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Update gyroregisters cli command to display both gyros

Browse source 
If gyro_to_use = BOTH, then display the registers for both active gyros.
This commit is contained in:
Bruce Luckcuck 2018-05-04 11:46:05 -04:00
parent ff59c37fdb
commit 34bdfc00e7
3 changed files with 39 additions and 7 deletions
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22
src/main/sensors/gyro.c
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@ -227,6 +227,22 @@ const busDevice_t *gyroSensorBus(void)
#endif
}
#ifdef USE_GYRO_REGISTER_DUMP
const busDevice_t *gyroSensorBusByDevice(uint8_t whichSensor)
{
#ifdef USE_DUAL_GYRO
if (whichSensor == GYRO_CONFIG_USE_GYRO_2) {
return &gyroSensor2.gyroDev.bus;
} else {
return &gyroSensor1.gyroDev.bus;
}
#else
UNUSED(whichSensor);
return &gyroSensor1.gyroDev.bus;
#endif
}
#endif // USE_GYRO_REGISTER_DUMP
const mpuConfiguration_t *gyroMpuConfiguration(void)
{
#ifdef USE_DUAL_GYRO
@ -1276,8 +1292,8 @@ uint16_t gyroAbsRateDps(int axis)
}
#ifdef USE_GYRO_REGISTER_DUMP
uint8_t gyroReadRegister(uint8_t reg)
uint8_t gyroReadRegister(uint8_t whichSensor, uint8_t reg)
{
return mpuGyroReadRegister(gyroSensorBus(), reg);
return mpuGyroReadRegister(gyroSensorBusByDevice(whichSensor), reg);
}
#endif
#endif // USE_GYRO_REGISTER_DUMP