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AP_InertialSensor: MPU9250: Remove methods not used anymore

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Those methods were used by AK8963 before it started to use auxiliary bus.
This commit is contained in:
José Roberto de Souza
2015-11-11 14:29:06 +11:00
committed by Andrew Tridgell
parent 1fc29a2654
commit c3dae6fcec
2 changed files with 66 additions and 159 deletions
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libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.cpp
+65 -136
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File diff suppressed because it is too large Load Diff
libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.h
+1 -23
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@@ -29,8 +29,6 @@ public:
virtual bool read_data_transaction(uint8_t* samples,
uint8_t &n_samples) = 0;
virtual AP_HAL::Semaphore* get_semaphore() = 0;
virtual void get_driver_state(bool &initialized, bool &working) = 0;
virtual void set_driver_state(bool working) = 0;
virtual bool has_auxiliary_bus() = 0;
};
@@ -55,17 +53,6 @@ public:
return static_cast<AP_InertialSensor_MPU9250&>(backend);
}
/* Put the MPU9250 in a known state so it can be
* used both for the InertialSensor and as for backend of other drivers.
*
* The bus semaphore must be taken and timer_procs suspended.
*
* This method puts the bus in low speed. If the initialization is
* successful the bus is left on low speed so the caller can finish the
* initialization of its driver.
*/
static bool initialize_driver_state(AP_HAL::SPIDeviceDriver *spi);
// detect the sensor
static AP_InertialSensor_Backend *detect(AP_InertialSensor &imu, AP_HAL::SPIDeviceDriver *spi);
@@ -74,13 +61,6 @@ private:
AP_MPU9250_BusDriver *bus,
int16_t id);
static bool initialize_driver_state(AP_MPU9250_BusDriver *bus);
static uint8_t _register_read(AP_MPU9250_BusDriver *bus, uint8_t reg);
static void _register_write(AP_MPU9250_BusDriver *bus, uint8_t reg,
uint8_t val);
bool _init_sensor();
void _read_data_transaction();
bool _data_ready();
@@ -128,7 +108,7 @@ private:
enum Rotation _default_rotation;
#if MPU9250_DEBUG
static void _dump_registers(AP_MPU9250_BusDriver *bus);
static void _dump_registers();
#endif
};
@@ -143,8 +123,6 @@ public:
void set_bus_speed(AP_HAL::SPIDeviceDriver::bus_speed speed);
bool read_data_transaction(uint8_t* samples, uint8_t &n_samples);
AP_HAL::Semaphore* get_semaphore();
void get_driver_state(bool &initialized, bool &working);
void set_driver_state(bool working);
bool has_auxiliary_bus();
private: