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Merge pull request #3577 from martinbudden/bf_icm20689_detect

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Improved icm20689 detect
This commit is contained in:
Martin Budden 2017-07-20 21:46:38 +01:00 • committed by GitHub
commit e955fa9a84
1 changed files with 27 additions and 3 deletions
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30
src/main/drivers/accgyro/accgyro_spi_icm20689.c
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@ -61,11 +61,29 @@ uint8_t icm20689SpiDetect(const busDevice_t *bus)
spiBusWriteRegister(bus, MPU_RA_PWR_MGMT_1, ICM20689_BIT_RESET);
uint8_t icmDetected = MPU_NONE;
uint8_t attemptsRemaining = 20;
do {
delay(150);
const uint8_t whoAmI = spiBusReadRegister(bus, MPU_RA_WHO_AM_I);
if (whoAmI == ICM20689_WHO_AM_I_CONST) {
switch (whoAmI) {
case ICM20601_WHO_AM_I_CONST:
icmDetected = ICM_20601_SPI;
break;
case ICM20602_WHO_AM_I_CONST:
icmDetected = ICM_20602_SPI;
break;
case ICM20608G_WHO_AM_I_CONST:
icmDetected = ICM_20608_SPI;
break;
case ICM20689_WHO_AM_I_CONST:
icmDetected = ICM_20689_SPI;
break;
default:
icmDetected = MPU_NONE;
break;
}
if (icmDetected != MPU_NONE) {
break;
}
if (!attemptsRemaining) {
@ -75,7 +93,7 @@ uint8_t icm20689SpiDetect(const busDevice_t *bus)
spiSetDivisor(bus->busdev_u.spi.instance, SPI_CLOCK_STANDARD);
return ICM_20689_SPI;
return icmDetected;
}
@ -135,7 +153,13 @@ void icm20689GyroInit(gyroDev_t *gyro)
bool icm20689SpiGyroDetect(gyroDev_t *gyro)
{
if (gyro->mpuDetectionResult.sensor != ICM_20689_SPI) {
switch (gyro->mpuDetectionResult.sensor) {
case ICM_20601_SPI:
case ICM_20602_SPI:
case ICM_20608_SPI:
case ICM_20689_SPI:
break;
default:
return false;
}