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Code Issues Wiki Activity

CONFIG: Fix TODO MAG & I2C (#12545)

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Fix mag
This commit is contained in:
Mark Haslinghuis 2023-04-10 00:38:00 +02:00 • committed by GitHub
parent 99ae6d897d
commit af97415da2
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GPG key ID: 4AEE18F83AFDEB23
219 changed files with 28 additions and 260 deletions
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10
src/main/sensors/compass.c
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@ -76,13 +76,17 @@ void pgResetFn_compassConfig(compassConfig_t *compassConfig)
memset(&compassConfig->mag_customAlignment, 0x00, sizeof(compassConfig->mag_customAlignment));
compassConfig->mag_hardware = MAG_DEFAULT;
#ifndef MAG_I2C_ADDRESS
#define MAG_I2C_ADDRESS 0
#endif
// Generate a reasonable default for backward compatibility
// Strategy is
// 1. If SPI device is defined, it will take precedence, assuming it's onboard.
// 2. I2C devices are will be handled by address = 0 (per device default).
// 3. Slave I2C device on SPI gyro
#if defined(USE_SPI) && (defined(USE_MAG_SPI_HMC5883) || defined(USE_MAG_SPI_AK8963))
#if defined(USE_SPI_MAG) && (defined(USE_MAG_SPI_HMC5883) || defined(USE_MAG_SPI_AK8963))
compassConfig->mag_busType = BUS_TYPE_SPI;
compassConfig->mag_spi_device = SPI_DEV_TO_CFG(spiDeviceByInstance(MAG_SPI_INSTANCE));
compassConfig->mag_spi_csn = IO_TAG(MAG_CS_PIN);
@ -91,13 +95,13 @@ void pgResetFn_compassConfig(compassConfig_t *compassConfig)
#elif defined(USE_MAG_HMC5883) || defined(USE_MAG_QMC5883) || defined(USE_MAG_AK8975) || (defined(USE_MAG_AK8963) && !(defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_MPU9250)))
compassConfig->mag_busType = BUS_TYPE_I2C;
compassConfig->mag_i2c_device = I2C_DEV_TO_CFG(MAG_I2C_INSTANCE);
compassConfig->mag_i2c_address = 0;
compassConfig->mag_i2c_address = MAG_I2C_ADDRESS;
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 = BUS_TYPE_MPU_SLAVE;
compassConfig->mag_i2c_device = I2C_DEV_TO_CFG(I2CINVALID);
compassConfig->mag_i2c_address = 0;
compassConfig->mag_i2c_address = MAG_I2C_ADDRESS;
compassConfig->mag_spi_device = SPI_DEV_TO_CFG(SPIINVALID);
compassConfig->mag_spi_csn = IO_TAG_NONE;
#else