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Use Naze hardware revision when initialising mpu6050. The driver is not

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not naze specific anymore.
This commit is contained in:
Dominic Clifton 2014-10-15 23:06:04 +01:00
parent cf643b98c8
commit 79917da85a
3 changed files with 87 additions and 38 deletions
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26
src/main/sensors/initialisation.c
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@ -44,6 +44,7 @@
#include "drivers/barometer_ms5611.h"
#include "drivers/compass_hmc5883l.h"
#include "drivers/sonar_hcsr04.h"
#include "drivers/gpio.h"
#include "drivers/system.h"
#include "flight/flight.h"
@ -66,6 +67,27 @@ extern gyro_t gyro;
extern baro_t baro;
extern acc_t acc;
mpu6050Config_t *generateMPU6050Config(void)
{
#ifdef NAZE
static mpu6050Config_t nazeMPU6050Config;
// MPU_INT output on rev4/5 hardware (PB13, PC13)
nazeMPU6050Config.gpioPin = Pin_13;
if (hardwareRevision < NAZE32_REV5) {
nazeMPU6050Config.gpioAPB2Peripherals = RCC_APB2Periph_GPIOB;
nazeMPU6050Config.gpioPort = GPIOB;
} else {
nazeMPU6050Config.gpioAPB2Peripherals = RCC_APB2Periph_GPIOC;
nazeMPU6050Config.gpioPort = GPIOC;
}
return &nazeMPU6050Config;
#endif
return NULL;
}
#ifdef USE_FAKE_GYRO
static void fakeGyroInit(void) {}
static void fakeGyroRead(int16_t *gyroData) {
@ -105,7 +127,7 @@ bool detectGyro(uint16_t gyroLpf)
gyroAlign = ALIGN_DEFAULT;
#ifdef USE_GYRO_MPU6050
if (mpu6050GyroDetect(&gyro, gyroLpf)) {
if (mpu6050GyroDetect(generateMPU6050Config(), &gyro, gyroLpf)) {
#ifdef NAZE
gyroAlign = CW0_DEG;
#endif
@ -211,7 +233,7 @@ retry:
#endif
#ifdef USE_ACC_MPU6050
case ACC_MPU6050: // MPU6050
if (mpu6050AccDetect(&acc)) {
if (mpu6050AccDetect(generateMPU6050Config(), &acc)) {
accHardware = ACC_MPU6050;
#ifdef NAZE
accAlign = CW0_DEG;