write to
- /*mldl_cfg->compass->trigger->reg */ 0x0A,
- // the value to write
- /*mldl_cfg->compass->trigger->value */ 0x01,
- // enable the write
- 0xC0
- };
- result =
- inv_serial_write(inv_get_serial_handle(), mldl_cfg->addr,
- ARRAY_SIZE(regs), regs);
- first = FALSE;
- } else {
- unsigned char regs[] = {
- MPUREG_I2C_SLV4_CTRL,
- 0xC0
- };
- result =
- inv_serial_write(inv_get_serial_handle(), mldl_cfg->addr,
- ARRAY_SIZE(regs), regs);
- }
- }
-#endif
-#else
return INV_ERROR_INVALID_CONFIGURATION;
-#endif // CONFIG_MPU_SENSORS_xxxx
}
data[0] = inv_q30_mult(data[0], inv_obj.compass_asa[0]);
data[1] = inv_q30_mult(data[1], inv_obj.compass_asa[1]);
diff --git a/invensense/mlsdk/mllite/dmpKey.h b/invensense/mlsdk/mllite/dmpKey.h
index 0c5ab0a..3e2e667 100644
--- a/invensense/mlsdk/mllite/dmpKey.h
+++ b/invensense/mlsdk/mllite/dmpKey.h
@@ -372,7 +372,6 @@
#define DINC7A 0x7a
#define DINC7B 0x7b
-#if defined CONFIG_MPU_SENSORS_MPU3050
#define DINA80 0x80
#define DINA90 0x90
#define DINAA0 0xa0
@@ -394,39 +393,6 @@
#define DINAC3 0xc3
#define DINAC4 0xc4
#define DINAC5 0xc5
-#elif defined CONFIG_MPU_SENSORS_MPU6050A2 || \
- defined CONFIG_MPU_SENSORS_MPU6050B1
-
-#define DINA80 0x80
-#define DINA90 0x90
-#define DINAA0 0xa0
-#define DINAC9 0xc9
-#define DINACB 0xcb
-#define DINACD 0xcd
-#define DINACF 0xcf
-#define DINAC8 0xc8
-#define DINACA 0xca
-#define DINACC 0xcc
-#define DINACE 0xce
-#define DINAD8 0xd8
-#define DINADD 0xdd
-#define DINAF8 0xf0
-#define DINAFE 0xfe
-
-#define DINBF8 0xf8
-#define DINAC0 0xb0
-#define DINAC1 0xb1
-#define DINAC2 0xb4
-#define DINAC3 0xb5
-#define DINAC4 0xb8
-#define DINAC5 0xb9
-#define DINBC0 0xc0
-#define DINBC2 0xc2
-#define DINBC4 0xc4
-#define DINBC6 0xc6
-#else
-#error No CONFIG_MPU_SENSORS_xxxx has been defined.
-#endif
#endif // DMPKEY_H__
diff --git a/invensense/mlsdk/mllite/ml.c b/invensense/mlsdk/mllite/ml.c
index 5ee91d0..d830be7 100644
--- a/invensense/mlsdk/mllite/ml.c
+++ b/invensense/mlsdk/mllite/ml.c
@@ -233,13 +233,8 @@ inv_error_t inv_apply_calibration(void)
if (NULL != mldl_cfg->accel){
RANGE_FIXEDPOINT_TO_FLOAT(mldl_cfg->accel->range, accelScale);
inv_obj.accel_sens = (long)(accelScale * 65536L);
- /* sensitivity adjustment, typically = 2 (for +/- 2 gee) */
-#if defined CONFIG_MPU_SENSORS_MPU6050A2 || \
- defined CONFIG_MPU_SENSORS_MPU6050B1
- inv_obj.accel_sens /= 32768 / mldl_cfg->accel_sens_trim;
-#else
- inv_obj.accel_sens /= 2;
-#endif
+ /* sensitivity adjustment, typically = 2 (for +/- 2 gee) */
+ inv_obj.accel_sens /= 2;
}
if (NULL != mldl_cfg->compass){
RANGE_FIXEDPOINT_TO_FLOAT(mldl_cfg->compass->range, magScale);
@@ -460,7 +455,7 @@ inv_error_t inv_reset_motion(void)
inv_obj.motion_state = INV_MOTION;
inv_obj.flags[INV_MOTION_STATE_CHANGE] = INV_MOTION;
inv_obj.no_motion_accel_time = inv_get_tick_count();
-#if defined CONFIG_MPU_SENSORS_MPU3050
+
regs[0] = DINAD8 + 2;
regs[1] = DINA0C;
regs[2] = DINAD8 + 1;
@@ -469,8 +464,7 @@ inv_error_t inv_reset_motion(void)
LOG_RESULT_LOCATION(result);
return result;
}
-#else
-#endif
+
regs[0] = (unsigned char)((inv_obj.motion_duration >> 8) & 0xff);
regs[1] = (unsigned char)(inv_obj.motion_duration & 0xff);
result = inv_set_mpu_memory(KEY_D_1_106, 2, regs);
@@ -804,12 +798,7 @@ inv_error_t inv_set_accel_calibration(float range, signed char *orientation)
}
if (mldl_cfg->accel->id) {
-#if defined CONFIG_MPU_SENSORS_MPU6050A2 || \
- defined CONFIG_MPU_SENSORS_MPU6050B1
- unsigned char tmp[3] = { DINA0C, DINAC9, DINA2C };
-#else
unsigned char tmp[3] = { DINA4C, DINACD, DINA6C };
-#endif
struct mldl_cfg *mldl_cfg = inv_get_dl_config();
unsigned char regs[3];
unsigned short orient;
@@ -831,15 +820,8 @@ inv_error_t inv_set_accel_calibration(float range, signed char *orientation)
regs[0] = DINA26;
regs[1] = DINA46;
-#if defined CONFIG_MPU_SENSORS_MPU3050 || defined CONFIG_MPU_SENSORS_MPU6050A2
regs[2] = DINA66;
-#else
- if (MPL_PROD_KEY(mldl_cfg->product_id, mldl_cfg->product_revision)
- == MPU_PRODUCT_KEY_B1_E1_5)
- regs[2] = DINA76;
- else
- regs[2] = DINA66;
-#endif
+
if (orient & 4)
regs[0] |= 1;
if (orient & 0x20)
