Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-18 22:05:17 +03:00
Code Issues Wiki Activity

SPRacingF7DUAL - Dual SIMULTANEOUS gyro support. (#5264)

Browse source 
* CF/BF - Set STM32F7 SPI FAST clock to 13.5Mhz - Gyros not stable at
27mhz.

* CF/BF - Initial SPRacingF7DUAL commit.

Support two simultaneous gyro support (code by Dominic Clifton and Martin Budden)
There are new debug modes so you can see the difference between each gyro.

Notes:
* spi bus instance caching broke spi mpu detection because the detection
tries I2C first which overwrites the selected bus instance when using
dual gyro.
* ALL other dual-gyro boards have one sensor per bus.  SPRacingF7DUAL is has two per bus and thus commit has a lot of changes to fix SPI/BUS/GYRO initialisation issues.

* CF/BF - Add SPRacingF4EVODG target.

This target adds a second gyro to the board using the SPI pads on the back of the board.

* CF/BF - Temporarily disable Gyro EXTI pin to allow NEO target to build.
This commit is contained in:
Dominic Clifton 2018-03-03 23:29:31 +01:00 • committed by Michael Keller
parent 9bcc6aca8e
commit cde9a9517b
29 changed files with 797 additions and 117 deletions
Download patch file Download diff file Expand all files Collapse all files

12
src/main/sensors/acceleration.c
View file

@ -133,7 +133,6 @@ bool accDetect(accDev_t *dev, accelerationSensor_e accHardwareToUse)
#endif
retry:
dev->accAlign = ALIGN_DEFAULT;
switch (accHardwareToUse) {
case ACC_DEFAULT:
@ -333,6 +332,17 @@ bool accInit(uint32_t gyroSamplingInverval)
acc.dev.bus = *gyroSensorBus();
acc.dev.mpuDetectionResult = *gyroMpuDetectionResult();
acc.dev.acc_high_fsr = accelerometerConfig()->acc_high_fsr;
#ifdef USE_DUAL_GYRO
if (gyroConfig()->gyro_to_use == GYRO_CONFIG_USE_GYRO_2) {
acc.dev.accAlign = ACC_2_ALIGN;
} else {
acc.dev.accAlign = ACC_1_ALIGN;
}
#else
acc.dev.accAlign = ALIGN_DEFAULT;
#endif
if (!accDetect(&acc.dev, accelerometerConfig()->acc_hardware)) {
return false;
}