MPU6500 / AK8963 driver interoperation fix

src/main/drivers/accgyro/accgyro_mpu6500.c

@@ -74,11 +74,7 @@ void mpu6500GyroInit(gyroDev_t *gyro)
     delay(100);
 
     // Data ready interrupt configuration
-#ifdef USE_MPU9250_MAG
-    gyro->mpuConfiguration.writeFn(&gyro->bus, MPU_RA_INT_PIN_CFG, MPU6500_BIT_INT_ANYRD_2CLEAR | MPU6500_BIT_BYPASS_EN);  // INT_ANYRD_2CLEAR, BYPASS_EN
-#else
     gyro->mpuConfiguration.writeFn(&gyro->bus, MPU_RA_INT_PIN_CFG, MPU6500_BIT_INT_ANYRD_2CLEAR);  // INT_ANYRD_2CLEAR
-#endif
     delay(15);
 
 #ifdef USE_MPU_DATA_READY_SIGNAL

src/main/drivers/accgyro/accgyro_spi_mpu6500.c

@@ -49,6 +49,14 @@ bool mpu6500SpiWriteRegister(const busDevice_t *bus, uint8_t reg, uint8_t data)
     return true;
 }
 
+bool mpu6500SpiWriteRegisterDelayed(const busDevice_t *bus, uint8_t reg, uint8_t data)
+{
+    mpu6500SpiWriteRegister(bus, reg, data);
+    delayMicroseconds(10);
+
+    return true;
+}
+
 bool mpu6500SpiReadRegister(const busDevice_t *bus, uint8_t reg, uint8_t length, uint8_t *data)
 {
     ENABLE_MPU6500(bus->spi.csnPin);

src/main/drivers/accgyro/accgyro_spi_mpu6500.h

@@ -25,6 +25,7 @@ bool mpu6500SpiAccDetect(accDev_t *acc);
 bool mpu6500SpiGyroDetect(gyroDev_t *gyro);
 
 bool mpu6500SpiWriteRegister(const busDevice_t *bus, uint8_t reg, uint8_t data);
+bool mpu6500SpiWriteRegisterDelayed(const busDevice_t *bus, uint8_t reg, uint8_t data);
 bool mpu6500SpiReadRegister(const busDevice_t *bus, uint8_t reg, uint8_t length, uint8_t *data);
 
 void mpu6500SpiGyroInit(gyroDev_t *gyro);

src/main/drivers/compass/compass_ak8963.c

@@ -88,7 +88,7 @@ static busDevice_t *bus = NULL; // HACK
 // Is an separate MPU9250 driver really needed? The GYRO/ACC part between MPU6500 and MPU9250 is exactly the same.
 #if defined(MPU6500_SPI_INSTANCE) && !defined(MPU9250_SPI_INSTANCE)
 #define MPU9250_SPI_INSTANCE
-#define verifympu9250SpiWriteRegister mpu6500SpiWriteRegister
+#define verifympu9250SpiWriteRegister mpu6500SpiWriteRegisterDelayed
 #define mpu9250SpiWriteRegister mpu6500SpiWriteRegister
 #define mpu9250SpiReadRegister mpu6500SpiReadRegister
 #endif
@@ -116,7 +116,7 @@ static bool ak8963SensorRead(uint8_t addr_, uint8_t reg_, uint8_t len_, uint8_t
     verifympu9250SpiWriteRegister(bus, MPU_RA_I2C_SLV0_CTRL, len_ | 0x80);         // read number of bytes
     delay(10);
     __disable_irq();
-    bool ack = mpu9250SpiReadRegister(bus, MPU_RA_EXT_SENS_DATA_00, len_, buf);         // read I2C
+    bool ack = mpu9250SpiReadRegister(bus, MPU_RA_EXT_SENS_DATA_00, len_, buf);    // read I2C
     __enable_irq();
     return ack;
 }

src/main/target/ALIENFLIGHTF3/config.c

@@ -34,7 +34,6 @@
 
 #include "rx/rx.h"
 
-#include "sensors/compass.h"
 #include "sensors/gyro.h"
 
 #include "hardware_revision.h"
@@ -81,7 +80,6 @@ void targetConfiguration(void)
 
     rxConfigMutable()->spektrum_sat_bind = 5;
     rxConfigMutable()->spektrum_sat_bind_autoreset = 1;
-    compassConfigMutable()->mag_hardware = MAG_NONE;            // disabled by default
 
     if (hardwareMotorType == MOTOR_BRUSHED) {
         motorConfigMutable()->dev.motorPwmRate = BRUSHED_MOTORS_PWM_RATE;

src/main/target/ALIENFLIGHTF4/config.c

@@ -40,7 +40,6 @@
 #include "telemetry/telemetry.h"
 
 #include "sensors/battery.h"
-#include "sensors/compass.h"
 
 #include "hardware_revision.h"
 
@@ -53,8 +52,6 @@
 // alternative defaults settings for AlienFlight targets
 void targetConfiguration(void)
 {
-    compassConfigMutable()->mag_hardware = MAG_NONE;            // disabled by default
-
     if (hardwareMotorType == MOTOR_BRUSHED) {
         motorConfigMutable()->dev.motorPwmRate = BRUSHED_MOTORS_PWM_RATE;
         pidConfigMutable()->pid_process_denom = 1;

src/main/target/ALIENFLIGHTNGF7/config.c

@@ -39,7 +39,6 @@
 #include "telemetry/telemetry.h"
 
 #include "sensors/battery.h"
-#include "sensors/compass.h"
 
 #include "hardware_revision.h"
 
@@ -52,8 +51,6 @@
 // alternative defaults settings for AlienFlight targets
 void targetConfiguration(void)
 {
-    compassConfigMutable()->mag_hardware = MAG_NONE;            // disabled by default
-
     if (hardwareMotorType == MOTOR_BRUSHED) {
         motorConfigMutable()->dev.motorPwmRate = BRUSHED_MOTORS_PWM_RATE;
         pidConfigMutable()->pid_process_denom = 1;

src/main/target/COLIBRI_RACE/target.h

@@ -73,7 +73,6 @@
 #define USE_BARO_MS5611
 
 #define MAG
-#define USE_MPU9250_MAG
 #define USE_MAG_HMC5883
 #define USE_MAG_AK8963
 #define USE_MAG_AK8975

src/main/target/RCEXPLORERF3/target.h

@@ -48,7 +48,6 @@
 #define USE_BARO_MS5611
 
 #define MAG
-#define USE_MPU9250_MAG // Enables bypass configuration
 #define USE_MAG_AK8975
 #define USE_MAG_HMC5883 // External
 

src/main/target/SPRACINGF3EVO/target.h

@@ -58,7 +58,6 @@
 #define USE_BARO_BMP280
 
 #define MAG
-#define USE_MPU9250_MAG // Enables bypass configuration
 #define USE_MAG_AK8963
 //#define USE_MAG_HMC5883 // External
 

src/main/target/SPRACINGF3MINI/target.h

@@ -66,7 +66,6 @@
 #define USE_BARO_BMP280
 
 #define MAG
-#define USE_MPU9250_MAG // Enables bypass configuration
 #define USE_MAG_AK8975
 #define USE_MAG_HMC5883 // External
 #define MAG_AK8975_ALIGN        CW90_DEG_FLIP