OLIMEXINO - Initial support for the OLIMEXINO board.
PWM and ADC configuration is the same as the naze32 for now. Requires an accelerometer is connected via I2C2. I2C signals SDA2 and SCL2 are on the UEXT header (Pins 6 and 5 respectively) USART signals TX and RX are on the CON3/CON4 headers (TX = D7, RX = D8) Onboard LEDs (LED1/LED2) working. Buzzer support removed for now as it conflicted with PWM map and LEDs. mma845x support disabled as it conflicted with an LED. Relocated some NAZE specific comments. git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@302 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop@gmail.com
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13
Makefile
13
Makefile
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@ -14,7 +14,7 @@
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# Things that the user might override on the commandline
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#
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# The target to build, must be one of NAZE or FY90Q
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# The target to build, must be one of NAZE, FY90Q OR OLIMEXINO
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TARGET ?= NAZE
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# Compile-time options
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@ -24,7 +24,7 @@ OPTIONS ?=
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# Things that need to be maintained as the source changes
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#
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VALID_TARGETS = NAZE FY90Q
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VALID_TARGETS = NAZE FY90Q OLIMEXINO
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# Working directories
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ROOT = $(dir $(lastword $(MAKEFILE_LIST)))
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@ -76,6 +76,15 @@ FY90Q_SRC = drv_adc_fy90q.c \
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drv_pwm_fy90q.c \
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$(COMMON_SRC)
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# Source files for the OLIMEXINO target
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OLIMEXINO_SRC = drv_adc.c \
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drv_adxl345.c \
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drv_mpu3050.c \
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drv_mpu6050.c \
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drv_l3g4200d.c \
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drv_pwm.c \
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$(COMMON_SRC)
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# Search path for baseflight sources
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VPATH := $(SRC_DIR):$(SRC_DIR)/baseflight_startups
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42
src/board.h
42
src/board.h
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@ -112,14 +112,32 @@ typedef struct baro_t
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#define GYRO
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#define ACC
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#define SENSORS_SET (SENSOR_ACC)
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#endif
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#ifdef OLIMEXINO
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// OLIMEXINO
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// LED2 is using one of the pwm pins (PWM2), so we must not use PWM2. @See pwmInit()
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#define LED0_GPIO GPIOA
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#define LED0_PIN GPIO_Pin_1 // D3, PA1/USART2_RTS/ADC1/TIM2_CH3 - "LED2" on silkscreen, Yellow
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#define LED1_GPIO GPIOA
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#define LED1_PIN GPIO_Pin_5 // D13, PA5/SPI1_SCK/ADC5 - "LED1" on silkscreen, Green
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#define GYRO
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#define ACC
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#define SENSORS_SET (SENSOR_ACC)
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#else
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// Afroflight32
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// Afroflight32
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#define LED0_GPIO GPIOB
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#define LED0_PIN GPIO_Pin_3
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#define LED0_PIN GPIO_Pin_3 // PB3 (LED)
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#define LED1_GPIO GPIOB
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#define LED1_PIN GPIO_Pin_4
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#define LED1_PIN GPIO_Pin_4 // PB4 (LED)
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#define BEEP_GPIO GPIOA
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#define BEEP_PIN GPIO_Pin_12
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#define BEEP_PIN GPIO_Pin_12 // PA12 (Buzzer)
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#define BARO_GPIO GPIOC
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#define BARO_PIN GPIO_Pin_13
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@ -129,6 +147,9 @@ typedef struct baro_t
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#define BARO
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#define LEDRING
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#define SONAR
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#define BUZZER
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#define SENSORS_SET (SENSOR_ACC | SENSOR_BARO | SENSOR_MAG)
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#endif
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@ -160,8 +181,21 @@ typedef struct baro_t
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#include "drv_i2c.h"
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#include "drv_pwm.h"
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#include "drv_uart.h"
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#endif
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#ifdef OLIMEXINO
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// OLIMEXINO
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#include "drv_system.h" // timers, delays, etc
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#include "drv_adc.h"
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#include "drv_i2c.h"
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#include "drv_adxl345.h"
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#include "drv_mpu3050.h"
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#include "drv_mpu6050.h"
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#include "drv_l3g4200d.h"
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#include "drv_pwm.h"
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#include "drv_uart.h"
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#else
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// AfroFlight32
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#include "drv_system.h" // timers, delays, etc
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#include "drv_adc.h"
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@ -75,6 +75,7 @@ static void mma8452Init(void)
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GPIO_InitTypeDef GPIO_InitStructure;
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// PA5 - ACC_INT2 output on rev3/4 hardware
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// OLIMEXINO - The PA5 pin is wired up to LED1, if you need to use an mma8452 on an Olimexino use a different pin and provide support in code.
