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Merge branch 'henn1001-betaflight' into betaflight

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This commit is contained in:
borisbstyle 2015-09-19 00:17:07 +02:00
commit 4cc0156f5b
4 changed files with 179 additions and 16 deletions
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24
src/main/sensors/initialisation.c
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@ -138,6 +138,26 @@ const mpu6050Config_t *selectMPU6050Config(void)
return NULL;
}
const mpu6000Config_t *selectMPU6000Config(void)
{
#ifdef CC3D
static const mpu6000Config_t CC3DMPU6000Config = {
.gpioAPB2Peripherals = RCC_APB2Periph_GPIOA,
.gpioPort = GPIOA,
.gpioPin = Pin_3,
.exti_port_source = GPIO_PortSourceGPIOA,
.exti_pin_source = GPIO_PinSource3,
.exti_line = EXTI_Line3,
.exti_irqn = EXTI3_IRQn
};
return &CC3DMPU6000Config;
#endif
return NULL;
}
#ifdef USE_FAKE_GYRO
static void fakeGyroInit(void) {}
static bool fakeGyroRead(int16_t *gyroADC) {
@ -233,7 +253,7 @@ bool detectGyro(uint16_t gyroLpf)
case GYRO_SPI_MPU6000:
#ifdef USE_GYRO_SPI_MPU6000
if (mpu6000SpiGyroDetect(&gyro, gyroLpf)) {
if (mpu6000SpiGyroDetect(selectMPU6000Config(), &gyro, gyroLpf)) {
#ifdef GYRO_SPI_MPU6000_ALIGN
gyroHardware = GYRO_SPI_MPU6000;
gyroAlign = GYRO_SPI_MPU6000_ALIGN;
@ -372,7 +392,7 @@ retry:
; // fallthrough
case ACC_SPI_MPU6000:
#ifdef USE_ACC_SPI_MPU6000
if (mpu6000SpiAccDetect(&acc)) {
if (mpu6000SpiAccDetect(selectMPU6000Config(), &acc)) {
#ifdef ACC_SPI_MPU6000_ALIGN
accAlign = ACC_SPI_MPU6000_ALIGN;
#endif