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Merge pull request #2445 from mstrinzha/mpu925x_fix 

Sparky 2.0 Accelerometer (fix mpu9250 detection)
This commit is contained in:
Michael Keller 2017-02-23 00:05:29 +13:00 committed by GitHub
parent b240fb4c0f 0dd699c5a7
commit ddb25a9d5f
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 MPU6500_WHO_AM_I_CONST (0x70)
#define MPU9250_WHO_AM_I_CONST (0x71) #define MPU9250_WHO_AM_I_CONST (0x71)
#define MPU9255_WHO_AM_I_CONST (0x73)
#define ICM20608G_WHO_AM_I_CONST (0xAF) #define ICM20608G_WHO_AM_I_CONST (0xAF)
#define ICM20602_WHO_AM_I_CONST (0x12) #define ICM20602_WHO_AM_I_CONST (0x12)

1
src/main/drivers/accgyro_spi_mpu6500.c
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@ -90,6 +90,7 @@ uint8_t mpu6500SpiDetect(void)
mpuDetected = MPU_65xx_SPI; mpuDetected = MPU_65xx_SPI;
break; break;
case MPU9250_WHO_AM_I_CONST: case MPU9250_WHO_AM_I_CONST:
case MPU9255_WHO_AM_I_CONST:
mpuDetected = MPU_9250_SPI; mpuDetected = MPU_9250_SPI;
break; break;
case ICM20608G_WHO_AM_I_CONST: case ICM20608G_WHO_AM_I_CONST:

2
src/main/drivers/accgyro_spi_mpu9250.c
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@ -198,7 +198,7 @@ bool mpu9250SpiDetect(void)
delay(150); delay(150);
mpu9250ReadRegister(MPU_RA_WHO_AM_I, 1, &in); 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; break;
} }
if (!attemptsRemaining) { if (!attemptsRemaining) {

1
src/main/drivers/accgyro_spi_mpu9250.h
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@ -17,6 +17,7 @@
#define GYRO_SCALE_FACTOR 0.00053292f // (4/131) * pi/180 (32.75 LSB = 1 DPS) #define GYRO_SCALE_FACTOR 0.00053292f // (4/131) * pi/180 (32.75 LSB = 1 DPS)
#define MPU9250_WHO_AM_I_CONST (0x71) #define MPU9250_WHO_AM_I_CONST (0x71)
#define MPU9255_WHO_AM_I_CONST (0x73)
#define MPU9250_BIT_RESET (0x80) #define MPU9250_BIT_RESET (0x80)

12
src/main/sensors/acceleration.c
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@ -160,12 +160,22 @@ retry:
accHardware = ACC_MPU6000; accHardware = ACC_MPU6000;
break; 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 #endif
; // fallthrough ; // fallthrough
case ACC_MPU6500: case ACC_MPU6500:
case ACC_ICM20608G: case ACC_ICM20608G:
case ACC_ICM20602: case ACC_ICM20602:
case ACC_MPU9250:
#if defined(USE_ACC_MPU6500) || defined(USE_ACC_SPI_MPU6500) #if defined(USE_ACC_MPU6500) || defined(USE_ACC_SPI_MPU6500)
#ifdef USE_ACC_SPI_MPU6500 #ifdef USE_ACC_SPI_MPU6500
if (mpu6500AccDetect(dev) || mpu6500SpiAccDetect(dev)) if (mpu6500AccDetect(dev) || mpu6500SpiAccDetect(dev))