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Removed mpuConfiguration.gyroReadXRegister

This commit is contained in:
Martin Budden 2017-07-18 12:32:28 +01:00
parent 481397e9b3
commit 3385884e56
3 changed files with 18 additions and 10 deletions
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9
src/main/drivers/accgyro/accgyro_mpu.c
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@ -206,7 +206,7 @@ bool mpuGyroRead(gyroDev_t *gyro)
{
uint8_t data[6];
const bool ack = gyro->mpuConfiguration.readFn(&gyro->bus, gyro->mpuConfiguration.gyroReadXRegister, 6, data);
const bool ack = gyro->mpuConfiguration.readFn(&gyro->bus, MPU_RA_GYRO_XOUT_H, 6, data);
if (!ack) {
return false;
}
@ -253,7 +253,6 @@ static bool detectSPISensorsAndUpdateDetectionResult(gyroDev_t *gyro)
sensor = mpu6000SpiDetect(&gyro->bus);
if (sensor != MPU_NONE) {
gyro->mpuDetectionResult.sensor = sensor;
gyro->mpuConfiguration.gyroReadXRegister = MPU_RA_GYRO_XOUT_H;
gyro->mpuConfiguration.readFn = spiReadRegisterBuffer;
gyro->mpuConfiguration.writeFn = spiWriteRegister;
return true;
@ -271,7 +270,6 @@ static bool detectSPISensorsAndUpdateDetectionResult(gyroDev_t *gyro)
// some targets using MPU_9250_SPI, ICM_20608_SPI or ICM_20602_SPI state sensor is MPU_65xx_SPI
if (sensor != MPU_NONE) {
gyro->mpuDetectionResult.sensor = sensor;
gyro->mpuConfiguration.gyroReadXRegister = MPU_RA_GYRO_XOUT_H;
gyro->mpuConfiguration.readFn = spiReadRegisterBuffer;
gyro->mpuConfiguration.writeFn = spiWriteRegister;
return true;
@ -288,7 +286,6 @@ static bool detectSPISensorsAndUpdateDetectionResult(gyroDev_t *gyro)
sensor = mpu9250SpiDetect(&gyro->bus);
if (sensor != MPU_NONE) {
gyro->mpuDetectionResult.sensor = sensor;
gyro->mpuConfiguration.gyroReadXRegister = MPU_RA_GYRO_XOUT_H;
gyro->mpuConfiguration.readFn = spiReadRegisterBuffer;
gyro->mpuConfiguration.writeFn = spiWriteRegister;
gyro->mpuConfiguration.resetFn = mpu9250SpiResetGyro;
@ -306,7 +303,6 @@ static bool detectSPISensorsAndUpdateDetectionResult(gyroDev_t *gyro)
sensor = icm20689SpiDetect(&gyro->bus);
if (sensor != MPU_NONE) {
gyro->mpuDetectionResult.sensor = sensor;
gyro->mpuConfiguration.gyroReadXRegister = MPU_RA_GYRO_XOUT_H;
gyro->mpuConfiguration.readFn = spiReadRegisterBuffer;
gyro->mpuConfiguration.writeFn = spiWriteRegister;
return true;
@ -354,15 +350,12 @@ void mpuDetect(gyroDev_t *gyro)
return;
}
gyro->mpuConfiguration.gyroReadXRegister = MPU_RA_GYRO_XOUT_H;
// If an MPU3050 is connected sig will contain 0.
uint8_t inquiryResult;
ack = mpuReadRegisterI2C(&gyro->bus, MPU_RA_WHO_AM_I_LEGACY, 1, &inquiryResult);
inquiryResult &= MPU_INQUIRY_MASK;
if (ack && inquiryResult == MPUx0x0_WHO_AM_I_CONST) {
gyro->mpuDetectionResult.sensor = MPU_3050;
gyro->mpuConfiguration.gyroReadXRegister = MPU3050_GYRO_OUT;
return;
}

1
src/main/drivers/accgyro/accgyro_mpu.h
View File

@ -135,7 +135,6 @@ typedef struct mpuConfiguration_s {
mpuReadRegisterFnPtr readFn;
mpuWriteRegisterFnPtr writeFn;
mpuResetFnPtr resetFn;
uint8_t gyroReadXRegister; // Y and Z must registers follow this, 2 words each
} mpuConfiguration_t;
enum gyro_fsr_e {

18
src/main/drivers/accgyro/accgyro_mpu3050.c
View File

@ -64,6 +64,22 @@ static void mpu3050Init(gyroDev_t *gyro)
gyro->mpuConfiguration.writeFn(&gyro->bus, MPU3050_PWR_MGM, MPU3050_CLK_SEL_PLL_GX);
}
static bool mpu3050GyroRead(gyroDev_t *gyro)
{
uint8_t data[6];
const bool ack = gyro->mpuConfiguration.readFn(&gyro->bus, MPU3050_GYRO_OUT, 6, data);
if (!ack) {
return false;
}
gyro->gyroADCRaw[X] = (int16_t)((data[0] << 8) | data[1]);
gyro->gyroADCRaw[Y] = (int16_t)((data[2] << 8) | data[3]);
gyro->gyroADCRaw[Z] = (int16_t)((data[4] << 8) | data[5]);
return true;
}
static bool mpu3050ReadTemperature(gyroDev_t *gyro, int16_t *tempData)
{
uint8_t buf[2];
@ -82,7 +98,7 @@ bool mpu3050Detect(gyroDev_t *gyro)
return false;
}
gyro->initFn = mpu3050Init;
gyro->readFn = mpuGyroRead;
gyro->readFn = mpu3050GyroRead;
gyro->temperatureFn = mpu3050ReadTemperature;
// 16.4 dps/lsb scalefactor