@@ -949,16 +931,9 @@ inv_error_t inv_set_gyro_calibration(float range, signed char *orientation)
}
{
-#if defined CONFIG_MPU_SENSORS_MPU6050A2 || \
- defined CONFIG_MPU_SENSORS_MPU6050B1
- unsigned char tmpD = DINA4C;
- unsigned char tmpE = DINACD;
- unsigned char tmpF = DINA6C;
-#else
unsigned char tmpD = DINAC9;
unsigned char tmpE = DINA2C;
unsigned char tmpF = DINACB;
-#endif
regs[3] = DINA36;
regs[4] = DINA56;
regs[5] = DINA76;
@@ -1125,16 +1100,11 @@ inv_error_t inv_set_dead_zone(void)
if (cntrl_params.functions & INV_DEAD_ZONE) {
reg = 0x08;
} else {
-#if defined CONFIG_MPU_SENSORS_MPU6050A2 || \
- defined CONFIG_MPU_SENSORS_MPU6050B1
- reg = 0;
-#else
if (inv_params_obj.bias_mode & INV_BIAS_FROM_LPF) {
reg = 0x2;
} else {
reg = 0;
}
-#endif
}
result = inv_set_mpu_memory(KEY_D_0_163, 1, &reg);
@@ -1817,70 +1787,5 @@ void inv_set_mode_change(inv_error_t(*mode_change_func)
}
/**
-* Mantis setup
-*/
-#ifdef CONFIG_MPU_SENSORS_MPU6050B1
-inv_error_t inv_set_mpu_6050_config()
-{
- long temp;
- inv_error_t result;
- unsigned char big8[4];
- unsigned char atc[4];
- long s[3], s2[3];
- int kk;
- struct mldl_cfg *mldlCfg = inv_get_dl_config();
-
- result = inv_serial_read(inv_get_serial_handle(), inv_get_mpu_slave_addr(),
- 0x0d, 4, atc);
- if (result) {
- LOG_RESULT_LOCATION(result);
- return result;
- }
-
- temp = atc[3] & 0x3f;
- if (temp >= 32)
- temp = temp - 64;
- temp = (temp << 21) | 0x100000;
- temp += (1L << 29);
- temp = -temp;
- result = inv_set_mpu_memory(KEY_D_ACT0, 4, inv_int32_to_big8(temp, big8));
- if (result) {
- LOG_RESULT_LOCATION(result);
- return result;
- }
-
- for (kk = 0; kk < 3; ++kk) {
- s[kk] = atc[kk] & 0x3f;
- if (s[kk] > 32)
- s[kk] = s[kk] - 64;
- s[kk] *= 2516582L;
- }
-
- for (kk = 0; kk < 3; ++kk) {
- s2[kk] = mldlCfg->pdata->orientation[kk * 3] * s[0] +
- mldlCfg->pdata->orientation[kk * 3 + 1] * s[1] +
- mldlCfg->pdata->orientation[kk * 3 + 2] * s[2];
- }
- result = inv_set_mpu_memory(KEY_D_ACSX, 4, inv_int32_to_big8(s2[0], big8));
- if (result) {
- LOG_RESULT_LOCATION(result);
- return result;
- }
- result = inv_set_mpu_memory(KEY_D_ACSY, 4, inv_int32_to_big8(s2[1], big8));
- if (result) {
- LOG_RESULT_LOCATION(result);
- return result;
- }
- result = inv_set_mpu_memory(KEY_D_ACSZ, 4, inv_int32_to_big8(s2[2], big8));
- if (result) {
- LOG_RESULT_LOCATION(result);
- return result;
- }
-
- return result;
-}
-#endif
-
-/**
* @}
*/
diff --git a/invensense/mlsdk/mllite/ml.h b/invensense/mlsdk/mllite/ml.h
index 838cd49..67e47e2 100644
--- a/invensense/mlsdk/mllite/ml.h
+++ b/invensense/mlsdk/mllite/ml.h
@@ -456,13 +456,6 @@ struct inv_obj_t {
/*API for setting bias update function */
inv_error_t inv_set_bias_update(unsigned short biasFunction);
-#if defined CONFIG_MPU_SENSORS_MPU6050A2 || \
- defined CONFIG_MPU_SENSORS_MPU6050B1
- inv_error_t inv_turn_on_bias_from_no_motion(void);
- inv_error_t inv_turn_off_bias_from_no_motion(void);
- inv_error_t inv_set_mpu_6050_config(void);
-#endif
-
/* Legacy functions for handling augmented data*/
inv_error_t inv_get_array(int dataSet, long *data);
inv_error_t inv_get_float_array(int dataSet, float *data);
diff --git a/invensense/mlsdk/mllite/mlBiasNoMotion.c b/invensense/mlsdk/mllite/mlBiasNoMotion.c
index 0afe627..aaf98d2 100644
--- a/invensense/mlsdk/mllite/mlBiasNoMotion.c
+++ b/invensense/mlsdk/mllite/mlBiasNoMotion.c
@@ -71,30 +71,6 @@ inv_error_t inv_set_motion_callback(void (*func) (unsigned short motion_state))
return INV_SUCCESS;
}
-#if defined CONFIG_MPU_SENSORS_MPU6050A2 || \
- defined CONFIG_MPU_SENSORS_MPU6050B1
-/** Turns on the feature to compute gyro bias from No Motion */
-inv_error_t inv_turn_on_bias_from_no_motion()
-{
- inv_error_t result;
- unsigned char regs[3] = { 0x0d, DINA35, 0x5d };
- inv_params_obj.bias_mode |= INV_BIAS_FROM_NO_MOTION;
- result = inv_set_mpu_memory(KEY_CFG_MOTION_BIAS, 3, regs);
- return result;
-}
-
-/** Turns off the feature to compute gyro bias from No Motion
-*/
-inv_error_t inv_turn_off_bias_from_no_motion()
-{
- inv_error_t result;
- unsigned char regs[3] = { DINA90 + 8, DINA90 + 8, DINA90 + 8 };
- inv_params_obj.bias_mode &= ~INV_BIAS_FROM_NO_MOTION;
- result = inv_set_mpu_memory(KEY_CFG_MOTION_BIAS, 3, regs);
