mirror of
https://github.com/betaflight/betaflight.git
synced 2025-07-17 21:35:44 +03:00
Renamed MPU function pointers, align with iNav
This commit is contained in:
Michael Jakob
Martin Budden
parent
48e7c62506
commit
61d72b8738
9 changed files with 79 additions and 80 deletions
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@ -48,7 +48,7 @@
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#include "accgyro_mpu.h"
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mpuResetFuncPtr mpuReset;
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mpuResetFnPtr mpuResetFn;
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#ifndef MPU_I2C_INSTANCE
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#define MPU_I2C_INSTANCE I2C_DEVICE
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@ -75,7 +75,7 @@ static void mpu6050FindRevision(gyroDev_t *gyro)
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// See https://android.googlesource.com/kernel/msm.git/+/eaf36994a3992b8f918c18e4f7411e8b2320a35f/drivers/misc/mpu6050/mldl_cfg.c
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// determine product ID and accel revision
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ack = gyro->mpuConfiguration.read(MPU_RA_XA_OFFS_H, 6, readBuffer);
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ack = gyro->mpuConfiguration.readFn(MPU_RA_XA_OFFS_H, 6, readBuffer);
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revision = ((readBuffer[5] & 0x01) << 2) | ((readBuffer[3] & 0x01) << 1) | (readBuffer[1] & 0x01);
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if (revision) {
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/* Congrats, these parts are better. */
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@ -89,7 +89,7 @@ static void mpu6050FindRevision(gyroDev_t *gyro)
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failureMode(FAILURE_ACC_INCOMPATIBLE);
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}
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} else {
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ack = gyro->mpuConfiguration.read(MPU_RA_PRODUCT_ID, 1, &productId);
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ack = gyro->mpuConfiguration.readFn(MPU_RA_PRODUCT_ID, 1, &productId);
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revision = productId & 0x0F;
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if (!revision) {
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failureMode(FAILURE_ACC_INCOMPATIBLE);
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@ -176,7 +176,7 @@ bool mpuAccRead(accDev_t *acc)
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{
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uint8_t data[6];
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bool ack = acc->mpuConfiguration.read(MPU_RA_ACCEL_XOUT_H, 6, data);
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bool ack = acc->mpuConfiguration.readFn(MPU_RA_ACCEL_XOUT_H, 6, data);
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if (!ack) {
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return false;
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}
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@ -199,7 +199,7 @@ bool mpuGyroRead(gyroDev_t *gyro)
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{
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uint8_t data[6];
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const bool ack = gyro->mpuConfiguration.read(gyro->mpuConfiguration.gyroReadXRegister, 6, data);
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const bool ack = gyro->mpuConfiguration.readFn(gyro->mpuConfiguration.gyroReadXRegister, 6, data);
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if (!ack) {
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return false;
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}
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@ -230,8 +230,8 @@ static bool detectSPISensorsAndUpdateDetectionResult(gyroDev_t *gyro)
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if (mpu6000SpiDetect()) {
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gyro->mpuDetectionResult.sensor = MPU_60x0_SPI;
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gyro->mpuConfiguration.gyroReadXRegister = MPU_RA_GYRO_XOUT_H;
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gyro->mpuConfiguration.read = mpu6000ReadRegister;
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gyro->mpuConfiguration.write = mpu6000WriteRegister;
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gyro->mpuConfiguration.readFn = mpu6000ReadRegister;
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gyro->mpuConfiguration.writeFn = mpu6000WriteRegister;
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return true;
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}
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#endif
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@ -241,8 +241,8 @@ static bool detectSPISensorsAndUpdateDetectionResult(gyroDev_t *gyro)
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if (mpu6500Sensor != MPU_NONE) {
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gyro->mpuDetectionResult.sensor = mpu6500Sensor;
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gyro->mpuConfiguration.gyroReadXRegister = MPU_RA_GYRO_XOUT_H;
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gyro->mpuConfiguration.read = mpu6500ReadRegister;
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gyro->mpuConfiguration.write = mpu6500WriteRegister;
