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Fix BMI160 gate and optimize directives (#13237)

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* Add BMI160 gate and other defines

* Fix make test

* Remove redundant directives
This commit is contained in:
Mark Haslinghuis 2023-12-31 23:37:01 +01:00 • committed by GitHub
parent c996d5f77b
commit 2ee519e29c
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GPG key ID: 4AEE18F83AFDEB23
2 changed files with 10 additions and 20 deletions
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2
src/main/sensors/acceleration_init.c
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@ -240,7 +240,7 @@ retry:
case ACC_ICM20608G:
#if defined(USE_ACC_MPU6500) || defined(USE_ACC_SPI_MPU6500)
#ifdef USE_ACC_SPI_MPU6500
if (mpu6500AccDetect(dev) || mpu6500SpiAccDetect(dev)) {
if (mpu6500SpiAccDetect(dev)) {
#else
if (mpu6500AccDetect(dev)) {
#endif

28
src/main/sensors/gyro_init.c
View file

@ -75,7 +75,8 @@
#if !defined(USE_GYRO_L3G4200D) && !defined(USE_GYRO_MPU3050) && !defined(USE_GYRO_MPU6050) && \
!defined(USE_GYRO_MPU6500) && !defined(USE_GYRO_SPI_ICM20689) && !defined(USE_GYRO_SPI_MPU6000) && \
!defined(USE_GYRO_SPI_MPU6500) && !defined(USE_GYRO_SPI_MPU9250) && !defined(USE_GYRO_L3GD20) && \
!defined(USE_GYRO_SPI_ICM42605) && !defined(USE_GYRO_SPI_ICM42688P) && !defined(USE_ACCGYRO_BMI270) && \
!defined(USE_GYRO_SPI_ICM42605) && !defined(USE_GYRO_SPI_ICM42688P) && \
!defined(USE_ACCGYRO_BMI160) && !defined(USE_ACCGYRO_BMI270) && \
!defined(USE_ACCGYRO_LSM6DSV16X) && !defined(USE_ACCGYRO_LSM6DSO) && !defined(USE_VIRTUAL_GYRO)
#error At least one USE_GYRO device definition required
#endif
@ -409,7 +410,7 @@ STATIC_UNIT_TESTED gyroHardware_e gyroDetect(gyroDev_t *dev)
case GYRO_ICM20602:
case GYRO_ICM20608G:
#ifdef USE_GYRO_SPI_MPU6500
if (mpu6500GyroDetect(dev) || mpu6500SpiGyroDetect(dev)) {
if (mpu6500SpiGyroDetect(dev)) {
#else
if (mpu6500GyroDetect(dev)) {
#endif
@ -540,22 +541,13 @@ STATIC_UNIT_TESTED gyroHardware_e gyroDetect(gyroDev_t *dev)
static bool gyroDetectSensor(gyroSensor_t *gyroSensor, const gyroDeviceConfig_t *config)
{
#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_ICM20649) \
|| defined(USE_GYRO_SPI_ICM20689) || defined(USE_GYRO_L3GD20) || defined(USE_ACCGYRO_BMI160) || defined(USE_ACCGYRO_BMI270) \
|| defined(USE_ACCGYRO_LSM6DSO) || defined(USE_GYRO_SPI_ICM42605) || defined(USE_GYRO_SPI_ICM42688P) || defined(USE_ACCGYRO_LSM6DSV16X)
#ifdef USE_VIRTUAL_GYRO
UNUSED(config);
#else
bool gyroFound = mpuDetect(&gyroSensor->gyroDev, config);
#if !defined(USE_VIRTUAL_GYRO) // Allow resorting to virtual accgyro if defined
if (!gyroFound) {
return false;
}
#else
UNUSED(gyroFound);
#endif
#else
UNUSED(config);
#endif
const gyroHardware_e gyroHardware = gyroDetect(&gyroSensor->gyroDev);
@ -566,12 +558,10 @@ static bool gyroDetectSensor(gyroSensor_t *gyroSensor, const gyroDeviceConfig_t
static void gyroPreInitSensor(const gyroDeviceConfig_t *config)
{
#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_ICM20649) \
|| defined(USE_GYRO_SPI_ICM20689) || defined(USE_ACCGYRO_BMI160) || defined(USE_ACCGYRO_BMI270) || defined(USE_ACCGRYO_LSM6DSO)
mpuPreInit(config);
#else
#ifdef USE_VIRTUAL_GYRO
UNUSED(config);
#else
mpuPreInit(config);
#endif
}