- return result;
-}
-#endif
-
inv_error_t inv_update_bias(void)
{
INVENSENSE_FUNC_START;
@@ -237,7 +213,6 @@ inv_error_t MLPollMotionStatus(struct inv_obj_t * inv_obj)
inv_obj->poll_no_motion = currentTime;
-#if defined CONFIG_MPU_SENSORS_MPU3050
if (inv_get_gyro_present()
&& ((inv_params_obj.bias_mode & INV_BIAS_FROM_FAST_NO_MOTION) == 0)) {
static long repeatBiasUpdateTime = 0;
@@ -309,52 +284,7 @@ inv_error_t MLPollMotionStatus(struct inv_obj_t * inv_obj)
}
}
}
-#else // CONFIG_MPU_SENSORS_MPU3050
- if (inv_get_gyro_present()
- && ((inv_params_obj.bias_mode & INV_BIAS_FROM_FAST_NO_MOTION) == 0)) {
- result = inv_get_mpu_memory(KEY_D_1_98, 2, regs);
- if (result) {
- LOG_RESULT_LOCATION(result);
- return result;
- }
-
- motionFlag = (unsigned short)regs[0] * 256 + (unsigned short)regs[1];
-
- _mlDebug(MPL_LOGV("motionFlag from RAM : 0x%04X\n", motionFlag);
- )
- if (motionFlag > 0) {
- unsigned char biasReg[12];
- long biasTmp2[3], biasTmp[3];
- int i;
-
- if (inv_obj->last_motion != motionFlag) {
- result = inv_get_mpu_memory(KEY_D_2_96, 12, biasReg);
- for (i = 0; i < 3; i++) {
- biasTmp2[i] = inv_big8_to_int32(&biasReg[i * 4]);
- }
- // Rotate bias vector by the transpose of the orientation matrix
- for (i = 0; i < 3; ++i) {
- biasTmp[i] =
- inv_q30_mult(biasTmp2[0],
- inv_obj->gyro_orient[i]) +
- inv_q30_mult(biasTmp2[1],
- inv_obj->gyro_orient[i + 3]) +
- inv_q30_mult(biasTmp2[2], inv_obj->gyro_orient[i + 6]);
- }
- inv_obj->gyro_bias[0] = inv_q30_mult(biasTmp[0], 1501974482L);
- inv_obj->gyro_bias[1] = inv_q30_mult(biasTmp[1], 1501974482L);
- inv_obj->gyro_bias[2] = inv_q30_mult(biasTmp[2], 1501974482L);
- }
- inv_set_motion_state(INV_NO_MOTION);
- } else {
- // We are in a motion state
- inv_set_motion_state(INV_MOTION);
- }
- inv_obj->last_motion = motionFlag;
-
- }
-#endif // CONFIG_MPU_SENSORS_MPU3050
return INV_SUCCESS;
}
@@ -365,14 +295,6 @@ inv_error_t inv_enable_bias_no_motion(void)
result =
inv_register_fifo_rate_process(MLPollMotionStatus,
INV_PRIORITY_BIAS_NO_MOTION);
-#if defined CONFIG_MPU_SENSORS_MPU6050A2 || \
- defined CONFIG_MPU_SENSORS_MPU6050B1
- if (result) {
- LOG_RESULT_LOCATION(result);
- return result;
- }
- result = inv_turn_on_bias_from_no_motion();
-#endif
return result;
}
@@ -381,13 +303,5 @@ inv_error_t inv_disable_bias_no_motion(void)
inv_error_t result;
inv_params_obj.bias_mode &= ~INV_BIAS_FROM_NO_MOTION;
result = inv_unregister_fifo_rate_process(MLPollMotionStatus);
-#if defined CONFIG_MPU_SENSORS_MPU6050A2 || \
- defined CONFIG_MPU_SENSORS_MPU6050B1
- if (result) {
- LOG_RESULT_LOCATION(result);
- return result;
- }
- result = inv_turn_off_bias_from_no_motion();
-#endif
return result;
}
diff --git a/invensense/mlsdk/mllite/mlFIFO.c b/invensense/mlsdk/mllite/mlFIFO.c
index 221e72d..a5d0c9f 100644
--- a/invensense/mlsdk/mllite/mlFIFO.c
+++ b/invensense/mlsdk/mllite/mlFIFO.c
@@ -33,15 +33,7 @@
#include <string.h>
#include "mpu.h"
-#if defined CONFIG_MPU_SENSORS_MPU6050A2
-# include "mpu6050a2.h"
-#elif defined CONFIG_MPU_SENSORS_MPU6050B1
-# include "mpu6050b1.h"
-#elif defined CONFIG_MPU_SENSORS_MPU3050
-# include "mpu3050.h"
-#else
-#error Invalid or undefined CONFIG_MPU_SENSORS_MPUxxxx
-#endif
+#include "mpu3050.h"
#include "mlFIFO.h"
#include "mlFIFOHW.h"
#include "dmpKey.h"
@@ -765,18 +757,8 @@ inv_error_t inv_process_fifo_packet(const unsigned char *dmpData)
*/
long inv_decode_temperature(short tempReg)
{
-#if defined CONFIG_MPU_SENSORS_MPU6050A2
- // Celcius = 35 + (T + 3048.7)/325.9
- return 2906830L + inv_q30_mult((long)tempReg << 16, 3294697L);
-#endif
-#if defined CONFIG_MPU_SENSORS_MPU6050B1
- // Celcius = 35 + (T + 927.4)/360.6
- return 2462307L + inv_q30_mult((long)tempReg << 16, 2977653L);
-#endif
-#if defined CONFIG_MPU_SENSORS_MPU3050
// Celcius = 35 + (T + 13200)/280
return 5383314L + inv_q30_mult((long)tempReg << 16, 3834792L);
-#endif
}
/** @internal
@@ -957,24 +939,8 @@ inv_error_t inv_get_gyro_and_accel_sensor(long *data)
*/
inv_error_t inv_get_external_sensor_data(long *data, int size)
{
-#if defined CONFIG_MPU_SENSORS_MPU6050A2 || \
- defined CONFIG_MPU_SENSORS_MPU6050B1
- int ii;
