From 85779371e527f94e865dc0450c703676d858bc30 Mon Sep 17 00:00:00 2001 From: Kyle Repinski Date: Mon, 9 Nov 2015 15:13:48 -0600 Subject: invensense: Remove MPU6050 ifdef stuff. The header files necessary for those sensors aren't even here anyway. --- invensense/mlsdk/mllite/ml.c | 105 +++---------------------------------------- 1 file changed, 5 insertions(+), 100 deletions(-) (limited to 'invensense/mlsdk/mllite/ml.c') 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, ®); @@ -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 - -/** * @} */ -- cgit v1.1