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Code Issues Wiki Activity

Introduce per device pin pre-init

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This commit is contained in:
jflyper 2018-12-10 04:42:41 +09:00
parent 2e81109be1
commit 9ea1428d11
44 changed files with 219 additions and 201 deletions
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23
src/main/sensors/gyro.c
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@ -401,6 +401,16 @@ STATIC_UNIT_TESTED gyroHardware_e gyroDetect(gyroDev_t *dev)
return gyroHardware;
}
static void gyroPreInitSensor(const gyroDeviceConfig_t *config)
{
#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) || defined(USE_GYRO_SPI_ICM20601) || defined(USE_GYRO_SPI_ICM20649) || defined(USE_GYRO_SPI_ICM20689)
mpuPreInit(config);
#else
UNUSED(config);
#endif
}
static bool gyroInitSensor(gyroSensor_t *gyroSensor, const gyroDeviceConfig_t *config)
{
gyroSensor->gyroDev.gyro_high_fsr = gyroConfig()->gyro_high_fsr;
@ -483,6 +493,18 @@ static bool gyroInitSensor(gyroSensor_t *gyroSensor, const gyroDeviceConfig_t *c
return true;
}
void gyroPreInit(void)
{
if (gyroToUse == GYRO_CONFIG_USE_GYRO_1 || gyroToUse == GYRO_CONFIG_USE_GYRO_BOTH) {
gyroPreInitSensor(gyroDeviceConfig(0));
}
#ifdef USE_MULTI_GYRO
if (gyroToUse == GYRO_CONFIG_USE_GYRO_2 || gyroToUse == GYRO_CONFIG_USE_GYRO_BOTH) {
gyroPreInitSensor(gyroDeviceConfig(1));
}
#endif
}
bool gyroInit(void)
{
#ifdef USE_GYRO_OVERFLOW_CHECK
@ -711,7 +733,6 @@ static void gyroInitFilterDynamicNotch(gyroSensor_t *gyroSensor)
}
#endif
static void gyroInitSensorFilters(gyroSensor_t *gyroSensor)
{
#if defined(USE_GYRO_SLEW_LIMITER)