- if (data == NULL)
- return INV_ERROR_INVALID_PARAMETER;
-
- if (!fifo_obj.data_config[CONFIG_RAW_EXTERNAL])
- return INV_ERROR_FEATURE_NOT_ENABLED;
-
- for (ii = 0; ii < size && ii < 6; ii++) {
- data[ii] = fifo_obj.decoded[REF_RAW_EXTERNAL + ii];
- }
-
- return INV_SUCCESS;
-#else
memset(data, 0, COMPASS_NUM_AXES * sizeof(long));
return INV_ERROR_FEATURE_NOT_IMPLEMENTED;
-#endif
}
/**
@@ -1298,61 +1264,6 @@ inv_error_t inv_send_quaternion(uint_fast16_t accuracy)
inv_error_t inv_send_sensor_data(uint_fast16_t elements, uint_fast16_t accuracy)
{
int result;
-#if defined CONFIG_MPU_SENSORS_MPU6050A2 || \
- defined CONFIG_MPU_SENSORS_MPU6050B1
- unsigned char regs[7] = { DINAA0 + 3, DINAA0 + 3, DINAA0 + 3,
- DINAA0 + 3, DINAA0 + 3, DINAA0 + 3,
- DINAA0 + 3
- };
-
- if (inv_get_state() < INV_STATE_DMP_OPENED)
- return INV_ERROR_SM_IMPROPER_STATE;
-
- if (accuracy)
- accuracy = INV_16_BIT;
-
- elements = inv_set_fifo_reference(elements, accuracy, REF_RAW, 7);
-
- if (elements & 1)
- fifo_obj.data_config[CONFIG_TEMPERATURE] = 1 | INV_16_BIT;
- else
- fifo_obj.data_config[CONFIG_TEMPERATURE] = 0;
- if (elements & 0x7e)
- fifo_obj.data_config[CONFIG_RAW_DATA] =
- (0x3f & (elements >> 1)) | INV_16_BIT;
- else
- fifo_obj.data_config[CONFIG_RAW_DATA] = 0;
-
- if (elements & INV_ELEMENT_1) {
- regs[0] = DINACA;
- }
- if (elements & INV_ELEMENT_2) {
- regs[1] = DINBC4;
- }
- if (elements & INV_ELEMENT_3) {
- regs[2] = DINACC;
- }
- if (elements & INV_ELEMENT_4) {
- regs[3] = DINBC6;
- }
- if (elements & INV_ELEMENT_5) {
- regs[4] = DINBC0;
- }
- if (elements & INV_ELEMENT_6) {
- regs[5] = DINAC8;
- }
- if (elements & INV_ELEMENT_7) {
- regs[6] = DINBC2;
- }
- result = inv_set_mpu_memory(KEY_CFG_15, 7, regs);
- if (result) {
- LOG_RESULT_LOCATION(result);
- return result;
- }
-
- return inv_set_footer();
-
-#else
INVENSENSE_FUNC_START;
unsigned char regs[4] = { DINAA0 + 3,
DINAA0 + 3,
@@ -1402,7 +1313,6 @@ inv_error_t inv_send_sensor_data(uint_fast16_t elements, uint_fast16_t accuracy)
fifo_obj.data_config[CONFIG_RAW_DATA] = 0;
return inv_set_footer();
-#endif
}
/** Sends raw external data to the FIFO.
@@ -1417,56 +1327,7 @@ inv_error_t inv_send_sensor_data(uint_fast16_t elements, uint_fast16_t accuracy)
inv_error_t inv_send_external_sensor_data(uint_fast16_t elements,
uint_fast16_t accuracy)
{
-#if defined CONFIG_MPU_SENSORS_MPU6050A2 || \
- defined CONFIG_MPU_SENSORS_MPU6050B1
- int result;
- unsigned char regs[6] = { DINAA0 + 3, DINAA0 + 3,
- DINAA0 + 3, DINAA0 + 3,
- DINAA0 + 3, DINAA0 + 3 };
-
- if (inv_get_state() < INV_STATE_DMP_OPENED)
- return INV_ERROR_SM_IMPROPER_STATE;
-
- if (accuracy)
- accuracy = INV_16_BIT;
-
- elements = inv_set_fifo_reference(elements, accuracy, REF_RAW_EXTERNAL, 6);
-
- if (elements)
- fifo_obj.data_config[CONFIG_RAW_EXTERNAL] = elements | INV_16_BIT;
- else
- fifo_obj.data_config[CONFIG_RAW_EXTERNAL] = 0;
-
- if (elements & INV_ELEMENT_1) {
- regs[0] = DINBC2;
- }
- if (elements & INV_ELEMENT_2) {
- regs[1] = DINACA;
- }
- if (elements & INV_ELEMENT_3) {
- regs[2] = DINBC4;
- }
- if (elements & INV_ELEMENT_4) {
- regs[3] = DINBC0;
- }
- if (elements & INV_ELEMENT_5) {
- regs[4] = DINAC8;
- }
- if (elements & INV_ELEMENT_6) {
- regs[5] = DINACC;
- }
-
- result = inv_set_mpu_memory(KEY_CFG_EXTERNAL, sizeof(regs), regs);
- if (result) {
- LOG_RESULT_LOCATION(result);
- return result;
- }
-
- return inv_set_footer();
-
-#else
return INV_ERROR_FEATURE_NOT_IMPLEMENTED; // Feature not supported
-#endif
}
/**
diff --git a/invensense/mlsdk/mllite/mlFIFOHW.c b/invensense/mlsdk/mllite/mlFIFOHW.c
index 1dd5294..e806b95 100644
--- a/invensense/mlsdk/mllite/mlFIFOHW.c
+++ b/invensense/mlsdk/mllite/mlFIFOHW.c
@@ -35,15 +35,7 @@
#include <string.h>
#include "mpu.h"
-#if defined CONFIG_MPU_SENSORS_MPU6050A2
-# include "mpu6050a2.h"
-#elif defined CONFIG_MPU_SENSORS_MPU6050B1
-# include "mpu6050b1.h"
-#elif defined CONFIG_MPU_SENSORS_MPU3050
-# include "mpu3050.h"
-#else
-#error Invalid or undefined CONFIG_MPU_SENSORS_MPUxxxx
-#endif
+#include "mpu3050.h"
#include "mlFIFOHW.h"
#include "ml.h"
#include "mldl.h"
diff --git a/invensense/mlsdk/mllite/ml_mputest.c b/invensense/mlsdk/mllite/ml_mputest.c
