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[l3gd20] Style fixes for l3g4200d integration

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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>
This commit is contained in:
Ash Charles
2014-05-13 13:52:44 -07:00
parent 9db966e058
commit 7d0850a710
1 changed files with 10 additions and 22 deletions
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32
src/drivers/l3gd20/l3gd20.cpp
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@@ -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;