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Code Issues Wiki Activity

Added support for BMI160 gyro

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This commit is contained in:
Martin Budden 2017-02-22 15:16:02 +00:00
parent cc2fc2c559
commit dbfc355097
8 changed files with 563 additions and 6 deletions
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15
src/main/sensors/gyro.c
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@ -43,6 +43,7 @@
#include "drivers/accgyro_mpu3050.h"
#include "drivers/accgyro_mpu6050.h"
#include "drivers/accgyro_mpu6500.h"
#include "drivers/accgyro_spi_bmi160.h"
#include "drivers/accgyro_spi_icm20689.h"
#include "drivers/accgyro_spi_mpu6000.h"
#include "drivers/accgyro_spi_mpu6500.h"
@ -239,8 +240,7 @@ STATIC_UNIT_TESTED gyroSensor_e gyroDetect(gyroDev_t *dev)
#ifdef USE_GYRO_SPI_ICM20689
case GYRO_ICM20689:
if (icm20689SpiGyroDetect(dev))
{
if (icm20689SpiGyroDetect(dev)) {
gyroHardware = GYRO_ICM20689;
#ifdef GYRO_ICM20689_ALIGN
dev->gyroAlign = GYRO_ICM20689_ALIGN;
@ -249,6 +249,17 @@ STATIC_UNIT_TESTED gyroSensor_e gyroDetect(gyroDev_t *dev)
}
#endif
#ifdef USE_ACCGYRO_BMI160
case GYRO_BMI160:
if (bmi160SpiGyroDetect(dev)) {
gyroHardware = GYRO_BMI160;
#ifdef GYRO_BMI160_ALIGN
dev->gyroAlign = GYRO_BMI160_ALIGN;
#endif
break;
}
#endif
#ifdef USE_FAKE_GYRO
case GYRO_FAKE:
if (fakeGyroDetect(dev)) {