index d7fc608..ffb17cd 100644
--- a/invensense/mlsdk/mllite/ml_mputest.c
+++ b/invensense/mlsdk/mllite/ml_mputest.c
@@ -134,11 +134,7 @@ inv_error_t inv_self_test_factory_calibrate(void *mlsl_handle,
*/
inv_error_t inv_self_test_run(void)
{
-#ifdef CONFIG_MPU_SENSORS_MPU3050
return inv_self_test_factory_calibrate(inv_get_serial_handle(), TRUE);
-#else
- return inv_self_test_factory_calibrate(inv_get_serial_handle(), FALSE);
-#endif
}
/**
diff --git a/invensense/mlsdk/mllite/mldl.c b/invensense/mlsdk/mllite/mldl.c
index 10470e6..ee7258f 100644
--- a/invensense/mlsdk/mllite/mldl.c
+++ b/invensense/mlsdk/mllite/mldl.c
@@ -39,15 +39,7 @@
#include <string.h>
#include "mpu.h"
-#if defined CONFIG_MPU_SENSORS_MPU6050A2
-# include "mpu6050a2.h"
-#elif defined CONFIG_MPU_SENSORS_MPU6050B1
-# include "mpu6050b1.h"
-#elif defined CONFIG_MPU_SENSORS_MPU3050
-# include "mpu3050.h"
-#else
-#error Invalid or undefined CONFIG_MPU_SENSORS_MPUxxxx
-#endif
+#include "mpu3050.h"
#include "mldl.h"
#include "mldl_cfg.h"
#include "compass.h"
@@ -422,12 +414,10 @@ inv_error_t inv_get_dl_cfg_int(unsigned char triggers)
{
inv_error_t result = INV_SUCCESS;
-#if defined CONFIG_MPU_SENSORS_MPU3050
/* Mantis has 8 bits of interrupt config bits */
if (triggers & !(BIT_MPU_RDY_EN | BIT_DMP_INT_EN | BIT_RAW_RDY_EN)) {
return INV_ERROR_INVALID_PARAMETER;
}
-#endif
mldlCfg.int_config = triggers;
if (!mldlCfg.gyro_is_suspended) {
@@ -617,7 +607,6 @@ inv_error_t inv_set_offsetTC(const unsigned char *tc)
}
if (!mldlCfg.gyro_is_suspended) {
-#ifdef CONFIG_MPU_SENSORS_MPU3050
result = inv_serial_single_write(sMLSLHandle, mldlCfg.addr,
MPUREG_XG_OFFS_TC, tc[0]);
if (result) {
@@ -636,36 +625,6 @@ inv_error_t inv_set_offsetTC(const unsigned char *tc)
LOG_RESULT_LOCATION(result);
return result;
}
-#else
- unsigned char reg;
- result = inv_serial_single_write(sMLSLHandle, mldlCfg.addr,
- MPUREG_XG_OFFS_TC,
- ((mldlCfg.offset_tc[0] << 1)
- & BITS_XG_OFFS_TC));
- if (result) {
- LOG_RESULT_LOCATION(result);
- return result;
- }
- reg = ((mldlCfg.offset_tc[1] << 1) & BITS_YG_OFFS_TC);
-#ifdef CONFIG_MPU_SENSORS_MPU6050B1
- if (mldlCfg.pdata->level_shifter)
- reg |= BIT_I2C_MST_VDDIO;
-#endif
- result = inv_serial_single_write(sMLSLHandle, mldlCfg.addr,
- MPUREG_YG_OFFS_TC, reg);
- if (result) {
- LOG_RESULT_LOCATION(result);
- return result;
- }
- result = inv_serial_single_write(sMLSLHandle, mldlCfg.addr,
- MPUREG_ZG_OFFS_TC,
- ((mldlCfg.offset_tc[2] << 1)
- & BITS_ZG_OFFS_TC));
- if (result) {
- LOG_RESULT_LOCATION(result);
- return result;
- }
-#endif
} else {
mldlCfg.gyro_needs_reset = TRUE;
}
diff --git a/invensense/mlsdk/mllite/mldl_cfg.h b/invensense/mlsdk/mllite/mldl_cfg.h
index b4914e2..fb2e402 100644
--- a/invensense/mlsdk/mllite/mldl_cfg.h
+++ b/invensense/mlsdk/mllite/mldl_cfg.h
@@ -30,15 +30,7 @@
#include "mltypes.h"
#include "mlsl.h"
#include <linux/mpu.h>
-#if defined CONFIG_MPU_SENSORS_MPU6050A2
-# include "mpu6050a2.h"
-#elif defined CONFIG_MPU_SENSORS_MPU6050B1
-# include "mpu6050b1.h"
-#elif defined CONFIG_MPU_SENSORS_MPU3050
-# include "mpu3050.h"
-#else
-#error Invalid or undefined CONFIG_MPU_SENSORS_MPUxxxx
-#endif
+#include "mpu3050.h"
#include "log.h"
@@ -106,10 +98,6 @@ struct mldl_cfg {
unsigned char silicon_revision;
unsigned char product_id;
unsigned short gyro_sens_trim;
-#if defined CONFIG_MPU_SENSORS_MPU6050A2 || \
- defined CONFIG_MPU_SENSORS_MPU6050B1
- unsigned short accel_sens_trim;
-#endif
/* Driver/Kernel related state information */
int gyro_is_bypassed;
diff --git a/invensense/mlsdk/mllite/mldl_cfg_mpu.c b/invensense/mlsdk/mllite/mldl_cfg_mpu.c
index 74c0f14..5a6f06a 100644
--- a/invensense/mlsdk/mllite/mldl_cfg_mpu.c
+++ b/invensense/mlsdk/mllite/mldl_cfg_mpu.c
@@ -79,9 +79,6 @@ void mpu_print_cfg(struct mldl_cfg * mldl_cfg)
MPL_LOGD("mldl_cfg.silicon_revision = %02x\n", mldl_cfg->silicon_revision);
MPL_LOGD("mldl_cfg.product_id = %02x\n", mldl_cfg->product_id);
MPL_LOGD("mldl_cfg.gyro_sens_trim = %02x\n", mldl_cfg->gyro_sens_trim);
-#if defined CONFIG_MPU_SENSORS_MPU6050A2 || defined CONFIG_MPU_SENSORS_MPU6050B1
