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Update gyroregisters cli command to display both gyros 

If gyro_to_use = BOTH, then display the registers for both active gyros.
This commit is contained in:
Bruce Luckcuck 2018-05-04 11:46:05 -04:00
parent ff59c37fdb
commit 34bdfc00e7
3 changed files with 39 additions and 7 deletions
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22
src/main/interface/cli.c
View File

@ -2373,11 +2373,27 @@ static void cliGpsPassthrough(char *cmdline)
#endif #endif
#if defined(USE_GYRO_REGISTER_DUMP) && !defined(SIMULATOR_BUILD) #if defined(USE_GYRO_REGISTER_DUMP) && !defined(SIMULATOR_BUILD)
static void cliPrintGyroRegisters(uint8_t whichSensor)
{
tfp_printf("# WHO_AM_I 0x%X\r\n", gyroReadRegister(whichSensor, MPU_RA_WHO_AM_I));
tfp_printf("# CONFIG 0x%X\r\n", gyroReadRegister(whichSensor, MPU_RA_CONFIG));
tfp_printf("# GYRO_CONFIG 0x%X\r\n", gyroReadRegister(whichSensor, MPU_RA_GYRO_CONFIG));
}
static void cliDumpGyroRegisters(char *cmdline) static void cliDumpGyroRegisters(char *cmdline)
{ {
tfp_printf("# WHO_AM_I 0x%X\r\n", gyroReadRegister(MPU_RA_WHO_AM_I)); #ifdef USE_DUAL_GYRO
tfp_printf("# CONFIG 0x%X\r\n", gyroReadRegister(MPU_RA_CONFIG)); if ((gyroConfig()->gyro_to_use == GYRO_CONFIG_USE_GYRO_1) || (gyroConfig()->gyro_to_use == GYRO_CONFIG_USE_GYRO_BOTH)) {
tfp_printf("# GYRO_CONFIG 0x%X\r\n", gyroReadRegister(MPU_RA_GYRO_CONFIG)); tfp_printf("\r\n# Gyro 1\r\n");
cliPrintGyroRegisters(GYRO_CONFIG_USE_GYRO_1);
}
if ((gyroConfig()->gyro_to_use == GYRO_CONFIG_USE_GYRO_2) || (gyroConfig()->gyro_to_use == GYRO_CONFIG_USE_GYRO_BOTH)) {
tfp_printf("\r\n# Gyro 2\r\n");
cliPrintGyroRegisters(GYRO_CONFIG_USE_GYRO_2);
}
#else
cliPrintGyroRegisters(GYRO_CONFIG_USE_GYRO_1);
#endif // USE_DUAL_GYRO
UNUSED(cmdline); UNUSED(cmdline);
} }
#endif #endif

22
src/main/sensors/gyro.c
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@ -227,6 +227,22 @@ const busDevice_t *gyroSensorBus(void)
#endif #endif
} }
#ifdef USE_GYRO_REGISTER_DUMP
const busDevice_t *gyroSensorBusByDevice(uint8_t whichSensor)
{
#ifdef USE_DUAL_GYRO
if (whichSensor == GYRO_CONFIG_USE_GYRO_2) {
return &gyroSensor2.gyroDev.bus;
} else {
return &gyroSensor1.gyroDev.bus;
}
#else
UNUSED(whichSensor);
return &gyroSensor1.gyroDev.bus;
#endif
}
#endif // USE_GYRO_REGISTER_DUMP
const mpuConfiguration_t *gyroMpuConfiguration(void) const mpuConfiguration_t *gyroMpuConfiguration(void)
{ {
#ifdef USE_DUAL_GYRO #ifdef USE_DUAL_GYRO
@ -1276,8 +1292,8 @@ uint16_t gyroAbsRateDps(int axis)
} }
#ifdef USE_GYRO_REGISTER_DUMP #ifdef USE_GYRO_REGISTER_DUMP
uint8_t gyroReadRegister(uint8_t reg) uint8_t gyroReadRegister(uint8_t whichSensor, uint8_t reg)
{ {
return mpuGyroReadRegister(gyroSensorBus(), reg); return mpuGyroReadRegister(gyroSensorBusByDevice(whichSensor), reg);
} }
#endif #endif // USE_GYRO_REGISTER_DUMP

2
src/main/sensors/gyro.h
View File

@ -128,4 +128,4 @@ int16_t gyroRateDps(int axis);
bool gyroOverflowDetected(void); bool gyroOverflowDetected(void);
bool gyroYawSpinDetected(void); bool gyroYawSpinDetected(void);
uint16_t gyroAbsRateDps(int axis); uint16_t gyroAbsRateDps(int axis);
uint8_t gyroReadRegister(uint8_t reg); uint8_t gyroReadRegister(uint8_t whichSensor, uint8_t reg);