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Updates according to ledvinap's recomendations

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This commit is contained in:
Michael Jakob 2017-10-17 21:04:06 +02:00
parent 60b8e0f05e
commit ae8256f142
8 changed files with 130 additions and 142 deletions
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16
src/main/sensors/compass.c
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@ -90,7 +90,7 @@ void pgResetFn_compassConfig(compassConfig_t *compassConfig)
compassConfig->mag_spi_device = SPI_DEV_TO_CFG(SPIINVALID);
compassConfig->mag_spi_csn = IO_TAG_NONE;
#elif defined(USE_MAG_AK8963) && (defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_MPU9250))
compassConfig->mag_bustype = BUSTYPE_SLAVE;
compassConfig->mag_bustype = BUSTYPE_MPU_SLAVE;
compassConfig->mag_i2c_device = I2C_DEV_TO_CFG(I2CINVALID);
compassConfig->mag_i2c_address = 0;
compassConfig->mag_spi_device = SPI_DEV_TO_CFG(SPIINVALID);
@ -141,12 +141,12 @@ bool compassDetect(magDev_t *dev)
break;
#if defined(USE_MAG_AK8963) && (defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_MPU9250))
case BUSTYPE_SLAVE:
case BUSTYPE_MPU_SLAVE:
{
if (gyroMpuDetectionResult()->sensor == MPU_9250_SPI) {
busdev->bustype = BUSTYPE_SLAVE;
busdev->busdev_u.i2c.master = gyroSensorBus();
busdev->busdev_u.i2c.address = compassConfig()->mag_i2c_address;
busdev->bustype = BUSTYPE_MPU_SLAVE;
busdev->busdev_u.mpuSlave.master = gyroSensorBus();
busdev->busdev_u.mpuSlave.address = compassConfig()->mag_i2c_address;
} else {
return false;
}
@ -202,9 +202,9 @@ bool compassDetect(magDev_t *dev)
busdev->busdev_u.i2c.address = compassConfig()->mag_i2c_address;
}
if (gyroMpuDetectionResult()->sensor == MPU_9250_SPI) {
dev->busdev.bustype = BUSTYPE_SLAVE;
busdev->busdev_u.i2c.address = compassConfig()->mag_i2c_address;
dev->busdev.busdev_u.i2c.master = gyroSensorBus();
dev->busdev.bustype = BUSTYPE_MPU_SLAVE;
busdev->busdev_u.mpuSlave.address = compassConfig()->mag_i2c_address;
dev->busdev.busdev_u.mpuSlave.master = gyroSensorBus();
}
if (ak8963Detect(dev)) {