From 1ee5929b82a99f94ea06837616d6ae527510b1cc Mon Sep 17 00:00:00 2001
From: Martin Budden <mjbudden@gmail.com>
Date: Wed, 12 Jul 2017 14:40:08 +0100
Subject: [PATCH] Improved gyro SPI detect function

---
 src/main/drivers/accgyro/accgyro_mpu.c | 19 +++++++++++++++++++
 1 file changed, 19 insertions(+)

diff --git a/src/main/drivers/accgyro/accgyro_mpu.c b/src/main/drivers/accgyro/accgyro_mpu.c
index 1ca97c798a..d4b11b1231 100644
--- a/src/main/drivers/accgyro/accgyro_mpu.c
+++ b/src/main/drivers/accgyro/accgyro_mpu.c
@@ -251,8 +251,11 @@ bool mpuCheckDataReady(gyroDev_t* gyro)
 static bool detectSPISensorsAndUpdateDetectionResult(gyroDev_t *gyro)
 {
     UNUSED(gyro); // since there are FCs which have gyro on I2C but other devices on SPI
+
 #ifdef USE_GYRO_SPI_MPU6000
+#ifdef MPU6000_SPI_INSTANCE
     spiBusSetInstance(&gyro->bus, MPU6000_SPI_INSTANCE);
+#endif
 #ifdef MPU6000_CS_PIN
     gyro->bus.spi.csnPin = gyro->bus.spi.csnPin == IO_NONE ? IOGetByTag(IO_TAG(MPU6000_CS_PIN)) : gyro->bus.spi.csnPin;
 #endif
@@ -266,8 +269,12 @@ static bool detectSPISensorsAndUpdateDetectionResult(gyroDev_t *gyro)
 #endif
 
 #ifdef USE_GYRO_SPI_MPU6500
+#ifdef MPU6500_SPI_INSTANCE
     spiBusSetInstance(&gyro->bus, MPU6500_SPI_INSTANCE);
+#endif
+#ifdef MPU6500_CS_PIN
     gyro->bus.spi.csnPin = gyro->bus.spi.csnPin == IO_NONE ? IOGetByTag(IO_TAG(MPU6500_CS_PIN)) : gyro->bus.spi.csnPin;
+#endif
     const uint8_t mpu6500Sensor = mpu6500SpiDetect(&gyro->bus);
     // some targets using MPU_9250_SPI, ICM_20608_SPI or ICM_20602_SPI state sensor is MPU_65xx_SPI
     if (mpu6500Sensor != MPU_NONE) {
@@ -280,8 +287,12 @@ static bool detectSPISensorsAndUpdateDetectionResult(gyroDev_t *gyro)
 #endif
 
 #ifdef  USE_GYRO_SPI_MPU9250
+#ifdef MPU9250_SPI_INSTANCE
     spiBusSetInstance(&gyro->bus, MPU9250_SPI_INSTANCE);
+#endif
+#ifdef MPU9250_CS_PIN
     gyro->bus.spi.csnPin = gyro->bus.spi.csnPin == IO_NONE ? IOGetByTag(IO_TAG(MPU9250_CS_PIN)) : gyro->bus.spi.csnPin;
+#endif
     if (mpu9250SpiDetect(&gyro->bus)) {
         gyro->mpuDetectionResult.sensor = MPU_9250_SPI;
         gyro->mpuConfiguration.gyroReadXRegister = MPU_RA_GYRO_XOUT_H;
@@ -293,8 +304,12 @@ static bool detectSPISensorsAndUpdateDetectionResult(gyroDev_t *gyro)
 #endif
 
 #ifdef USE_GYRO_SPI_ICM20689
+#ifdef ICM20689_SPI_INSTANCE
     spiBusSetInstance(&gyro->bus, ICM20689_SPI_INSTANCE);
+#endif
+#ifdef ICM20689_CS_PIN
     gyro->bus.spi.csnPin = gyro->bus.spi.csnPin == IO_NONE ? IOGetByTag(IO_TAG(ICM20689_CS_PIN)) : gyro->bus.spi.csnPin;
+#endif
     if (icm20689SpiDetect(&gyro->bus)) {
         gyro->mpuDetectionResult.sensor = ICM_20689_SPI;
         gyro->mpuConfiguration.gyroReadXRegister = MPU_RA_GYRO_XOUT_H;
@@ -305,8 +320,12 @@ static bool detectSPISensorsAndUpdateDetectionResult(gyroDev_t *gyro)
 #endif
 
 #ifdef USE_ACCGYRO_BMI160
+#ifdef BMI160_SPI_INSTANCE
     spiBusSetInstance(&gyro->bus, BMI160_SPI_INSTANCE);
+#endif
+#ifdef BMI160_CS_PIN
     gyro->bus.spi.csnPin = gyro->bus.spi.csnPin == IO_NONE ? IOGetByTag(IO_TAG(BMI160_CS_PIN)) : gyro->bus.spi.csnPin;
+#endif
     if (bmi160Detect(&gyro->bus)) {
         gyro->mpuDetectionResult.sensor = BMI_160_SPI;
         gyro->mpuConfiguration.readFn = spiReadRegisterBuffer;