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STM32F4: Main, Sensors, io

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This commit is contained in:
blckmn 2016-06-08 05:36:46 +10:00
parent de2c382ba9
commit 96757c18a2
6 changed files with 79 additions and 21 deletions
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17
src/main/sensors/initialisation.c
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@ -45,6 +45,7 @@
#include "drivers/bus_spi.h"
#include "drivers/accgyro_spi_mpu6000.h"
#include "drivers/accgyro_spi_mpu6500.h"
#include "drivers/accgyro_spi_mpu9250.h"
#include "drivers/gyro_sync.h"
#include "drivers/barometer.h"
@ -267,7 +268,21 @@ bool detectGyro(void)
}
#endif
; // fallthrough
case GYRO_MPU9250:
#ifdef USE_GYRO_SPI_MPU9250
if (mpu9250SpiGyroDetect(&gyro))
{
gyroHardware = GYRO_MPU9250;
#ifdef GYRO_MPU9250_ALIGN
gyroAlign = GYRO_MPU9250_ALIGN;
#endif
break;
}
#endif
; // fallthrough
case GYRO_FAKE:
#ifdef USE_FAKE_GYRO
if (fakeGyroDetect(&gyro)) {
@ -632,7 +647,7 @@ bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint8_t a
memset(&acc, 0, sizeof(acc));
memset(&gyro, 0, sizeof(gyro));
#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)
#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)
const extiConfig_t *extiConfig = selectMPUIntExtiConfig();