- MPL_LOGD("mldl_cfg.accel_sens_trim = %02x\n", mldl_cfg->accel_sens_trim);
-#endif
if (mldl_cfg->accel) {
MPL_LOGD("slave_accel->suspend = %p\n", mldl_cfg->accel->suspend);
diff --git a/invensense/mlsdk/mllite/mlsupervisor.c b/invensense/mlsdk/mllite/mlsupervisor.c
index ea6b7ec..a7b35df 100644
--- a/invensense/mlsdk/mllite/mlsupervisor.c
+++ b/invensense/mlsdk/mllite/mlsupervisor.c
@@ -86,16 +86,6 @@ void inv_init_sensor_fusion_supervisor(void)
yas_filter_init(&f);
f.init(&handle);
-#if defined CONFIG_MPU_SENSORS_MPU6050A2 || \
- defined CONFIG_MPU_SENSORS_MPU6050B1
- if (inv_compass_present()) {
- struct mldl_cfg *mldl_cfg = inv_get_dl_config();
- if (mldl_cfg->pdata->compass.bus == EXT_SLAVE_BUS_SECONDARY) {
- (void)inv_send_external_sensor_data(INV_ELEMENT_1 | INV_ELEMENT_2 | INV_ELEMENT_3, INV_16_BIT);
- }
- }
-#endif
-
if (ml_supervisor_cb.supervisor_reset_func != NULL) {
ml_supervisor_cb.supervisor_reset_func();
}
diff --git a/invensense/mlsdk/mlutils/mputest.c b/invensense/mlsdk/mlutils/mputest.c
index ac0fa30..4a598ff 100644
--- a/invensense/mlsdk/mlutils/mputest.c
+++ b/invensense/mlsdk/mlutils/mputest.c
@@ -275,7 +275,6 @@ void inv_set_test_parameters(unsigned int slave_addr, float sensitivity,
#define Y (1)
#define Z (2)
-#ifdef CONFIG_MPU_SENSORS_MPU3050
/**
* @brief Test the gyroscope sensor.
* Implements the core logic of the MPU Self Test.
@@ -546,235 +545,6 @@ int inv_test_gyro_3050(void *mlsl_handle,
return retVal;
}
-#else /* CONFIG_MPU_SENSORS_MPU3050 */
-
-/**
- * @brief Test the gyroscope sensor.
- * Implements the core logic of the MPU Self Test but does not provide
- * a PASS/FAIL output as in the MPU-3050 implementation.
- * @param mlsl_handle
- * serial interface handle to allow serial communication with the
- * device, both gyro and accelerometer.
- * @param gyro_biases
- * output pointer to store the initial bias calculation provided
- * by the MPU Self Test. Requires 3 elements for gyro X, Y,
- * and Z.
- * @param temp_avg
- * output pointer to store the initial average temperature as
- * provided by the MPU Self Test.
- *
- * @return 0 on success.
- * A non-zero error code on error.
- */
-int inv_test_gyro_6050(void *mlsl_handle,
- short gyro_biases[3], short *temp_avg)
-{
- inv_error_t result;
-
- int total_count = 0;
- int total_count_axis[3] = {0, 0, 0};
- int packet_count;
- short x[DEF_TEST_TIME_PER_AXIS / 8 * 4] = {0};
- short y[DEF_TEST_TIME_PER_AXIS / 8 * 4] = {0};
- short z[DEF_TEST_TIME_PER_AXIS / 8 * 4] = {0};
- unsigned char regs[7];
-
- int temperature = 0;
- float Avg[3];
- int i, j, tmp;
- char tmpStr[200];
-
- /* sample rate = 8ms */
- result = inv_serial_single_write(
- mlsl_handle, mputestCfgPtr->addr,
- MPUREG_SMPLRT_DIV, 0x07);
- if (result) {
- LOG_RESULT_LOCATION(result);
- return result;
- }
-
- regs[0] = 0x03; /* filter = 42Hz, analog_sample rate = 1 KHz */
- switch (DEF_GYRO_FULLSCALE) {
- case 2000:
- regs[0] |= 0x18;
- break;
- case 1000:
- regs[0] |= 0x10;
- break;
- case 500:
- regs[0] |= 0x08;
- break;
- case 250:
- default:
- regs[0] |= 0x00;
- break;
- }
- result = inv_serial_single_write(
- mlsl_handle, mputestCfgPtr->addr,
- MPUREG_CONFIG, regs[0]);
- if (result) {
- LOG_RESULT_LOCATION(result);
- return result;
- }
- result = inv_serial_single_write(
- mlsl_handle, mputestCfgPtr->addr,
- MPUREG_INT_ENABLE, 0x00);
- if (result) {
- LOG_RESULT_LOCATION(result);
- return result;
- }
-
- /* 1st, timing test */
- for (j = 0; j < 3; j++) {
- MPL_LOGI("Collecting gyro data from %s gyro PLL\n", a_name[j]);
-
- /* turn on all gyros, use gyro X for clocking
- Set to Y and Z for 2nd and 3rd iteration */
-#ifdef CONFIG_MPU_SENSORS_MPU6050A2
- result = inv_serial_single_write(
- mlsl_handle, mputestCfgPtr->addr,
- MPUREG_PWR_MGMT_1, BITS_PWRSEL | (j + 1));
-#else
- result = inv_serial_single_write(
- mlsl_handle, mputestCfgPtr->addr,
- MPUREG_PWR_MGMT_1, j + 1);
-#endif
- if (result) {
- LOG_RESULT_LOCATION(result);
- return result;
- }
-
- /* wait for 2 ms after switching clock source */
- usleep(2000);
-
- /* enable/reset FIFO */
- result = inv_serial_single_write(
- mlsl_handle, mputestCfgPtr->addr,
- MPUREG_USER_CTRL, BIT_FIFO_EN | BIT_FIFO_RST);
