Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-18 13:55:18 +03:00
Code Issues Wiki Activity

Add support for MPU6500 connected via I2C.

Browse source
This commit is contained in:
Dominic Clifton 2015-09-19 18:30:34 +01:00
parent 678c0413cb
commit 85ba1eb0bd
14 changed files with 202 additions and 88 deletions
Download patch file Download diff file Expand all files Collapse all files

57
src/main/sensors/initialisation.c
View file

@ -38,6 +38,7 @@
#include "drivers/accgyro_mpu.h"
#include "drivers/accgyro_mpu3050.h"
#include "drivers/accgyro_mpu6050.h"
#include "drivers/accgyro_mpu6500.h"
#include "drivers/accgyro_l3gd20.h"
#include "drivers/accgyro_lsm303dlhc.h"
@ -218,40 +219,30 @@ bool detectGyro(uint16_t gyroLpf)
#endif
; // fallthrough
case GYRO_SPI_MPU6000:
case GYRO_MPU6000:
#ifdef USE_GYRO_SPI_MPU6000
if (mpu6000SpiGyroDetect(&gyro, gyroLpf)) {
#ifdef GYRO_SPI_MPU6000_ALIGN
gyroHardware = GYRO_SPI_MPU6000;
gyroAlign = GYRO_SPI_MPU6000_ALIGN;
#ifdef GYRO_MPU6000_ALIGN
gyroHardware = GYRO_MPU6000;
gyroAlign = GYRO_MPU6000_ALIGN;
#endif
break;
}
#endif
; // fallthrough
case GYRO_SPI_MPU6500:
#ifdef USE_GYRO_SPI_MPU6500
case GYRO_MPU6500:
#ifdef USE_GYRO_MPU6500
#ifdef USE_HARDWARE_REVISION_DETECTION
spiBusInit();
#endif
#ifdef NAZE
if (hardwareRevision == NAZE32_SP && mpu6500SpiGyroDetect(&gyro, gyroLpf)) {
#ifdef GYRO_SPI_MPU6500_ALIGN
gyroHardware = GYRO_SPI_MPU6500;
gyroAlign = GYRO_SPI_MPU6500_ALIGN;
if (mpu6500GyroDetect(&gyro, gyroLpf) || mpu6500SpiGyroDetect(&gyro, gyroLpf)) {
#ifdef GYRO_MPU6500_ALIGN
gyroHardware = GYRO_MPU6500;
gyroAlign = GYRO_MPU6500_ALIGN;
#endif
break;
}
#else
if (mpu6500SpiGyroDetect(&gyro, gyroLpf)) {
#ifdef GYRO_SPI_MPU6500_ALIGN
gyroHardware = GYRO_SPI_MPU6500;
gyroAlign = GYRO_SPI_MPU6500_ALIGN;
#endif
break;
}
#endif
#endif
; // fallthrough
@ -357,28 +348,24 @@ retry:
}
#endif
; // fallthrough
case ACC_SPI_MPU6000:
case ACC_MPU6000:
#ifdef USE_ACC_SPI_MPU6000
if (mpu6000SpiAccDetect(&acc)) {
#ifdef ACC_SPI_MPU6000_ALIGN
accAlign = ACC_SPI_MPU6000_ALIGN;
#ifdef ACC_MPU6000_ALIGN
accAlign = ACC_MPU6000_ALIGN;
#endif
accHardware = ACC_SPI_MPU6000;
accHardware = ACC_MPU6000;
break;
}
#endif
; // fallthrough
case ACC_SPI_MPU6500:
#ifdef USE_ACC_SPI_MPU6500
#ifdef NAZE
if (hardwareRevision == NAZE32_SP && mpu6500SpiAccDetect(&acc)) {
#else
if (mpu6500SpiAccDetect(&acc)) {
case ACC_MPU6500:
#ifdef USE_ACC_MPU6500
if (mpu6500AccDetect(&acc) || mpu6500SpiAccDetect(&acc)) {
#ifdef ACC_MPU6500_ALIGN
accAlign = ACC_MPU6500_ALIGN;
#endif
#ifdef ACC_SPI_MPU6500_ALIGN
accAlign = ACC_SPI_MPU6500_ALIGN;
#endif
accHardware = ACC_SPI_MPU6500;
accHardware = ACC_MPU6500;
break;
}
#endif
@ -599,7 +586,7 @@ bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint16_t
memset(&acc, 0, sizeof(acc));
memset(&gyro, 0, sizeof(gyro));
#if defined(USE_GYRO_MPU6050) || defined(USE_GYRO_MPU3050) || defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_MPU6000) || defined(USE_ACC_MPU6050)
#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)
const extiConfig_t *extiConfig = selectMPUIntExtiConfig();