diff options
Diffstat (limited to 'invensense/mlsdk/mllite/mldl.c')
| -rw-r--r-- | invensense/mlsdk/mllite/mldl.c | 43 |
1 files changed, 1 insertions, 42 deletions
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; } |