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Do runtime check to see if gyro supports 32kHz

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This commit is contained in:
Martin Budden 2017-01-11 00:09:18 +00:00
parent a0cb722254
commit 7b90a76098
4 changed files with 18 additions and 13 deletions
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16
src/main/sensors/gyro.c
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@ -242,6 +242,22 @@ bool gyroInit(const gyroConfig_t *gyroConfigToUse)
if (!gyroDetect(&gyro.dev)) {
return false;
}
switch (detectedSensors[SENSOR_INDEX_GYRO]) {
default:
// gyro does not support 32kHz
// cast away constness, legitimate as this is cross-validation
((gyroConfig_t*)gyroConfig)->gyro_use_32khz = false;
break;
case GYRO_MPU6500:
case GYRO_MPU9250:
case GYRO_ICM20689:
case GYRO_ICM20608G:
case GYRO_ICM20602:
// do nothing, as gyro supports 32kHz
break;
}
// Must set gyro sample rate before initialisation
gyro.targetLooptime = gyroSetSampleRate(&gyro.dev, gyroConfig->gyro_lpf, gyroConfig->gyro_sync_denom, gyroConfig->gyro_use_32khz);
gyro.dev.lpf = gyroConfig->gyro_lpf;