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Merge pull request #1850 from martinbudden/bf_gyro_reentrant

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Made gyro device code reentrant
This commit is contained in:
J Blackman 2016-12-29 05:33:46 +11:00 • committed by GitHub
commit fb1ca88ebf
14 changed files with 131 additions and 131 deletions
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6
src/main/sensors/acceleration.c
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@ -51,9 +51,10 @@
#include "io/beeper.h"
#include "sensors/sensors.h"
#include "sensors/acceleration.h"
#include "sensors/boardalignment.h"
#include "sensors/gyro.h"
#include "sensors/sensors.h"
#include "config/feature.h"
@ -230,6 +231,9 @@ retry:
bool accInit(const accelerometerConfig_t *accelerometerConfig, uint32_t gyroSamplingInverval)
{
memset(&acc, 0, sizeof(acc));
// copy over the common gyro mpu settings
acc.dev.mpuConfiguration = gyro.dev.mpuConfiguration;
acc.dev.mpuDetectionResult = gyro.dev.mpuDetectionResult;
if (!accDetect(&acc.dev, accelerometerConfig->acc_hardware)) {
return false;
}