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More MPU cleanups.

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This commit is contained in:
Dominic Clifton 2015-09-23 01:02:39 +01:00
parent aac13914f9
commit 07d985ba5c
6 changed files with 19 additions and 35 deletions
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20
src/main/sensors/initialisation.c
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@ -111,7 +111,7 @@ const extiConfig_t *selectMPUIntExtiConfig(void)
}
#endif
#ifdef SPRACINGF3
#if defined(SPRACINGF3)
static const extiConfig_t spRacingF3MPUIntExtiConfig = {
.gpioAHBPeripherals = RCC_AHBPeriph_GPIOC,
.gpioPort = GPIOC,
@ -240,14 +240,17 @@ bool detectGyro(void)
case GYRO_MPU6500:
#ifdef USE_GYRO_MPU6500
#ifdef USE_HARDWARE_REVISION_DETECTION
spiBusInit();
#ifdef USE_GYRO_SPI_MPU6500
if (mpu6500GyroDetect(&gyro) || mpu6500SpiGyroDetect(&gyro))
#else
if (mpu6500GyroDetect(&gyro))
#endif
if (mpu6500GyroDetect(&gyro) || mpu6500SpiGyroDetect(&gyro)) {
#ifdef GYRO_MPU6500_ALIGN
{
gyroHardware = GYRO_MPU6500;
#ifdef GYRO_MPU6500_ALIGN
gyroAlign = GYRO_MPU6500_ALIGN;
#endif
break;
}
#endif
@ -368,7 +371,12 @@ retry:
; // fallthrough
case ACC_MPU6500:
#ifdef USE_ACC_MPU6500
if (mpu6500AccDetect(&acc) || mpu6500SpiAccDetect(&acc)) {
#ifdef USE_ACC_SPI_MPU6500
if (mpu6500AccDetect(&acc) || mpu6500SpiAccDetect(&acc))
#else
if (mpu6500AccDetect(&acc))
#endif
{
#ifdef ACC_MPU6500_ALIGN
accAlign = ACC_MPU6500_ALIGN;
#endif