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Code Issues Wiki Activity

ICM-20689 Gyro

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This commit is contained in:
kc10kevin 2016-09-14 07:33:32 -05:00
commit dc4b4ac986
14 changed files with 275 additions and 9 deletions
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30
src/main/sensors/initialisation.c
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@ -255,6 +255,21 @@ bool detectGyro(void)
}
#endif
; // fallthrough
case GYRO_ICM20689:
#ifdef USE_GYRO_SPI_ICM20689
if (icm20689SpiGyroDetect(&gyro))
{
gyroHardware = GYRO_ICM20689;
#ifdef GYRO_ICM20689_ALIGN
gyroAlign = GYRO_ICM20689_ALIGN;
#endif
break;
}
#endif
; // fallthrough
case GYRO_FAKE:
#ifdef USE_FAKE_GYRO
if (fakeGyroDetect(&gyro)) {
@ -382,6 +397,19 @@ retry:
accHardware = ACC_MPU6500;
break;
}
#endif
; // fallthrough
case ACC_ICM20689:
#ifdef USE_ACC_SPI_ICM20689
if (icm20689SpiAccDetect(&acc))
{
#ifdef ACC_ICM20689_ALIGN
accAlign = ACC_ICM20689_ALIGN;
#endif
accHardware = ACC_ICM20689;
break;
}
#endif
; // fallthrough
case ACC_FAKE:
@ -604,7 +632,7 @@ bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig,
memset(&acc, 0, sizeof(acc));
memset(&gyro, 0, sizeof(gyro));
#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)
#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();