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Merge pull request #2024 from mikeller/fix_gyro_data_ready_without_exti 

Fixed gyro update / arming for targets without gyro interrupt.
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borisbstyle 2017-01-06 11:34:55 +01:00 committed by GitHub
parent bdc4483151 747219e0df
commit e82785d76f
1 changed files with 7 additions and 0 deletions
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7
src/main/sensors/gyro.c
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@ -400,9 +400,16 @@ static bool gyroUpdateISR(gyroDev_t* gyroDev)
void gyroUpdate(void) void gyroUpdate(void)
{ {
// range: +/- 8192; +/- 2000 deg/sec // range: +/- 8192; +/- 2000 deg/sec
#if defined(MPU_INT_EXTI)
if (!gyro.dev.dataReady || !gyro.dev.read(&gyro.dev)) { if (!gyro.dev.dataReady || !gyro.dev.read(&gyro.dev)) {
return; return;
} }
#else
if (!gyro.dev.read(&gyro.dev)) {
return;
}
#endif
const bool calibrationComplete = isGyroCalibrationComplete(); const bool calibrationComplete = isGyroCalibrationComplete();
if (calibrationComplete) { if (calibrationComplete) {
#if defined(GYRO_USES_SPI) && defined(USE_MPU_DATA_READY_SIGNAL) #if defined(GYRO_USES_SPI) && defined(USE_MPU_DATA_READY_SIGNAL)