Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-05-24 07:09:48 +08:00
Code Issues Actions 16 Packages Projects Releases Wiki Activity

mpu9250 fix code style

Browse Source
This commit is contained in:
Daniel Agar
2019-01-09 10:03:54 -05:00
parent fb386580b8
commit 92ca26b111
1 changed files with 20 additions and 20 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/imu/mpu9250/mpu9250_i2c.cpp
+20 -20
View File
@@ -107,30 +107,30 @@ MPU9250_I2C::read(unsigned reg_speed, void *data, unsigned count)
int
MPU9250_I2C::probe()
{
uint8_t whoami = 0;
uint8_t register_select = REG_BANK(BANK0); // register bank containing WHOAMI for ICM20948
uint8_t whoami = 0;
uint8_t register_select = REG_BANK(BANK0); // register bank containing WHOAMI for ICM20948
// Try first for mpu9250/6500
read(MPUREG_WHOAMI, &whoami, 1);
// Try first for mpu9250/6500
read(MPUREG_WHOAMI, &whoami, 1);
if(whoami == MPU_WHOAMI_9250 || whoami == MPU_WHOAMI_6500) {
return PX4_OK;
}
else {
/*
* If it's not an MPU it must be an ICM
* Make sure register bank 0 is selected - whoami is only present on bank 0, and that is
* not sure e.g. if the device has rebooted without repowering the sensor
*/
write(ICMREG_20948_BANK_SEL, &register_select, 1);
read(ICMREG_20948_WHOAMI, &whoami, 1);
if (whoami == MPU_WHOAMI_9250 || whoami == MPU_WHOAMI_6500) {
return PX4_OK;
if(whoami == ICM_WHOAMI_20948) {
return PX4_OK;
}
}
} else {
/*
* If it's not an MPU it must be an ICM
* Make sure register bank 0 is selected - whoami is only present on bank 0, and that is
* not sure e.g. if the device has rebooted without repowering the sensor
*/
write(ICMREG_20948_BANK_SEL, &register_select, 1);
read(ICMREG_20948_WHOAMI, &whoami, 1);
return -ENODEV;
if (whoami == ICM_WHOAMI_20948) {
return PX4_OK;
}
}
return -ENODEV;
}
#endif /* USE_I2C */