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Code Issues Wiki Activity

Moved EXTI into gyroDev_t

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This commit is contained in:
Martin Budden 2016-12-11 12:17:30 +00:00
parent cd9a18dbab
commit d9a2f7f5d9
4 changed files with 35 additions and 41 deletions
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24
src/main/sensors/gyro.c
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@ -39,12 +39,13 @@
#include "drivers/accgyro_mpu6500.h"
#include "drivers/accgyro_l3gd20.h"
#include "drivers/accgyro_lsm303dlhc.h"
#include "drivers/bus_spi.h"
#include "drivers/accgyro_spi_icm20689.h"
#include "drivers/accgyro_spi_mpu6000.h"
#include "drivers/accgyro_spi_mpu6500.h"
#include "drivers/accgyro_spi_mpu9250.h"
#include "drivers/bus_spi.h"
#include "drivers/gyro_sync.h"
#include "drivers/io.h"
#include "drivers/system.h"
#include "fc/runtime_config.h"
@ -56,6 +57,10 @@
#include "sensors/boardalignment.h"
#include "sensors/gyro.h"
#ifdef USE_HARDWARE_REVISION_DETECTION
#include "hardware_revision.h"
#endif
gyro_t gyro; // gyro access functions
static int32_t gyroADC[XYZ_AXIS_COUNT];
@ -71,8 +76,25 @@ static void *notchFilter1[3];
static filterApplyFnPtr notchFilter2ApplyFn;
static void *notchFilter2[3];
static const extiConfig_t *selectMPUIntExtiConfig(void)
{
#if defined(MPU_INT_EXTI)
static const extiConfig_t mpuIntExtiConfig = { .tag = IO_TAG(MPU_INT_EXTI) };
return &mpuIntExtiConfig;
#elif defined(USE_HARDWARE_REVISION_DETECTION)
return selectMPUIntExtiConfigByHardwareRevision();
#else
return NULL;
#endif
}
bool gyroDetect(gyroDev_t *dev)
{
#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_ICM20689)
const extiConfig_t *extiConfig = selectMPUIntExtiConfig();
mpuDetect(extiConfig);
#endif
gyroSensor_e gyroHardware = GYRO_DEFAULT;
dev->gyroAlign = ALIGN_DEFAULT;