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gyro->mpuConfiguration.readFn = mpu6500ReadRegister;
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gyro->mpuConfiguration.writeFn = mpu6500WriteRegister;
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return true;
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}
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#endif
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@ -251,11 +251,11 @@ static bool detectSPISensorsAndUpdateDetectionResult(gyroDev_t *gyro)
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if (mpu9250SpiDetect()) {
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gyro->mpuDetectionResult.sensor = MPU_9250_SPI;
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gyro->mpuConfiguration.gyroReadXRegister = MPU_RA_GYRO_XOUT_H;
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gyro->mpuConfiguration.read = mpu9250ReadRegister;
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gyro->mpuConfiguration.slowread = mpu9250SlowReadRegister;
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gyro->mpuConfiguration.verifywrite = verifympu9250WriteRegister;
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gyro->mpuConfiguration.write = mpu9250WriteRegister;
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gyro->mpuConfiguration.reset = mpu9250ResetGyro;
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gyro->mpuConfiguration.readFn = mpu9250ReadRegister;
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gyro->mpuConfiguration.slowreadFn = mpu9250SlowReadRegister;
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gyro->mpuConfiguration.verifywriteFn = verifympu9250WriteRegister;
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gyro->mpuConfiguration.writeFn = mpu9250WriteRegister;
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gyro->mpuConfiguration.resetFn = mpu9250ResetGyro;
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return true;
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}
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#endif
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@ -264,8 +264,8 @@ static bool detectSPISensorsAndUpdateDetectionResult(gyroDev_t *gyro)
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if (icm20689SpiDetect()) {
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gyro->mpuDetectionResult.sensor = ICM_20689_SPI;
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gyro->mpuConfiguration.gyroReadXRegister = MPU_RA_GYRO_XOUT_H;
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gyro->mpuConfiguration.read = icm20689ReadRegister;
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gyro->mpuConfiguration.write = icm20689WriteRegister;
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gyro->mpuConfiguration.readFn = icm20689ReadRegister;
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gyro->mpuConfiguration.writeFn = icm20689WriteRegister;
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return true;
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}
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#endif
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@ -277,22 +277,20 @@ static bool detectSPISensorsAndUpdateDetectionResult(gyroDev_t *gyro)
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mpuDetectionResult_t *mpuDetect(gyroDev_t *gyro)
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{
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bool ack;
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uint8_t sig;
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uint8_t inquiryResult;
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// MPU datasheet specifies 30ms.
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delay(35);
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#ifndef USE_I2C
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ack = false;
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sig = 0;
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uint8_t sig = 0;
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bool ack = false;
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#else
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ack = mpuReadRegisterI2C(MPU_RA_WHO_AM_I, 1, &sig);
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uint8_t sig;
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bool ack = mpuReadRegisterI2C(MPU_RA_WHO_AM_I, 1, &sig);
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#endif
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if (ack) {
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gyro->mpuConfiguration.read = mpuReadRegisterI2C;
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gyro->mpuConfiguration.write = mpuWriteRegisterI2C;
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gyro->mpuConfiguration.readFn = mpuReadRegisterI2C;
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gyro->mpuConfiguration.writeFn = mpuWriteRegisterI2C;
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} else {
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#ifdef USE_SPI
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bool detectedSpiSensor = detectSPISensorsAndUpdateDetectionResult(gyro);
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@ -305,6 +303,7 @@ mpuDetectionResult_t *mpuDetect(gyroDev_t *gyro)
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gyro->mpuConfiguration.gyroReadXRegister = MPU_RA_GYRO_XOUT_H;
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// If an MPU3050 is connected sig will contain 0.
