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| author | Ash Charles <ashcharles@gmail.com> | 2014-05-13 13:52:44 -0700 |
|---|---|---|
| committer | Ash Charles <ashcharles@gmail.com> | 2014-05-13 14:00:44 -0700 |
| commit | 7d0850a710b3ac9e9e165beb36389577d0e5adcb (patch) | |
| tree | 23c0006bfc4cb5069c22f977adb3535b1b0fb2f1 /src/drivers/l3gd20 | |
| parent | 9db966e05876f35d56cecdfc2c74f2df914bd8bb (diff) | |
| download | px4-firmware-7d0850a710b3ac9e9e165beb36389577d0e5adcb.tar.gz px4-firmware-7d0850a710b3ac9e9e165beb36389577d0e5adcb.tar.bz2 px4-firmware-7d0850a710b3ac9e9e165beb36389577d0e5adcb.zip | |
[l3gd20] Style fixes for l3g4200d integration
As requested here [1], this fixes some of the style errors
introduced with the addition of l3g4200d support to the l3gd20
driver. Gyro orientation is set conditionally for the aerocore
board.
[1] https://github.com/PX4/Firmware/pull/937
Signed-off-by: Ash Charles <ashcharles@gmail.com>
Diffstat (limited to 'src/drivers/l3gd20')
| -rw-r--r-- | src/drivers/l3gd20/l3gd20.cpp | 32 |
1 files changed, 10 insertions, 22 deletions
diff --git a/src/drivers/l3gd20/l3gd20.cpp b/src/drivers/l3gd20/l3gd20.cpp index a4d4c6c83..b9571dc4b 100644 --- a/src/drivers/l3gd20/l3gd20.cpp +++ b/src/drivers/l3gd20/l3gd20.cpp @@ -446,7 +446,9 @@ L3GD20::probe() /* Detect the L3G4200D used on AeroCore */ if (read_reg(ADDR_WHO_AM_I) == WHO_I_AM_L3G4200D) { _is_l3g4200d = true; - _orientation = SENSOR_BOARD_ROTATION_270_DEG; + #ifdef CONFIG_ARCH_BOARD_AEROCORE + _orientation = SENSOR_BOARD_ROTATION_270_DEG; + #endif success = true; } @@ -522,8 +524,9 @@ L3GD20::ioctl(struct file *filp, int cmd, unsigned long arg) /* set default/max polling rate */ case SENSOR_POLLRATE_MAX: case SENSOR_POLLRATE_DEFAULT: - if (_is_l3g4200d) + if (_is_l3g4200d) { return ioctl(filp, SENSORIOCSPOLLRATE, L3G4200D_DEFAULT_RATE); + } return ioctl(filp, SENSORIOCSPOLLRATE, L3GD20_DEFAULT_RATE); /* adjust to a legal polling interval in Hz */ @@ -705,41 +708,26 @@ L3GD20::set_samplerate(unsigned frequency) uint8_t bits = REG1_POWER_NORMAL | REG1_Z_ENABLE | REG1_Y_ENABLE | REG1_X_ENABLE; if (frequency == 0) - if (_is_l3g4200d) - frequency = 800; - else - frequency = 760; + frequency = _is_l3g4200d ? 800 : 760; /* * Use limits good for H or non-H models. Rates are slightly different * for L3G4200D part but register settings are the same. */ if (frequency <= 100) { - if (_is_l3g4200d) - _current_rate = 100; - else - _current_rate = 95; + _current_rate = _is_l3g4200d ? 100 : 95; bits |= RATE_95HZ_LP_25HZ; } else if (frequency <= 200) { - if (_is_l3g4200d) - _current_rate = 200; - else - _current_rate = 190; + _current_rate = _is_l3g4200d ? 200 : 190; bits |= RATE_190HZ_LP_50HZ; } else if (frequency <= 400) { - if (_is_l3g4200d) - _current_rate = 400; - else - _current_rate = 380; + _current_rate = _is_l3g4200d ? 400 : 380; bits |= RATE_380HZ_LP_50HZ; } else if (frequency <= 800) { - if (_is_l3g4200d) - _current_rate = 800; - else - _current_rate = 760; + _current_rate = _is_l3g4200d ? 800 : 760; bits |= RATE_760HZ_LP_50HZ; } else { return -EINVAL; |