Mirrors_Framework/PX4-Autopilot
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Indendation fixes

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This commit is contained in:
Lorenz Meier
2012-08-13 22:12:38 +02:00
parent 1d029b01fe
commit a9d8a324bc
1 changed files with 17 additions and 17 deletions
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nuttx/configs/px4fmu/src/drv_mpu6000.c
+17 -17
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@@ -373,14 +373,14 @@ mpu6000_attach(struct spi_dev_s *spi, int spi_id)
// Disable I2C bus (recommended on datasheet) // Disable I2C bus (recommended on datasheet)
mpu6000_write_reg(MPUREG_USER_CTRL, BIT_I2C_IF_DIS); mpu6000_write_reg(MPUREG_USER_CTRL, BIT_I2C_IF_DIS);
up_udelay(1000); up_udelay(1000);
// SAMPLE RATE // SAMPLE RATE
mpu6000_write_reg(MPUREG_SMPLRT_DIV,0x04); // Sample rate = 200Hz Fsample= 1Khz/(4+1) = 200Hz mpu6000_write_reg(MPUREG_SMPLRT_DIV,0x04); // Sample rate = 200Hz Fsample= 1Khz/(4+1) = 200Hz
usleep(1000); usleep(1000);
// FS & DLPF FS=2000¼/s, DLPF = 98Hz (low pass filter) // FS & DLPF FS=2000¼/s, DLPF = 98Hz (low pass filter)
mpu6000_write_reg(MPUREG_CONFIG, BITS_DLPF_CFG_98HZ); mpu6000_write_reg(MPUREG_CONFIG, BITS_DLPF_CFG_98HZ);
usleep(1000); usleep(1000);
mpu6000_write_reg(MPUREG_GYRO_CONFIG,BITS_FS_2000DPS); // Gyro scale 2000¼/s mpu6000_write_reg(MPUREG_GYRO_CONFIG,BITS_FS_2000DPS); // Gyro scale 2000¼/s
usleep(1000); usleep(1000);
uint8_t _product_id = mpu6000_read_reg(MPUREG_PRODUCT_ID); uint8_t _product_id = mpu6000_read_reg(MPUREG_PRODUCT_ID);
printf("MPU-6000 product id: %d\n", (int)_product_id); printf("MPU-6000 product id: %d\n", (int)_product_id);
@@ -394,18 +394,18 @@ mpu6000_attach(struct spi_dev_s *spi, int spi_id)
// Accel scale 8g (4096 LSB/g) // Accel scale 8g (4096 LSB/g)
mpu6000_write_reg(MPUREG_ACCEL_CONFIG,2<<3); mpu6000_write_reg(MPUREG_ACCEL_CONFIG,2<<3);
} }
usleep(1000); usleep(1000);
// INT CFG => Interrupt on Data Ready // INT CFG => Interrupt on Data Ready
mpu6000_write_reg(MPUREG_INT_ENABLE,BIT_RAW_RDY_EN); // INT: Raw data ready mpu6000_write_reg(MPUREG_INT_ENABLE,BIT_RAW_RDY_EN); // INT: Raw data ready
usleep(1000); usleep(1000);
mpu6000_write_reg(MPUREG_INT_PIN_CFG,BIT_INT_ANYRD_2CLEAR); // INT: Clear on any read mpu6000_write_reg(MPUREG_INT_PIN_CFG,BIT_INT_ANYRD_2CLEAR); // INT: Clear on any read
usleep(1000); usleep(1000);
// Oscillator set // Oscillator set
// write_reg(MPUREG_PWR_MGMT_1,MPU_CLK_SEL_PLLGYROZ); // write_reg(MPUREG_PWR_MGMT_1,MPU_CLK_SEL_PLLGYROZ);
usleep(1000); usleep(1000);
/* revert back to normal bus mode */ /* revert back to normal bus mode */
SPI_SETFREQUENCY(mpu6000_dev.spi, 10000000); SPI_SETFREQUENCY(mpu6000_dev.spi, 10000000);
SPI_SETBITS(mpu6000_dev.spi, 8); SPI_SETBITS(mpu6000_dev.spi, 8);
SPI_SETMODE(mpu6000_dev.spi, SPIDEV_MODE3); SPI_SETMODE(mpu6000_dev.spi, SPIDEV_MODE3);