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uint8_t inquiryResult;
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ack = mpuReadRegisterI2C(MPU_RA_WHO_AM_I_LEGACY, 1, &inquiryResult);
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inquiryResult &= MPU_INQUIRY_MASK;
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if (ack && inquiryResult == MPUx0x0_WHO_AM_I_CONST) {
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@ -124,18 +124,18 @@
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// RF = Register Flag
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#define MPU_RF_DATA_RDY_EN (1 << 0)
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typedef bool (*mpuReadRegisterFunc)(uint8_t reg, uint8_t length, uint8_t* data);
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typedef bool (*mpuWriteRegisterFunc)(uint8_t reg, uint8_t data);
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typedef void(*mpuResetFuncPtr)(void);
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typedef bool (*mpuReadRegisterFnPtr)(uint8_t reg, uint8_t length, uint8_t* data);
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typedef bool (*mpuWriteRegisterFnPtr)(uint8_t reg, uint8_t data);
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typedef void(*mpuResetFnPtr)(void);
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extern mpuResetFuncPtr mpuReset;
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extern mpuResetFnPtr mpuResetFn;
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typedef struct mpuConfiguration_s {
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mpuReadRegisterFunc read;
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mpuWriteRegisterFunc write;
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mpuReadRegisterFunc slowread;
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mpuWriteRegisterFunc verifywrite;
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mpuResetFuncPtr reset;
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mpuReadRegisterFnPtr readFn;
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mpuWriteRegisterFnPtr writeFn;
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mpuReadRegisterFnPtr slowreadFn;
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mpuWriteRegisterFnPtr verifywriteFn;
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mpuResetFnPtr resetFn;
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uint8_t gyroReadXRegister; // Y and Z must registers follow this, 2 words each
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} mpuConfiguration_t;
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@ -178,7 +178,7 @@ typedef enum {
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ICM_20689_SPI,
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ICM_20608_SPI,
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ICM_20602_SPI
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} detectedMPUSensor_e;
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} mpuSensor_e;
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typedef enum {
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MPU_HALF_RESOLUTION,
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@ -186,7 +186,7 @@ typedef enum {
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} mpu6050Resolution_e;
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typedef struct mpuDetectionResult_s {
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detectedMPUSensor_e sensor;
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mpuSensor_e sensor;
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mpu6050Resolution_e resolution;
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} mpuDetectionResult_t;
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@ -53,21 +53,21 @@ static void mpu3050Init(gyroDev_t *gyro)
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delay(25); // datasheet page 13 says 20ms. other stuff could have been running meanwhile. but we'll be safe
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ack = gyro->mpuConfiguration.write(MPU3050_SMPLRT_DIV, 0);
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ack = gyro->mpuConfiguration.writeFn(MPU3050_SMPLRT_DIV, 0);
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if (!ack)
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failureMode(FAILURE_ACC_INIT);
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gyro->mpuConfiguration.write(MPU3050_DLPF_FS_SYNC, MPU3050_FS_SEL_2000DPS | gyro->lpf);
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gyro->mpuConfiguration.write(MPU3050_INT_CFG, 0);
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gyro->mpuConfiguration.write(MPU3050_USER_CTRL, MPU3050_USER_RESET);
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gyro->mpuConfiguration.write(MPU3050_PWR_MGM, MPU3050_CLK_SEL_PLL_GX);
