Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-26 17:55:30 +03:00
Code Issues Wiki Activity

Enable BMI160 for all unified targets

Browse source
This commit is contained in:
Steve Evans 2022-06-29 22:15:40 +01:00
parent 81a3c53b1c
commit a7b41f2e7a
2 changed files with 7 additions and 4 deletions
Download patch file Download diff file Expand all files Collapse all files

10
src/main/drivers/accgyro/accgyro_spi_bmi160.c
View file

@ -310,6 +310,7 @@ static void bmi160IntExtiInit(gyroDev_t *gyro)
static bool bmi160AccRead(accDev_t *acc) static bool bmi160AccRead(accDev_t *acc)
{ {
extDevice_t *dev = &acc->gyro->dev; extDevice_t *dev = &acc->gyro->dev;
switch (acc->gyro->gyroModeSPI) { switch (acc->gyro->gyroModeSPI) {
case GYRO_EXTI_INT: case GYRO_EXTI_INT:
case GYRO_EXTI_NO_INT: case GYRO_EXTI_NO_INT:
@ -366,6 +367,7 @@ static bool bmi160GyroRead(gyroDev_t *gyro)
{ {
// Initialise the tx buffer to all 0x00 // Initialise the tx buffer to all 0x00
memset(dev->txBuf, 0x00, 14); memset(dev->txBuf, 0x00, 14);
// Check that minimum number of interrupts have been detected // Check that minimum number of interrupts have been detected
// We need some offset from the gyro interrupts to ensure sampling after the interrupt // We need some offset from the gyro interrupts to ensure sampling after the interrupt
@ -377,8 +379,8 @@ static bool bmi160GyroRead(gyroDev_t *gyro)
dev->txBuf[1] = BMI160_REG_GYR_DATA_X_LSB | 0x80; dev->txBuf[1] = BMI160_REG_GYR_DATA_X_LSB | 0x80;
gyro->segments[0].len = 14; gyro->segments[0].len = 14;
gyro->segments[0].callback = bmi160Intcallback; gyro->segments[0].callback = bmi160Intcallback;
gyro->segments[0].u.buffers.txData = dev.txBuf[1]; gyro->segments[0].u.buffers.txData = &dev->txBuf[1];
gyro->segments[0].u.buffers.rxData = dev.rxBuf[1]; gyro->segments[0].u.buffers.rxData = &dev->rxBuf[1];
gyro->segments[0].negateCS = true; gyro->segments[0].negateCS = true;
gyro->gyroModeSPI = GYRO_EXTI_INT_DMA; gyro->gyroModeSPI = GYRO_EXTI_INT_DMA;
} else { } else {
@ -400,8 +402,8 @@ static bool bmi160GyroRead(gyroDev_t *gyro)
{.u.buffers = {NULL, NULL}, 7, true, NULL}, {.u.buffers = {NULL, NULL}, 7, true, NULL},
{.u.link = {NULL, NULL}, 0, true, NULL}, {.u.link = {NULL, NULL}, 0, true, NULL},
}; };
segments[0].u.buffers.txData = dev.txBuf[1]; segments[0].u.buffers.txData = &dev->txBuf[1];
segments[0].u.buffers.rxData = dev.rxBuf[1]; segments[0].u.buffers.rxData = &dev->rxBuf[1];
spiSequence(dev, &segments[0]); spiSequence(dev, &segments[0]);

1
src/main/target/STM32_UNIFIED/target.h
View file

@ -366,6 +366,7 @@
#if (TARGET_FLASH_SIZE > 512) #if (TARGET_FLASH_SIZE > 512)
#define USE_ACC_MPU6050 #define USE_ACC_MPU6050
#define USE_GYRO_MPU6050 #define USE_GYRO_MPU6050
#define USE_ACCGYRO_BMI160
#define USE_BARO_BMP085 #define USE_BARO_BMP085