Use GYRO_1/2 defines instead of GYRO_0/1 to make things less confusing. (#5274)
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c11d016bc7
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c7f7846d39
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@ -385,7 +385,7 @@ static bool gyroInitSensor(gyroSensor_t *gyroSensor)
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#ifdef USE_DUAL_GYRO
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#ifdef USE_DUAL_GYRO
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// set cnsPin using GYRO_n_CS_PIN defined in target.h
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// set cnsPin using GYRO_n_CS_PIN defined in target.h
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gyroSensor->gyroDev.bus.busdev_u.spi.csnPin = gyroConfig()->gyro_to_use == 0 ? IOGetByTag(IO_TAG(GYRO_0_CS_PIN)) : IOGetByTag(IO_TAG(GYRO_1_CS_PIN));
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gyroSensor->gyroDev.bus.busdev_u.spi.csnPin = gyroConfig()->gyro_to_use == 0 ? IOGetByTag(IO_TAG(GYRO_1_CS_PIN)) : IOGetByTag(IO_TAG(GYRO_2_CS_PIN));
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#else
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#else
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gyroSensor->gyroDev.bus.busdev_u.spi.csnPin = IO_NONE; // set cnsPin to IO_NONE so mpuDetect will set it according to value defined in target.h
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gyroSensor->gyroDev.bus.busdev_u.spi.csnPin = IO_NONE; // set cnsPin to IO_NONE so mpuDetect will set it according to value defined in target.h
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#endif // USE_DUAL_GYRO
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#endif // USE_DUAL_GYRO
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@ -47,8 +47,8 @@
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#define MPU6000_SPI_INSTANCE SPI3
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#define MPU6000_SPI_INSTANCE SPI3
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#define ICM20689_CS_PIN SPI4_NSS_PIN
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#define ICM20689_CS_PIN SPI4_NSS_PIN
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#define ICM20689_SPI_INSTANCE SPI4
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#define ICM20689_SPI_INSTANCE SPI4
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#define GYRO_1_CS_PIN MPU6000_CS_PIN
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#define GYRO_2_CS_PIN MPU6000_CS_PIN
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#define GYRO_0_CS_PIN ICM20689_CS_PIN
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#define GYRO_1_CS_PIN ICM20689_CS_PIN
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//#define USE_MPU_DATA_READY_SIGNAL
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//#define USE_MPU_DATA_READY_SIGNAL
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@ -63,8 +63,8 @@
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#define MPU6000_SPI_INSTANCE SPI1
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#define MPU6000_SPI_INSTANCE SPI1
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#define MPU6500_CS_PIN SPI3_NSS_PIN
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#define MPU6500_CS_PIN SPI3_NSS_PIN
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#define MPU6500_SPI_INSTANCE SPI3
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#define MPU6500_SPI_INSTANCE SPI3
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#define GYRO_1_CS_PIN MPU6000_CS_PIN
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#define GYRO_2_CS_PIN MPU6000_CS_PIN
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#define GYRO_0_CS_PIN MPU6500_CS_PIN
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#define GYRO_1_CS_PIN MPU6500_CS_PIN
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#define GYRO_MPU6500_ALIGN CW90_DEG
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#define GYRO_MPU6500_ALIGN CW90_DEG
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#define ACC_MPU6500_ALIGN CW90_DEG
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#define ACC_MPU6500_ALIGN CW90_DEG
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#define GYRO_MPU6000_ALIGN CW90_DEG
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#define GYRO_MPU6000_ALIGN CW90_DEG
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@ -74,8 +74,8 @@
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#define MPU6000_SPI_INSTANCE SPI3
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#define MPU6000_SPI_INSTANCE SPI3
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#define MPU6500_CS_PIN SPI1_NSS_PIN
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#define MPU6500_CS_PIN SPI1_NSS_PIN
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#define MPU6500_SPI_INSTANCE SPI1
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#define MPU6500_SPI_INSTANCE SPI1
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#define GYRO_0_CS_PIN MPU6000_CS_PIN
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#define GYRO_1_CS_PIN MPU6000_CS_PIN
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#define GYRO_1_CS_PIN MPU6500_CS_PIN
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#define GYRO_2_CS_PIN MPU6500_CS_PIN
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#endif
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#endif
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// TODO: dual gyro support
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// TODO: dual gyro support
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@ -96,8 +96,8 @@
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#define ICM20601_CS_PIN PA4 // served through MPU6500 code
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#define ICM20601_CS_PIN PA4 // served through MPU6500 code
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#define ICM20601_SPI_INSTANCE SPI1
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#define ICM20601_SPI_INSTANCE SPI1
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#define USE_DUAL_GYRO
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#define USE_DUAL_GYRO
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#define GYRO_0_CS_PIN MPU6000_CS_PIN
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#define GYRO_1_CS_PIN MPU6000_CS_PIN
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#define GYRO_1_CS_PIN ICM20601_CS_PIN
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#define GYRO_2_CS_PIN ICM20601_CS_PIN
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#endif
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#endif
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#if defined(SOULF4)
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#if defined(SOULF4)
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