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gyro->mpuConfiguration.writeFn(MPU3050_DLPF_FS_SYNC, MPU3050_FS_SEL_2000DPS | gyro->lpf);
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gyro->mpuConfiguration.writeFn(MPU3050_INT_CFG, 0);
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gyro->mpuConfiguration.writeFn(MPU3050_USER_CTRL, MPU3050_USER_RESET);
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gyro->mpuConfiguration.writeFn(MPU3050_PWR_MGM, MPU3050_CLK_SEL_PLL_GX);
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}
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static bool mpu3050ReadTemperature(gyroDev_t *gyro, int16_t *tempData)
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{
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UNUSED(gyro);
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uint8_t buf[2];
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if (!gyro->mpuConfiguration.read(MPU3050_TEMP_OUT, 2, buf)) {
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if (!gyro->mpuConfiguration.readFn(MPU3050_TEMP_OUT, 2, buf)) {
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return false;
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}
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@ -79,23 +79,23 @@ static void mpu6050GyroInit(gyroDev_t *gyro)
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{
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mpuGyroInit(gyro);
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gyro->mpuConfiguration.write(MPU_RA_PWR_MGMT_1, 0x80); //PWR_MGMT_1 -- DEVICE_RESET 1
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gyro->mpuConfiguration.writeFn(MPU_RA_PWR_MGMT_1, 0x80); //PWR_MGMT_1 -- DEVICE_RESET 1
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delay(100);
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gyro->mpuConfiguration.write(MPU_RA_PWR_MGMT_1, 0x03); //PWR_MGMT_1 -- SLEEP 0; CYCLE 0; TEMP_DIS 0; CLKSEL 3 (PLL with Z Gyro reference)
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gyro->mpuConfiguration.write(MPU_RA_SMPLRT_DIV, gyroMPU6xxxGetDividerDrops(gyro)); //SMPLRT_DIV -- SMPLRT_DIV = 0 Sample Rate = Gyroscope Output Rate / (1 + SMPLRT_DIV)
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gyro->mpuConfiguration.writeFn(MPU_RA_PWR_MGMT_1, 0x03); //PWR_MGMT_1 -- SLEEP 0; CYCLE 0; TEMP_DIS 0; CLKSEL 3 (PLL with Z Gyro reference)
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gyro->mpuConfiguration.writeFn(MPU_RA_SMPLRT_DIV, gyroMPU6xxxGetDividerDrops(gyro)); //SMPLRT_DIV -- SMPLRT_DIV = 0 Sample Rate = Gyroscope Output Rate / (1 + SMPLRT_DIV)
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delay(15); //PLL Settling time when changing CLKSEL is max 10ms. Use 15ms to be sure
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gyro->mpuConfiguration.write(MPU_RA_CONFIG, gyro->lpf); //CONFIG -- EXT_SYNC_SET 0 (disable input pin for data sync) ; default DLPF_CFG = 0 => ACC bandwidth = 260Hz GYRO bandwidth = 256Hz)
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gyro->mpuConfiguration.write(MPU_RA_GYRO_CONFIG, INV_FSR_2000DPS << 3); //GYRO_CONFIG -- FS_SEL = 3: Full scale set to 2000 deg/sec
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gyro->mpuConfiguration.writeFn(MPU_RA_CONFIG, gyro->lpf); //CONFIG -- EXT_SYNC_SET 0 (disable input pin for data sync) ; default DLPF_CFG = 0 => ACC bandwidth = 260Hz GYRO bandwidth = 256Hz)
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gyro->mpuConfiguration.writeFn(MPU_RA_GYRO_CONFIG, INV_FSR_2000DPS << 3); //GYRO_CONFIG -- FS_SEL = 3: Full scale set to 2000 deg/sec
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// ACC Init stuff.
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// Accel scale 8g (4096 LSB/g)
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gyro->mpuConfiguration.write(MPU_RA_ACCEL_CONFIG, INV_FSR_16G << 3);
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gyro->mpuConfiguration.writeFn(MPU_RA_ACCEL_CONFIG, INV_FSR_16G << 3);
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gyro->mpuConfiguration.write(MPU_RA_INT_PIN_CFG,
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gyro->mpuConfiguration.writeFn(MPU_RA_INT_PIN_CFG,
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0 << 7 | 0 << 6 | 0 << 5 | 0 << 4 | 0 << 3 | 0 << 2 | 1 << 1 | 0 << 0); // INT_PIN_CFG -- INT_LEVEL_HIGH, INT_OPEN_DIS, LATCH_INT_DIS, INT_RD_CLEAR_DIS, FSYNC_INT_LEVEL_HIGH, FSYNC_INT_DIS, I2C_BYPASS_EN, CLOCK_DIS
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#ifdef USE_MPU_DATA_READY_SIGNAL
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gyro->mpuConfiguration.write(MPU_RA_INT_ENABLE, MPU_RF_DATA_RDY_EN);
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gyro->mpuConfiguration.writeFn(MPU_RA_INT_ENABLE, MPU_RF_DATA_RDY_EN);
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#endif
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}