- if (result) {
- LOG_RESULT_LOCATION(result);
- return result;
- }
-
- tmp = (int)(test_setup.test_time_per_axis / 600);
- while (tmp-- > 0) {
- /* enable XYZ gyro in FIFO and nothing else */
- result = inv_serial_single_write(mlsl_handle,
- mputestCfgPtr->addr, MPUREG_FIFO_EN,
- BIT_GYRO_XOUT | BIT_GYRO_YOUT | BIT_GYRO_ZOUT);
- if (result) {
- LOG_RESULT_LOCATION(result);
- return result;
- }
-
- /* wait for 600 ms for data */
- usleep(600000);
- /* stop storing gyro in the FIFO */
- result = inv_serial_single_write(
- mlsl_handle, mputestCfgPtr->addr,
- MPUREG_FIFO_EN, 0x00);
- if (result) {
- LOG_RESULT_LOCATION(result);
- return result;
- }
- /* Getting number of bytes in FIFO */
- result = inv_serial_read(
- mlsl_handle, mputestCfgPtr->addr,
- MPUREG_FIFO_COUNTH, 2, dataout);
- if (result) {
- LOG_RESULT_LOCATION(result);
- return result;
- }
- /* number of 6 B packets in the FIFO */
- packet_count = CHARS_TO_SHORT(dataout) / 6;
- sprintf(tmpStr, "Packet Count: %d - ", packet_count);
-
- if (abs(packet_count - test_setup.packet_thresh)
- <= /* Within +/- total_timing_tol % range */
- test_setup.total_timing_tol * test_setup.packet_thresh) {
- for (i = 0; i < packet_count; i++) {
- /* getting FIFO data */
- result = inv_serial_read_fifo(mlsl_handle,
- mputestCfgPtr->addr, 6, dataout);
- if (result) {
- LOG_RESULT_LOCATION(result);
- return result;
- }
- x[total_count + i] = CHARS_TO_SHORT(&dataout[0]);
- y[total_count + i] = CHARS_TO_SHORT(&dataout[2]);
- z[total_count + i] = CHARS_TO_SHORT(&dataout[4]);
- if (VERBOSE_OUT) {
- MPL_LOGI("Gyros %-4d : %+13d %+13d %+13d\n",
- total_count + i, x[total_count + i],
- y[total_count + i], z[total_count + i]);
- }
- }
- total_count += packet_count;
- total_count_axis[j] += packet_count;
- sprintf(tmpStr, "%sOK", tmpStr);
- } else {
- sprintf(tmpStr, "%sNOK - samples ignored", tmpStr);
- }
- MPL_LOGI("%s\n", tmpStr);
- }
-
- /* remove gyros from FIFO */
- result = inv_serial_single_write(
- mlsl_handle, mputestCfgPtr->addr,
- MPUREG_FIFO_EN, 0x00);
- if (result) {
- LOG_RESULT_LOCATION(result);
- return result;
- }
-
- /* Read Temperature */
- result = inv_serial_read(mlsl_handle, mputestCfgPtr->addr,
- MPUREG_TEMP_OUT_H, 2, dataout);
- if (result) {
- LOG_RESULT_LOCATION(result);
- return result;
- }
- temperature += (short)CHARS_TO_SHORT(dataout);
- }
-
- MPL_LOGI("\n");
- MPL_LOGI("Total %d samples\n", total_count);
- MPL_LOGI("\n");
-
- /* 2nd, check bias from X and Y PLL clock source */
- tmp = total_count != 0 ? total_count : 1;
- for (i = 0,
- Avg[X] = .0f, Avg[Y] = .0f, Avg[Z] = .0f;
- i < total_count; i++) {
- Avg[X] += 1.f * x[i] / tmp;
- Avg[Y] += 1.f * y[i] / tmp;
- Avg[Z] += 1.f * z[i] / tmp;
- }
- MPL_LOGI("bias : %+13.3f %+13.3f %+13.3f (LSB)\n",
- Avg[X], Avg[Y], Avg[Z]);
- if (VERBOSE_OUT) {
- MPL_LOGI(" : %+13.3f %+13.3f %+13.3f (dps)\n",
- Avg[X] / adjGyroSens,
- Avg[Y] / adjGyroSens,
- Avg[Z] / adjGyroSens);
- }
-
- temperature /= 3;
- if (VERBOSE_OUT)
- MPL_LOGI("Temperature : %+13.3f %13s %13s (deg. C)\n",
- SHORT_TO_TEMP_C(temperature), "", "");
-
- /* load into final storage */
- *temp_avg = (short)temperature;
- gyro_biases[X] = FLOAT_TO_SHORT(Avg[X]);
- gyro_biases[Y] = FLOAT_TO_SHORT(Avg[Y]);
- gyro_biases[Z] = FLOAT_TO_SHORT(Avg[Z]);
-
- return INV_SUCCESS;
-}
-
-#endif /* CONFIG_MPU_SENSORS_MPU3050 */
-
#ifdef TRACK_IDS
/**
* @internal
@@ -992,12 +762,12 @@ static inv_error_t inv_device_power_mgmt(void *mlsl_handle,
result = inv_serial_single_write(
mlsl_handle, mputestCfgPtr->addr,
MPUREG_PWR_MGM, pwr_mgm | BIT_H_RESET);
-#ifndef CONFIG_MPU_SENSORS_MPU6050A2
+
if (result) {
LOG_RESULT_LOCATION(result);
return result;
}
-#endif
+
inv_sleep(5);
/* re-read power mgmt reg -
@@ -1011,17 +781,6 @@ static inv_error_t inv_device_power_mgmt(void *mlsl_handle,
}
/* wake up */
-#ifdef CONFIG_MPU_SENSORS_MPU6050A2
- if ((b & BITS_PWRSEL) != BITS_PWRSEL) {
- result = inv_serial_single_write(
- mlsl_handle, mputestCfgPtr->addr,
- MPUREG_PWR_MGM, BITS_PWRSEL);
- if (result) {
- LOG_RESULT_LOCATION(result);
- return result;
- }
- }
-#else
if (pwr_mgm & BIT_SLEEP) {
result = inv_serial_single_write(
