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Better representation of actual sensor (when using 6500 compatible sensors).

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This commit is contained in:
blckmn 2017-01-01 18:37:54 +11:00
parent df375ea4dd
commit 102114758c
9 changed files with 96 additions and 62 deletions
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63
src/main/sensors/gyro.c
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@ -97,9 +97,8 @@ static bool gyroDetect(gyroDev_t *dev)
switch(gyroHardware) {
case GYRO_DEFAULT:
; // fallthrough
case GYRO_MPU6050:
#ifdef USE_GYRO_MPU6050
case GYRO_MPU6050:
if (mpu6050GyroDetect(dev)) {
gyroHardware = GYRO_MPU6050;
#ifdef GYRO_MPU6050_ALIGN
@ -108,9 +107,9 @@ static bool gyroDetect(gyroDev_t *dev)
break;
}
#endif
; // fallthrough
case GYRO_L3G4200D:
#ifdef USE_GYRO_L3G4200D
case GYRO_L3G4200D:
if (l3g4200dDetect(dev)) {
gyroHardware = GYRO_L3G4200D;
#ifdef GYRO_L3G4200D_ALIGN
@ -119,10 +118,9 @@ static bool gyroDetect(gyroDev_t *dev)
break;
}
#endif
; // fallthrough
case GYRO_MPU3050:
#ifdef USE_GYRO_MPU3050
case GYRO_MPU3050:
if (mpu3050Detect(dev)) {
gyroHardware = GYRO_MPU3050;
#ifdef GYRO_MPU3050_ALIGN
@ -131,10 +129,9 @@ static bool gyroDetect(gyroDev_t *dev)
break;
}
#endif
; // fallthrough
case GYRO_L3GD20:
#ifdef USE_GYRO_L3GD20
case GYRO_L3GD20:
if (l3gd20Detect(dev)) {
gyroHardware = GYRO_L3GD20;
#ifdef GYRO_L3GD20_ALIGN
@ -143,10 +140,9 @@ static bool gyroDetect(gyroDev_t *dev)
break;
}
#endif
; // fallthrough
case GYRO_MPU6000:
#ifdef USE_GYRO_SPI_MPU6000
case GYRO_MPU6000:
if (mpu6000SpiGyroDetect(dev)) {
gyroHardware = GYRO_MPU6000;
#ifdef GYRO_MPU6000_ALIGN
@ -155,64 +151,69 @@ static bool gyroDetect(gyroDev_t *dev)
break;
}
#endif
; // fallthrough
case GYRO_MPU6500:
#if defined(USE_GYRO_MPU6500) || defined(USE_GYRO_SPI_MPU6500)
case GYRO_MPU6500:
case GYRO_ICM20608G:
case GYRO_ICM20602:
#ifdef USE_GYRO_SPI_MPU6500
if (mpu6500GyroDetect(dev) || mpu6500SpiGyroDetect(dev))
if (mpu6500GyroDetect(dev) || mpu6500SpiGyroDetect(dev)) {
#else
if (mpu6500GyroDetect(dev))
if (mpu6500GyroDetect(dev)) {
#endif
{
gyroHardware = GYRO_MPU6500;
switch(dev->mpuDetectionResult.sensor) {
case MPU_9250_SPI:
gyroHardware = GYRO_MPU9250;
break;
case ICM_20608_SPI:
gyroHardware = GYRO_ICM20608G;
break;
case ICM_20602_SPI:
gyroHardware = GYRO_ICM20602;
break;
default:
gyroHardware = GYRO_MPU6500;
}
#ifdef GYRO_MPU6500_ALIGN
dev->gyroAlign = GYRO_MPU6500_ALIGN;
#endif
break;
}
#endif
; // fallthrough
case GYRO_MPU9250:
#ifdef USE_GYRO_SPI_MPU9250
case GYRO_MPU9250:
if (mpu9250SpiGyroDetect(dev))
{
gyroHardware = GYRO_MPU9250;
if (mpu9250SpiGyroDetect(dev))
{
gyroHardware = GYRO_MPU9250;
#ifdef GYRO_MPU9250_ALIGN
dev->gyroAlign = GYRO_MPU9250_ALIGN;
dev->gyroAlign = GYRO_MPU9250_ALIGN;
#endif
break;
}
#endif
; // fallthrough
case GYRO_ICM20689:
#ifdef USE_GYRO_SPI_ICM20689
case GYRO_ICM20689:
if (icm20689SpiGyroDetect(dev))
{
gyroHardware = GYRO_ICM20689;
#ifdef GYRO_ICM20689_ALIGN
dev->gyroAlign = GYRO_ICM20689_ALIGN;
#endif
break;
}
#endif
; // fallthrough
case GYRO_FAKE:
#ifdef USE_FAKE_GYRO
case GYRO_FAKE:
if (fakeGyroDetect(dev)) {
gyroHardware = GYRO_FAKE;
break;
}
#endif
; // fallthrough
case GYRO_NONE:
default:
gyroHardware = GYRO_NONE;
}