Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-20 06:45:16 +03:00
Code Issues Wiki Activity

Improved gyro SPI detect function

Browse source
This commit is contained in:
Martin Budden 2017-07-12 14:40:08 +01:00
parent 0b9dd11cb5
commit 1ee5929b82
1 changed files with 19 additions and 0 deletions
Download patch file Download diff file Expand all files Collapse all files

19
src/main/drivers/accgyro/accgyro_mpu.c
View file

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