mlsl_handle, mputestCfgPtr->addr,
@@ -1031,32 +790,10 @@ static inv_error_t inv_device_power_mgmt(void *mlsl_handle,
return result;
}
}
-#endif
- inv_sleep(60);
-#if defined(CONFIG_MPU_SENSORS_MPU6050A2) || \
- defined(CONFIG_MPU_SENSORS_MPU6050B1)
- result = inv_serial_single_write(
- mlsl_handle, mputestCfgPtr->addr,
- MPUREG_INT_PIN_CFG, BIT_BYPASS_EN);
- if (result) {
- LOG_RESULT_LOCATION(result);
- return result;
- }
-#endif
+ inv_sleep(60);
} else {
/* restore the power state the part was found in */
-#ifdef CONFIG_MPU_SENSORS_MPU6050A2
- if ((pwr_mgm & BITS_PWRSEL) != BITS_PWRSEL) {
- result = inv_serial_single_write(
- mlsl_handle, mputestCfgPtr->addr,
- MPUREG_PWR_MGM, pwr_mgm);
- if (result) {
- LOG_RESULT_LOCATION(result);
- return result;
- }
- }
-#else
if (pwr_mgm & BIT_SLEEP) {
result = inv_serial_single_write(
mlsl_handle, mputestCfgPtr->addr,
@@ -1066,7 +803,6 @@ static inv_error_t inv_device_power_mgmt(void *mlsl_handle,
return result;
}
}
-#endif
}
return INV_SUCCESS;
@@ -1140,15 +876,8 @@ int inv_mpu_test(void *mlsl_handle, uint_fast8_t provide_result)
test_setup.gyro_fs = (int)(32768.f / adjGyroSens);
/* collect gyro and temperature data */
-#ifdef CONFIG_MPU_SENSORS_MPU3050
result = inv_test_gyro_3050(mlsl_handle,
gyro_biases, &temp_avg, provide_result);
-#else
- MPL_LOGW_IF(provide_result,
- "Self Test for MPU-6050 devices is for bias correction only: "
- "no test PASS/FAIL result will be provided\n");
- result = inv_test_gyro_6050(mlsl_handle, gyro_biases, &temp_avg);
-#endif
MPL_LOGI("\n");
MPL_LOGI("Test time : %ld ms\n", inv_get_tick_count() - testStart);
@@ -1163,28 +892,12 @@ int inv_mpu_test(void *mlsl_handle, uint_fast8_t provide_result)
accelSens[0] = (long)(32768L / fs);
accelSens[1] = (long)(32768L / fs);
accelSens[2] = (long)(32768L / fs);
-#if defined CONFIG_MPU_SENSORS_MPU6050B1
- if (MPL_PROD_KEY(mputestCfgPtr->product_id,
- mputestCfgPtr->product_revision) == MPU_PRODUCT_KEY_B1_E1_5) {
- accelSens[2] /= 2;
- } else {
- unsigned short trim_corr = 16384 / mputestCfgPtr->accel_sens_trim;
- accelSens[0] /= trim_corr;
- accelSens[1] /= trim_corr;
- accelSens[2] /= trim_corr;
- }
-#endif
} else {
/* would be 0, but 1 to avoid divide-by-0 below */
accelSens[0] = accelSens[1] = accelSens[2] = 1;
}
-#ifdef CONFIG_MPU_SENSORS_MPU3050
result = inv_test_accel(mlsl_handle, accel_biases, accelSens[2],
provide_result);
-#else
- result = inv_test_accel(mlsl_handle, accel_biases, accelSens[2],
- FALSE);
-#endif
if (result)
return result;
@@ -1342,17 +1055,9 @@ static inv_error_t test_get_data(
inv_error_t result;
unsigned char data[20];
struct ext_slave_descr *slave = mputestCfgPtr->accel;
-#ifndef CONFIG_MPU_SENSORS_MPU3050
- struct ext_slave_platform_data *pdata = &mputestCfgPtr->pdata->accel;
-#endif
-#ifdef CONFIG_MPU_SENSORS_MPU3050
result = inv_serial_read(mlsl_handle, mputestCfgPtr->addr, 0x23,
6, data);
-#else
- result = inv_serial_read(mlsl_handle, pdata->address, slave->read_reg,
- slave->read_len, data);
-#endif
if (result) {
LOG_RESULT_LOCATION(result);
return result;
diff --git a/invensense/mlsdk/platform/include/mpu3050.h b/invensense/mlsdk/platform/include/mpu3050.h
index c363a00..bd0ac32 100644
--- a/invensense/mlsdk/platform/include/mpu3050.h
+++ b/invensense/mlsdk/platform/include/mpu3050.h
@@ -27,10 +27,6 @@
#include <linux/types.h>
#endif
-#if !defined CONFIG_MPU_SENSORS_MPU3050
-#error MPU6000 build including MPU3050 header
-#endif
-
#define MPU_NAME "mpu3050"
#define DEFAULT_MPU_SLAVEADDR 0x68
diff --git a/invensense/mlsdk/platform/linux/mlsl_linux_mpu.c b/invensense/mlsdk/platform/linux/mlsl_linux_mpu.c
index bb7b851..51cbebe 100644
--- a/invensense/mlsdk/platform/linux/mlsl_linux_mpu.c
+++ b/invensense/mlsdk/platform/linux/mlsl_linux_mpu.c
@@ -47,15 +47,7 @@
#include <time.h>
#include "mpu.h"
-#if defined CONFIG_MPU_SENSORS_MPU6050A2
-# include "mpu6050a2.h"
-#elif defined CONFIG_MPU_SENSORS_MPU6050B1
-# include "mpu6050b1.h"
-#elif defined CONFIG_MPU_SENSORS_MPU3050
-# include "mpu3050.h"
-#else
-#error Invalid or undefined CONFIG_MPU_SENSORS_MPUxxxx
-#endif
+#include "mpu3050.h"
#include "mlsl.h"
#include "mlos.h"