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Made gyro device code reentrant

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This commit is contained in:
Martin Budden 2016-12-18 00:16:23 +00:00
parent a562b8fa12
commit 42344a8fe6
14 changed files with 131 additions and 131 deletions
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5
src/main/sensors/gyro.c
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@ -231,8 +231,9 @@ bool gyroInit(const gyroConfig_t *gyroConfigToUse)
gyroConfig = gyroConfigToUse;
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_ICM20689)
const extiConfig_t *extiConfig = selectMPUIntExtiConfig();
mpuDetect(extiConfig);
gyro.dev.mpuIntExtiConfig = selectMPUIntExtiConfig();
mpuDetect(&gyro.dev);
mpuReset = gyro.dev.mpuConfiguration.reset;
#endif
if (!gyroDetect(&gyro.dev)) {