diff options
Diffstat (limited to 'libsensors/mlsdk/mllite/mlsupervisor.c')
| -rw-r--r-- | libsensors/mlsdk/mllite/mlsupervisor.c | 48 |
1 files changed, 8 insertions, 40 deletions
diff --git a/libsensors/mlsdk/mllite/mlsupervisor.c b/libsensors/mlsdk/mllite/mlsupervisor.c index 2546903..c78ea26 100644 --- a/libsensors/mlsdk/mllite/mlsupervisor.c +++ b/libsensors/mlsdk/mllite/mlsupervisor.c @@ -37,7 +37,6 @@ #include "mltypes.h" #include "mlinclude.h" #include "compass.h" -#include "pressure.h" #include "dmpKey.h" #include "dmpDefault.h" #include "mlstates.h" @@ -368,9 +367,7 @@ inv_error_t inv_accel_compass_supervisor(void) long long tmp[3] = { 0 }; long long tmp64 = 0; unsigned long ctime = inv_get_tick_count(); - if (((inv_get_compass_id() == COMPASS_ID_AK8975) && - ((ctime - polltime) > 20)) || - (polltime == 0 || ((ctime - polltime) > 20))) { // 50Hz max + if (polltime == 0 || ((ctime - polltime) > 20)) { // 50Hz max if (SUPERVISOR_DEBUG) { MPL_LOGV("Fetch compass data from inv_process_fifo_packet\n"); MPL_LOGV("delta time = %ld\n", ctime - polltime); @@ -461,18 +458,15 @@ inv_error_t inv_accel_compass_supervisor(void) } #ifdef APPLY_COMPASS_FILTER - if (inv_get_compass_id() == COMPASS_ID_YAS530) - { - fcin[0] = 1000*((float)inv_obj.compass_calibrated_data[0] /65536.f); - fcin[1] = 1000*((float)inv_obj.compass_calibrated_data[1] /65536.f); - fcin[2] = 1000*((float)inv_obj.compass_calibrated_data[2] /65536.f); + fcin[0] = 1000*((float)inv_obj.compass_calibrated_data[0] /65536.f); + fcin[1] = 1000*((float)inv_obj.compass_calibrated_data[1] /65536.f); + fcin[2] = 1000*((float)inv_obj.compass_calibrated_data[2] /65536.f); - f.update(&handle, fcin, fcout); + f.update(&handle, fcin, fcout); - inv_obj.compass_calibrated_data[0] = (long)(fcout[0]*65536.f/1000.f); - inv_obj.compass_calibrated_data[1] = (long)(fcout[1]*65536.f/1000.f); - inv_obj.compass_calibrated_data[2] = (long)(fcout[2]*65536.f/1000.f); - } + inv_obj.compass_calibrated_data[0] = (long)(fcout[0]*65536.f/1000.f); + inv_obj.compass_calibrated_data[1] = (long)(fcout[1]*65536.f/1000.f); + inv_obj.compass_calibrated_data[2] = (long)(fcout[2]*65536.f/1000.f); #endif if (SUPERVISOR_DEBUG) { @@ -532,32 +526,6 @@ inv_error_t inv_accel_compass_supervisor(void) } /** - * @brief Entry point for software sensor fusion operations. - * Manages hardware interaction, calls sensor fusion supervisor for - * bias calculation. - * @return INV_SUCCESS or non-zero error code on error. - */ -inv_error_t inv_pressure_supervisor(void) -{ - long pressureSensorData[1]; - static unsigned long pressurePolltime = 0; - if (inv_pressure_present()) { /* check for pressure data */ - unsigned long ctime = inv_get_tick_count(); - if ((pressurePolltime == 0 || ((ctime - pressurePolltime) > 80))) { //every 1/8 second - if (SUPERVISOR_DEBUG) { - MPL_LOGV("Fetch pressure data\n"); - MPL_LOGV("delta time = %ld\n", ctime - pressurePolltime); - } - pressurePolltime = ctime; - if (inv_get_pressure_data(&pressureSensorData[0]) == INV_SUCCESS) { - inv_obj.pressure = pressureSensorData[0]; - } - } - } - return INV_SUCCESS; -} - -/** * @brief Resets the magnetometer calibration algorithm. * @return INV_SUCCESS if successful, or non-zero error code otherwise. */ |