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@ -55,34 +55,34 @@ void mpu6500GyroInit(gyroDev_t *gyro)
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{
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mpuGyroInit(gyro);
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gyro->mpuConfiguration.write(MPU_RA_PWR_MGMT_1, MPU6500_BIT_RESET);
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gyro->mpuConfiguration.writeFn(MPU_RA_PWR_MGMT_1, MPU6500_BIT_RESET);
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delay(100);
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gyro->mpuConfiguration.write(MPU_RA_SIGNAL_PATH_RESET, 0x07);
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gyro->mpuConfiguration.writeFn(MPU_RA_SIGNAL_PATH_RESET, 0x07);
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delay(100);
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gyro->mpuConfiguration.write(MPU_RA_PWR_MGMT_1, 0);
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gyro->mpuConfiguration.writeFn(MPU_RA_PWR_MGMT_1, 0);
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delay(100);
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gyro->mpuConfiguration.write(MPU_RA_PWR_MGMT_1, INV_CLK_PLL);
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gyro->mpuConfiguration.writeFn(MPU_RA_PWR_MGMT_1, INV_CLK_PLL);
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delay(15);
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const uint8_t raGyroConfigData = gyro->gyroRateKHz > GYRO_RATE_8_kHz ? (INV_FSR_2000DPS << 3 | FCB_3600_32) : (INV_FSR_2000DPS << 3 | FCB_DISABLED);
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gyro->mpuConfiguration.write(MPU_RA_GYRO_CONFIG, raGyroConfigData);
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gyro->mpuConfiguration.writeFn(MPU_RA_GYRO_CONFIG, raGyroConfigData);
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delay(15);
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gyro->mpuConfiguration.write(MPU_RA_ACCEL_CONFIG, INV_FSR_16G << 3);
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gyro->mpuConfiguration.writeFn(MPU_RA_ACCEL_CONFIG, INV_FSR_16G << 3);
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delay(15);
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gyro->mpuConfiguration.write(MPU_RA_CONFIG, gyro->lpf);
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gyro->mpuConfiguration.writeFn(MPU_RA_CONFIG, gyro->lpf);
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delay(15);
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gyro->mpuConfiguration.write(MPU_RA_SMPLRT_DIV, gyroMPU6xxxGetDividerDrops(gyro)); // Get Divider Drops
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gyro->mpuConfiguration.writeFn(MPU_RA_SMPLRT_DIV, gyroMPU6xxxGetDividerDrops(gyro)); // Get Divider Drops
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delay(100);
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// Data ready interrupt configuration
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#ifdef USE_MPU9250_MAG
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gyro->mpuConfiguration.write(MPU_RA_INT_PIN_CFG, MPU6500_BIT_INT_ANYRD_2CLEAR | MPU6500_BIT_BYPASS_EN); // INT_ANYRD_2CLEAR, BYPASS_EN
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gyro->mpuConfiguration.writeFn(MPU_RA_INT_PIN_CFG, MPU6500_BIT_INT_ANYRD_2CLEAR | MPU6500_BIT_BYPASS_EN); // INT_ANYRD_2CLEAR, BYPASS_EN
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#else
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gyro->mpuConfiguration.write(MPU_RA_INT_PIN_CFG, MPU6500_BIT_INT_ANYRD_2CLEAR); // INT_ANYRD_2CLEAR
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gyro->mpuConfiguration.writeFn(MPU_RA_INT_PIN_CFG, MPU6500_BIT_INT_ANYRD_2CLEAR); // INT_ANYRD_2CLEAR
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#endif
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delay(15);
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#ifdef USE_MPU_DATA_READY_SIGNAL
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gyro->mpuConfiguration.write(MPU_RA_INT_ENABLE, MPU6500_BIT_RAW_RDY_EN); // RAW_RDY_EN interrupt enable
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gyro->mpuConfiguration.writeFn(MPU_RA_INT_ENABLE, MPU6500_BIT_RAW_RDY_EN); // RAW_RDY_EN interrupt enable
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#endif
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delay(15);
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}
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@ -130,32 +130,32 @@ void icm20689GyroInit(gyroDev_t *gyro)
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spiSetDivisor(ICM20689_SPI_INSTANCE, SPI_CLOCK_INITIALIZATON);
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gyro->mpuConfiguration.write(MPU_RA_PWR_MGMT_1, ICM20689_BIT_RESET);
