removed i2c handle

Northeastern-Electric-Racing · Oct 27, 2024 · 2d4813d · 2d4813d
1 parent 172529a
commit 2d4813d
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Showing 2 changed files with 2 additions and 9 deletions.
diff --git a/general/include/lsm6dso.h b/general/include/lsm6dso.h
@@ -63,8 +63,6 @@ enum lsm6dso_axes {
  *
  */
 typedef struct {
-	I2C_HandleTypeDef *i2c_handle;
-
 	uint8_t accel_config; // TODO: We should make these cfg packed unions with
 		// bitfield structs
 
@@ -83,11 +81,9 @@ typedef struct {
 /**
  * @brief Initializes the LSM6DSO IMU
  *
- * @param i2c_handle
  * @return 0 if OK, other if ERROR
  */
-int lsm6dso_init(I2C_HandleTypeDef *i2c_handle, I2C_Read read_func,
-		 I2C_Write write_func);
+int lsm6dso_init(I2C_Read read_func, I2C_Write write_func);
 
 /* IMU Setting Configuration */
 /**

diff --git a/general/src/lsm6dso.c b/general/src/lsm6dso.c
@@ -91,13 +91,10 @@ int lsm6dso_set_gyro_cfg(int8_t odr_sel, int8_t fs_sel, int8_t fs_125)
 	return lsm6dso_write_reg(&imu.gyro_config, LSM6DSO_REG_GYRO_CTRL);
 }
 
-int lsm6dso_init(I2C_HandleTypeDef *i2c_handle, I2C_Read read_func,
-		 I2C_Write write_func)
+int lsm6dso_init(I2C_Read read_func, I2C_Write write_func)
 {
 	int status;
 
-	imu.i2c_handle = i2c_handle;
-
 	imu.accel_data[LSM6DSO_X_AXIS] = 0;
 	imu.accel_data[LSM6DSO_Y_AXIS] = 0;
 	imu.accel_data[LSM6DSO_Z_AXIS] = 0;