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mpu9250 fix code style

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Daniel Agar
2019-01-09 10:03:54 -05:00
parent fb386580b8
commit 92ca26b111
1 changed files with 20 additions and 20 deletions
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src/drivers/imu/mpu9250/mpu9250_i2c.cpp
+20 -20
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@@ -107,30 +107,30 @@ MPU9250_I2C::read(unsigned reg_speed, void *data, unsigned count)
int int
MPU9250_I2C::probe() MPU9250_I2C::probe()
{ {
uint8_t whoami = 0; uint8_t whoami = 0;
uint8_t register_select = REG_BANK(BANK0); // register bank containing WHOAMI for ICM20948 uint8_t register_select = REG_BANK(BANK0); // register bank containing WHOAMI for ICM20948
// Try first for mpu9250/6500 // Try first for mpu9250/6500
read(MPUREG_WHOAMI, &whoami, 1); read(MPUREG_WHOAMI, &whoami, 1);
if(whoami == MPU_WHOAMI_9250 || whoami == MPU_WHOAMI_6500) { if (whoami == MPU_WHOAMI_9250 || whoami == MPU_WHOAMI_6500) {
return PX4_OK; 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 == ICM_WHOAMI_20948) { } else {
return PX4_OK; /*
} * 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 */ #endif /* USE_I2C */