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gyro->mpuConfiguration.writeFn(MPU_RA_PWR_MGMT_1, ICM20689_BIT_RESET);
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delay(100);
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gyro->mpuConfiguration.write(MPU_RA_SIGNAL_PATH_RESET, 0x03);
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gyro->mpuConfiguration.writeFn(MPU_RA_SIGNAL_PATH_RESET, 0x03);
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delay(100);
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// gyro->mpuConfiguration.write(MPU_RA_PWR_MGMT_1, 0);
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// gyro->mpuConfiguration.writeFn(MPU_RA_PWR_MGMT_1, 0);
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// delay(100);
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gyro->mpuConfiguration.write(MPU_RA_PWR_MGMT_1, INV_CLK_PLL);
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gyro->mpuConfiguration.writeFn(MPU_RA_PWR_MGMT_1, INV_CLK_PLL);
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delay(15);
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const uint8_t raGyroConfigData = gyro->gyroRateKHz > GYRO_RATE_8_kHz ? (INV_FSR_2000DPS << 3 | FCB_3600_32) : (INV_FSR_2000DPS << 3 | FCB_DISABLED);
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gyro->mpuConfiguration.write(MPU_RA_GYRO_CONFIG, raGyroConfigData);
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gyro->mpuConfiguration.writeFn(MPU_RA_GYRO_CONFIG, raGyroConfigData);
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delay(15);
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gyro->mpuConfiguration.write(MPU_RA_ACCEL_CONFIG, INV_FSR_16G << 3);
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gyro->mpuConfiguration.writeFn(MPU_RA_ACCEL_CONFIG, INV_FSR_16G << 3);
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delay(15);
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gyro->mpuConfiguration.write(MPU_RA_CONFIG, gyro->lpf);
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gyro->mpuConfiguration.writeFn(MPU_RA_CONFIG, gyro->lpf);
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delay(15);
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gyro->mpuConfiguration.write(MPU_RA_SMPLRT_DIV, gyroMPU6xxxGetDividerDrops(gyro)); // Get Divider Drops
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gyro->mpuConfiguration.writeFn(MPU_RA_SMPLRT_DIV, gyroMPU6xxxGetDividerDrops(gyro)); // Get Divider Drops
|
||||
delay(100);
|
||||
|
||||
// Data ready interrupt configuration
|
||||
// gyro->mpuConfiguration.write(MPU_RA_INT_PIN_CFG, 0 << 7 | 0 << 6 | 0 << 5 | 1 << 4 | 0 << 3 | 0 << 2 | 0 << 1 | 0 << 0); // INT_ANYRD_2CLEAR, BYPASS_EN
|
||||
gyro->mpuConfiguration.write(MPU_RA_INT_PIN_CFG, 0x10); // INT_ANYRD_2CLEAR, BYPASS_EN
|
||||
// gyro->mpuConfiguration.writeFn(MPU_RA_INT_PIN_CFG, 0 << 7 | 0 << 6 | 0 << 5 | 1 << 4 | 0 << 3 | 0 << 2 | 0 << 1 | 0 << 0); // INT_ANYRD_2CLEAR, BYPASS_EN
|
||||
gyro->mpuConfiguration.writeFn(MPU_RA_INT_PIN_CFG, 0x10); // INT_ANYRD_2CLEAR, BYPASS_EN
|
||||
|
||||
delay(15);
|
||||
|
||||
#ifdef USE_MPU_DATA_READY_SIGNAL
|
||||
gyro->mpuConfiguration.write(MPU_RA_INT_ENABLE, 0x01); // RAW_RDY_EN interrupt enable
|
||||
gyro->mpuConfiguration.writeFn(MPU_RA_INT_ENABLE, 0x01); // RAW_RDY_EN interrupt enable
|
||||
#endif
|
||||
|
||||
spiSetDivisor(ICM20689_SPI_INSTANCE, SPI_CLOCK_STANDARD);
|
||||
|
|
|
|||
|
|
@ -31,8 +31,8 @@ void SetSysClock(void);
|
|||
|
||||
void systemReset(void)
|
||||
{
|
||||
if (mpuReset) {
|
||||
mpuReset();
|
||||
if (mpuResetFn) {
|
||||
mpuResetFn();
|
||||
}
|
||||
|
||||
__disable_irq();
|
||||
|
|
@ -41,8 +41,8 @@ void systemReset(void)
|
|||
|
||||
void systemResetToBootloader(void)
|
||||
{
|
||||
if (mpuReset) {
|
||||
mpuReset();
|
||||
if (mpuResetFn) {
|
||||
mpuResetFn();
|
||||
}
|
||||
|
||||
*((uint32_t *)0x2001FFFC) = 0xDEADBEEF; // 128KB SRAM STM32F4XX
|
||||
|
|
|
|||
|
|
@ -33,8 +33,8 @@ void SystemClock_Config(void);
|
|||
|
||||
void systemReset(void)
|
||||
{
|
||||
if (mpuReset) {
|
||||
mpuReset();
|
||||
if (mpuResetFn) {
|
||||
mpuResetFn();
|
||||
}
|
||||
|
||||
__disable_irq();
|
||||
|
|
@ -43,8 +43,8 @@ void systemReset(void)
|
|||
|
||||
void systemResetToBootloader(void)
|
||||
{
|
||||
if (mpuReset) {
|
||||
mpuReset();
|
||||
if (mpuResetFn) {
|
||||
mpuResetFn();
|
||||
}
|
||||
|
||||
(*(__IO uint32_t *) (BKPSRAM_BASE + 4)) = 0xDEADBEEF; // flag that will be readable after reboot
|
||||
|
|
|
|||
|
|
@ -238,7 +238,7 @@ bool gyroInit(const gyroConfig_t *gyroConfigToUse)
|
|||
#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)
|
||||
gyro.dev.mpuIntExtiConfig = selectMPUIntExtiConfig();
|
||||
mpuDetect(&gyro.dev);
|
||||
mpuReset = gyro.dev.mpuConfiguration.reset;
|
||||
mpuResetFn = gyro.dev.mpuConfiguration.resetFn;
|
||||
#endif
|
||||
|
||||
if (!gyroDetect(&gyro.dev)) {
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue