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Cobbled together some bits of code to read and format the gyro data from

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the L3GD29 gyro.  Some code borrowed again from AQ32PlusF3 and the
existing MPU6050 driver.
This commit is contained in:
Dominic Clifton 2014-04-28 22:29:51 +01:00
parent 5c9b16ccde
commit 7e79a245c2
4 changed files with 273 additions and 0 deletions
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3
src/sensors_initialisation.c
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@ -17,6 +17,7 @@
#include "drivers/accgyro_mpu3050.h"
#include "drivers/accgyro_mpu6050.h"
#ifdef STM32F3DISCOVERY
#include "drivers/accgyro_l3gd20.h"
#include "drivers/accgyro_lsm303dlhc.h"
#endif
#endif
@ -97,6 +98,8 @@ void sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint16_t
} else if (mpu3050Detect(&gyro, gyroLpf)) {
gyroAlign = CW0_DEG;
#ifdef STM32F3DISCOVERY
} else if (l3gd20Detect(&gyro, gyroLpf)) {
gyroAlign = ALIGN_DEFAULT;
} else if (fakeGyroDetect(&gyro, gyroLpf)) {
gyroAlign = ALIGN_DEFAULT;
#endif