[Spinal][Imu] change file structure of imu

jsk-ros-pkg · Apr 3, 2024 · fd423fe · fd423fe
1 parent 7e9bb80
commit fd423fe
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Showing 9 changed files with 14 additions and 11 deletions.
diff --git a/aerial_robot_nerve/spinal/mcu_project/boards/stm32H7/Src/main.c b/aerial_robot_nerve/spinal/mcu_project/boards/stm32H7/Src/main.c
@@ -35,8 +35,8 @@
 #include <spinal/Imu.h>
 
 #include "flashmemory/flashmemory.h"
-#include "sensors/imu/imu_mpu9250.h"
-#include "sensors/imu/icm_20948.h"
+#include "sensors/imu/drivers/mpu9250/imu_mpu9250.h"
+#include "sensors/imu/drivers/icm20948/icm_20948.h"
 #include "sensors/imu/imu_ros_cmd.h"
 #include "sensors/baro/baro_ms5611.h"
 #include "sensors/gps/gps_ublox.h"

diff --git a/...ect/lib/Jsk_Lib/sensors/imu/icm_20948.cpp → ...ensors/imu/drivers/icm20948/icm_20948.cpp b/...ect/lib/Jsk_Lib/sensors/imu/icm_20948.cpp → ...ensors/imu/drivers/icm20948/icm_20948.cpp
@@ -10,7 +10,7 @@
 #error "Please define __cplusplus, because this is a c++ based file "
 #endif
 
-#include "sensors/imu/icm_20948.h"
+#include "sensors/imu/drivers/icm20948/icm_20948.h"
 
 void ICM20948::init(SPI_HandleTypeDef* hspi, I2C_HandleTypeDef* hi2c, ros::NodeHandle* nh,
                       GPIO_TypeDef* spi_cs_port, uint16_t spi_cs_pin,

diff --git a/...oject/lib/Jsk_Lib/sensors/imu/icm_20948.h → .../sensors/imu/drivers/icm20948/icm_20948.h b/...oject/lib/Jsk_Lib/sensors/imu/icm_20948.h → .../sensors/imu/drivers/icm20948/icm_20948.h
@@ -14,7 +14,7 @@
 #define __IMU_ICM_H
 
 #include "config.h"
-#include "imu_mpu9250.h"
+#include "sensors/imu/drivers/mpu9250/imu_mpu9250.h"
 
 
 #define SENSOR_DATA_LENGTH 7

diff --git a/...t/lib/Jsk_Lib/sensors/imu/imu_mpu9250.cpp → ...nsors/imu/drivers/mpu9250/imu_mpu9250.cpp b/...t/lib/Jsk_Lib/sensors/imu/imu_mpu9250.cpp → ...nsors/imu/drivers/mpu9250/imu_mpu9250.cpp
@@ -8,8 +8,7 @@
 #ifndef __cplusplus
 #error "Please define __cplusplus, because this is a c++ based file "
 #endif
-
-#include "sensors/imu/imu_mpu9250.h"
+#include "sensors/imu/drivers/mpu9250/imu_mpu9250.h"
 
 uint8_t IMUOnboard::adc_[SENSOR_DATA_LENGTH];
 uint32_t IMUOnboard::last_mag_time_;

diff --git a/...ect/lib/Jsk_Lib/sensors/imu/imu_mpu9250.h → ...sensors/imu/drivers/mpu9250/imu_mpu9250.h b/...ect/lib/Jsk_Lib/sensors/imu/imu_mpu9250.h → ...sensors/imu/drivers/mpu9250/imu_mpu9250.h
@@ -14,7 +14,7 @@
 
 #include "config.h"
 #include "math/AP_Math.h"
-#include "imu_basic.h"
+#include "sensors/imu/imu_basic.h"
 
 #define SENSOR_DATA_LENGTH 7
 

diff --git a/...al_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/state_estimate/altitude/altitude_estimate.h b/...al_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/state_estimate/altitude/altitude_estimate.h
@@ -21,7 +21,8 @@
 ////////////////////////////////////////
 //TODO: should include the super class//
 ////////////////////////////////////////
-#include "sensors/imu/imu_mpu9250.h"
+#include "sensors/imu/drivers/mpu9250/imu_mpu9250.h"
+#include "sensors/imu/drivers/icm20948/icm_20948.h"
 #include "sensors/baro/baro_ms5611.h"
 
 

diff --git a/...al_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/state_estimate/attitude/attitude_estimate.h b/...al_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/state_estimate/attitude/attitude_estimate.h
@@ -30,7 +30,8 @@
 #ifdef SIMULATION
 #include <tf/LinearMath/Matrix3x3.h>
 #else
-#include "sensors/imu/imu_mpu9250.h"
+#include "sensors/imu/drivers/mpu9250/imu_mpu9250.h"
+#include "sensors/imu/drivers/icm20948/icm_20948.h"
 #include "sensors/gps/gps_ublox.h"
 #endif
 

diff --git a/aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/state_estimate/pos/pos_estimate.h b/aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/state_estimate/pos/pos_estimate.h
@@ -20,7 +20,8 @@
 ////////////////////////////////////////
 //TODO: should include the super class//
 ////////////////////////////////////////
-#include "sensors/imu/imu_mpu9250.h"
+#include "sensors/imu/drivers/mpu9250/imu_mpu9250.h"
+#include "sensors/imu/drivers/icm20948/icm_20948.h"
 #include "sensors/gps/gps_ublox.h"
 
 class PosEstimate

diff --git a/aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/state_estimate/state_estimate.h b/aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/state_estimate/state_estimate.h
@@ -18,7 +18,8 @@
 #include <spinal/MagDeclination.h>
 
 /* sensors */
-#include "sensors/imu/imu_mpu9250.h"
+#include "sensors/imu/drivers/mpu9250/imu_mpu9250.h"
+#include "sensors/imu/drivers/icm20948/icm_20948.h"
 #include "sensors/baro/baro_ms5611.h"
 #include "sensors/gps/gps_ublox.h"
 #endif