Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-26 01:35:41 +03:00
Code Issues Wiki Activity

Moved gyro and acc detection code into init functions

Browse source
This commit is contained in:
Martin Budden 2016-12-13 10:00:43 +00:00
parent d9a2f7f5d9
commit 17494840a5
5 changed files with 26 additions and 36 deletions
Download patch file Download diff file Expand all files Collapse all files

20
src/main/sensors/gyro.c
View file

@ -17,6 +17,7 @@
#include <stdbool.h>
#include <stdint.h>
#include <string.h>
#include <math.h>
#include "platform.h"
@ -88,13 +89,8 @@ static const extiConfig_t *selectMPUIntExtiConfig(void)
#endif
}
bool gyroDetect(gyroDev_t *dev)
static bool gyroDetect(gyroDev_t *dev)
{
#if defined(USE_GYRO_MPU6050) || defined(USE_GYRO_MPU3050) || defined(USE_GYRO_MPU6500) || defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_MPU6000) || defined(USE_ACC_MPU6050) || defined(USE_GYRO_SPI_MPU9250) || defined(USE_GYRO_SPI_ICM20689)
const extiConfig_t *extiConfig = selectMPUIntExtiConfig();
mpuDetect(extiConfig);
#endif
gyroSensor_e gyroHardware = GYRO_DEFAULT;
dev->gyroAlign = ALIGN_DEFAULT;
@ -230,7 +226,7 @@ case GYRO_MPU9250:
return true;
}
void gyroInit(const gyroConfig_t *gyroConfigToUse)
bool gyroInit(const gyroConfig_t *gyroConfigToUse)
{
static biquadFilter_t gyroFilterLPF[XYZ_AXIS_COUNT];
static pt1Filter_t gyroFilterPt1[XYZ_AXIS_COUNT];
@ -239,6 +235,15 @@ void gyroInit(const gyroConfig_t *gyroConfigToUse)
static biquadFilter_t gyroFilterNotch_2[XYZ_AXIS_COUNT];
gyroConfig = gyroConfigToUse;
memset(&gyro, 0, sizeof(gyro));
#if defined(USE_GYRO_MPU6050) || defined(USE_GYRO_MPU3050) || defined(USE_GYRO_MPU6500) || defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_MPU6000) || defined(USE_ACC_MPU6050) || defined(USE_GYRO_SPI_MPU9250) || defined(USE_GYRO_SPI_ICM20689)
const extiConfig_t *extiConfig = selectMPUIntExtiConfig();
mpuDetect(extiConfig);
#endif
if (!gyroDetect(&gyro.dev)) {
return false;
}
gyro.targetLooptime = gyroSetSampleRate(gyroConfig->gyro_lpf, gyroConfig->gyro_sync_denom); // Set gyro sample rate before initialisation
gyro.dev.lpf = gyroConfig->gyro_lpf;
gyro.dev.init(&gyro.dev);
@ -286,6 +291,7 @@ void gyroInit(const gyroConfig_t *gyroConfigToUse)
biquadFilterInit(notchFilter2[axis], gyroConfig->gyro_soft_notch_hz_2, gyro.targetLooptime, gyroSoftNotchQ2, FILTER_NOTCH);
}
}
return true;
}
bool isGyroCalibrationComplete(void)