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Merge pull request #7950 from etracer65/fix_mpu6000_multi_gyro_init 

Fix gyro/acc initialization when more than one MPU6000 (or MPU9250) sensor is connected
This commit is contained in:
Michael Keller 2019-04-14 22:59:01 +12:00 committed by GitHub
parent 7d86cd6523 40d195aeae
commit c72afc790f
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GPG Key ID: 4AEE18F83AFDEB23
2 changed files with 0 additions and 14 deletions
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7
src/main/drivers/accgyro/accgyro_spi_mpu6000.c
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@ -47,7 +47,6 @@
static void mpu6000AccAndGyroInit(gyroDev_t *gyro);
static bool mpuSpi6000InitDone = false;
// Bits
@ -171,10 +170,6 @@ uint8_t mpu6000SpiDetect(const busDevice_t *bus)
static void mpu6000AccAndGyroInit(gyroDev_t *gyro)
{
if (mpuSpi6000InitDone) {
return;
}
spiSetDivisor(gyro->bus.busdev_u.spi.instance, SPI_CLOCK_INITIALIZATION);
// Device Reset
@ -218,8 +213,6 @@ static void mpu6000AccAndGyroInit(gyroDev_t *gyro)
spiSetDivisor(gyro->bus.busdev_u.spi.instance, SPI_CLOCK_FAST);
delayMicroseconds(1);
mpuSpi6000InitDone = true;
}
bool mpu6000SpiAccDetect(accDev_t *acc)

7
src/main/drivers/accgyro/accgyro_spi_mpu9250.c
View File

@ -49,7 +49,6 @@
static void mpu9250AccAndGyroInit(gyroDev_t *gyro);
static bool mpuSpi9250InitDone = false;
bool mpu9250SpiWriteRegister(const busDevice_t *bus, uint8_t reg, uint8_t data)
{
@ -120,10 +119,6 @@ bool mpu9250SpiWriteRegisterVerify(const busDevice_t *bus, uint8_t reg, uint8_t
static void mpu9250AccAndGyroInit(gyroDev_t *gyro) {
if (mpuSpi9250InitDone) {
return;
}
spiSetDivisor(gyro->bus.busdev_u.spi.instance, SPI_CLOCK_INITIALIZATION); //low speed for writing to slow registers
mpu9250SpiWriteRegister(&gyro->bus, MPU_RA_PWR_MGMT_1, MPU9250_BIT_RESET);
@ -145,8 +140,6 @@ static void mpu9250AccAndGyroInit(gyroDev_t *gyro) {
#endif
spiSetDivisor(gyro->bus.busdev_u.spi.instance, SPI_CLOCK_FAST);
mpuSpi9250InitDone = true; //init done
}
uint8_t mpu9250SpiDetect(const busDevice_t *bus)