More MPU cleanups.

src/main/drivers/accgyro_mpu.c

@@ -167,7 +167,7 @@ static void mpu6050FindRevision(void)
     // See https://android.googlesource.com/kernel/msm.git/+/eaf36994a3992b8f918c18e4f7411e8b2320a35f/drivers/misc/mpu6050/mldl_cfg.c
 
     // determine product ID and accel revision
-    ack = i2cRead(MPU_ADDRESS, MPU_RA_XA_OFFS_H, 6, readBuffer);
+    ack = mpuConfiguration.read(MPU_RA_XA_OFFS_H, 6, readBuffer);
     revision = ((readBuffer[5] & 0x01) << 2) | ((readBuffer[3] & 0x01) << 1) | (readBuffer[1] & 0x01);
     if (revision) {
         /* Congrats, these parts are better. */
@@ -179,7 +179,7 @@ static void mpu6050FindRevision(void)
             failureMode(FAILURE_ACC_INCOMPATIBLE);
         }
     } else {
-        ack = i2cRead(MPU_ADDRESS, MPU_RA_PRODUCT_ID, 1, &productId);
+        ack = mpuConfiguration.read(MPU_RA_PRODUCT_ID, 1, &productId);
         revision = productId & 0x0F;
         if (!revision) {
             failureMode(FAILURE_ACC_INCOMPATIBLE);

src/main/drivers/accgyro_mpu6500.h

@@ -24,10 +24,12 @@
 #define MPU6500_RA_INT_ENABLE               (0x38)
 #define MPU6500_RA_GYRO_XOUT_H              (0x43)
 #define MPU6500_RA_SIGNAL_PATH_RST          (0x68)
+#define MPU6500_RA_USER_CTRL                (0x6A)
 #define MPU6500_RA_PWR_MGMT_1               (0x6B)
 #define MPU6500_RA_BANK_SEL                 (0x6D)
 #define MPU6500_RA_MEM_RW                   (0x6F)
 #define MPU6500_RA_WHOAMI                   (0x75)
+#define MPU6500_RA_XA_OFFS_H                (0x77)
 
 #define MPU6500_WHO_AM_I_CONST              (0x70)
 

src/main/drivers/accgyro_spi_mpu6500.h

@@ -15,24 +15,6 @@
  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  */
 
-#define MPU6500_RA_RATE_DIV                 (0x19)
-#define MPU6500_RA_LPF                      (0x1A)
-#define MPU6500_RA_GYRO_CFG                 (0x1B)
-#define MPU6500_RA_ACCEL_CFG                (0x1C)
-#define MPU6500_RA_ACCEL_XOUT_H             (0x3B)
-#define MPU6500_RA_INT_PIN_CFG              (0x37)
-#define MPU6500_RA_INT_ENABLE               (0x38)
-#define MPU6500_RA_GYRO_XOUT_H              (0x43)
-#define MPU6500_RA_SIGNAL_PATH_RST          (0x68)
-#define MPU6500_RA_PWR_MGMT_1               (0x6B)
-#define MPU6500_RA_BANK_SEL                 (0x6D)
-#define MPU6500_RA_MEM_RW                   (0x6F)
-#define MPU6500_RA_WHOAMI                   (0x75)
-
-#define MPU6500_WHO_AM_I_CONST              (0x70)
-
-#define MPU6500_BIT_RESET                   (0x80)
-
 #pragma once
 
 bool mpu6500SpiDetect(void);

src/main/sensors/initialisation.c

@@ -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
+#ifdef USE_GYRO_SPI_MPU6500
-		  spiBusInit();
+            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

src/main/target/CJMCU/hardware_revision.c

@@ -51,7 +51,3 @@ void detectHardwareRevision(void)
 void updateHardwareRevision(void)
 {
 }
-
-void spiBusInit(void)
-{
-}

src/main/target/NAZE/hardware_revision.c

@@ -27,7 +27,7 @@
 #include "drivers/bus_spi.h"
 #include "drivers/sensor.h"
 #include "drivers/accgyro.h"
-#include "drivers/accgyro_spi_mpu6500.h"
+#include "drivers/accgyro_mpu6500.h"
 
 #include "hardware_revision.h"
 
@@ -101,7 +101,3 @@ void updateHardwareRevision(void)
         hardwareRevision = NAZE32_SP;
 #endif
 }
-
-void spiBusInit(void)
-{
-}