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Sparky 2.0 Accelerometer (fix mpu9250 detection)

This commit is contained in:
Maxim Strinzha 2017-02-20 16:07:01 +03:00
parent b240fb4c0f
commit 0dd699c5a7
5 changed files with 15 additions and 2 deletions
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1
src/main/drivers/accgyro_mpu6500.h
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@ -19,6 +19,7 @@
#define MPU6500_WHO_AM_I_CONST (0x70)
#define MPU9250_WHO_AM_I_CONST (0x71)
#define MPU9255_WHO_AM_I_CONST (0x73)
#define ICM20608G_WHO_AM_I_CONST (0xAF)
#define ICM20602_WHO_AM_I_CONST (0x12)

1
src/main/drivers/accgyro_spi_mpu6500.c
View File

@ -90,6 +90,7 @@ uint8_t mpu6500SpiDetect(void)
mpuDetected = MPU_65xx_SPI;
break;
case MPU9250_WHO_AM_I_CONST:
case MPU9255_WHO_AM_I_CONST:
mpuDetected = MPU_9250_SPI;
break;
case ICM20608G_WHO_AM_I_CONST:

2
src/main/drivers/accgyro_spi_mpu9250.c
View File

@ -198,7 +198,7 @@ bool mpu9250SpiDetect(void)
delay(150);
mpu9250ReadRegister(MPU_RA_WHO_AM_I, 1, &in);
if (in == MPU9250_WHO_AM_I_CONST) {
if (in == MPU9250_WHO_AM_I_CONST || in == MPU9255_WHO_AM_I_CONST) {
break;
}
if (!attemptsRemaining) {

1
src/main/drivers/accgyro_spi_mpu9250.h
View File

@ -17,6 +17,7 @@
#define GYRO_SCALE_FACTOR 0.00053292f // (4/131) * pi/180 (32.75 LSB = 1 DPS)
#define MPU9250_WHO_AM_I_CONST (0x71)
#define MPU9255_WHO_AM_I_CONST (0x73)
#define MPU9250_BIT_RESET (0x80)

12
src/main/sensors/acceleration.c
View File

@ -160,12 +160,22 @@ retry:
accHardware = ACC_MPU6000;
break;
}
#endif
; // fallthrough
case ACC_MPU9250:
#ifdef USE_ACC_SPI_MPU9250
if (mpu9250SpiAccDetect(dev)) {
#ifdef ACC_MPU9250_ALIGN
dev->accAlign = ACC_MPU9250_ALIGN;
#endif
accHardware = ACC_MPU9250;
break;
}
#endif
; // fallthrough
case ACC_MPU6500:
case ACC_ICM20608G:
case ACC_ICM20602:
case ACC_MPU9250:
#if defined(USE_ACC_MPU6500) || defined(USE_ACC_SPI_MPU6500)
#ifdef USE_ACC_SPI_MPU6500
if (mpu6500AccDetect(dev) || mpu6500SpiAccDetect(dev))