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Code Issues Wiki Activity

Improved EXTI pin handling

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This commit is contained in:
Martin Budden 2017-03-26 15:11:04 +01:00
parent 9785c297cd
commit 21014481b1
9 changed files with 44 additions and 68 deletions
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24
src/main/sensors/gyro.c
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@ -111,19 +111,6 @@ PG_RESET_TEMPLATE(gyroConfig_t, gyroConfig,
.gyro_soft_notch_cutoff_2 = 100
);
#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_ICM20601) || defined(USE_GYRO_SPI_ICM20689)
static const extiConfig_t *selectMPUIntExtiConfig(void)
{
#if defined(MPU_INT_EXTI)
static const extiConfig_t mpuIntExtiConfig = { .tag = IO_TAG(MPU_INT_EXTI) };
return &mpuIntExtiConfig;
#elif defined(USE_HARDWARE_REVISION_DETECTION)
return selectMPUIntExtiConfigByHardwareRevision();
#else
return NULL;
#endif
}
#endif
const busDevice_t *gyroSensorBus(void)
{
@ -134,6 +121,7 @@ const mpuConfiguration_t *gyroMpuConfiguration(void)
{
return &gyroDev0.mpuConfiguration;
}
const mpuDetectionResult_t *gyroMpuDetectionResult(void)
{
return &gyroDev0.mpuDetectionResult;
@ -294,7 +282,15 @@ bool gyroInit(void)
{
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_ICM20601) || defined(USE_GYRO_SPI_ICM20689)
gyroDev0.mpuIntExtiConfig = selectMPUIntExtiConfig();
#if defined(MPU_INT_EXTI)
gyroDev0.mpuIntExtiConfig.tag = IO_TAG(MPU_INT_EXTI);
#elif defined(USE_HARDWARE_REVISION_DETECTION)
gyroDev0.mpuIntExtiConfig.tag = selectMPUIntExtiConfigByHardwareRevision();
#else
gyroDev0.mpuIntExtiConfig.tag = IO_TAG_NONE;
#endif
#ifdef USE_DUAL_GYRO
// set cnsPin using GYRO_n_CS_PIN defined in target.h
gyroDev0.bus.spi.csnPin = gyroConfig()->gyro_to_use == 0 ? IOGetByTag(IO_TAG(GYRO_0_CS_PIN)) : IOGetByTag(IO_TAG(GYRO_1_CS_PIN));