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GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5;
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GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
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GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
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@ -88,7 +89,7 @@ static void mma8452Init(void)
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i2cWrite(MMA8452_ADDRESS, MMA8452_CTRL_REG4, MMA8452_CTRL_REG4_INT_EN_DRDY); // Enable DRDY interrupt (unused by this driver)
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i2cWrite(MMA8452_ADDRESS, MMA8452_CTRL_REG5, 0); // DRDY routed to INT2
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i2cWrite(MMA8452_ADDRESS, MMA8452_CTRL_REG1, MMA8452_CTRL_REG1_LNOISE | MMA8452_CTRL_REG1_ACTIVE); // Turn on measurements, low noise at max scale mode, Data Rate 800Hz. LNoise mode makes range +-4G.
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acc_1G = 256;
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}
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@ -48,7 +48,7 @@
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PWM5..8 used for motors
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PWM9..10 used for servo or else motors
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PWM11..14 used for motors
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2) multirotor PPM input with more servos
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PWM1 used for PPM
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PWM5..8 used for motors
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@ -352,7 +352,7 @@ void TIM1_CC_IRQHandler(void)
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static void pwmTIMxHandler(TIM_TypeDef *tim, uint8_t portBase)
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{
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int8_t port;
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// Generic CC handler for TIM2,3,4
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if (TIM_GetITStatus(tim, TIM_IT_CC1) == SET) {
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port = portBase + 0;
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@ -449,6 +449,12 @@ bool pwmInit(drv_pwm_config_t *init)
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if (setup[i] == 0xFF) // terminator
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break;
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#ifdef OLIMEXINO
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// PWM2 is connected to LED2 on the board and cannot be connected.
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if (port == PWM2)
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continue;
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#endif
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// skip UART ports for GPS
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if (init->useUART && (port == PWM3 || port == PWM4))
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continue;
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@ -48,10 +48,10 @@ void systemInit(void)
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uint32_t i;
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gpio_config_t gpio_cfg[] = {
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{ LED0_GPIO, LED0_PIN, GPIO_Mode_Out_PP }, // PB3 (LED)
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{ LED1_GPIO, LED1_PIN, GPIO_Mode_Out_PP }, // PB4 (LED)
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#ifndef FY90Q
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{ BEEP_GPIO, BEEP_PIN, GPIO_Mode_Out_OD }, // PA12 (Buzzer)
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{ LED0_GPIO, LED0_PIN, GPIO_Mode_Out_PP },
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{ LED1_GPIO, LED1_PIN, GPIO_Mode_Out_PP },
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#ifdef BUZZER
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{ BEEP_GPIO, BEEP_PIN, GPIO_Mode_Out_OD },
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#endif
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};
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uint8_t gpio_count = sizeof(gpio_cfg) / sizeof(gpio_cfg[0]);
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@ -164,7 +164,7 @@ void systemReset(bool toBootloader)
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// 1FFFF000 -> 20000200 -> SP
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// 1FFFF004 -> 1FFFF021 -> PC
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*((uint32_t *)0x20004FF0) = 0xDEADBEEF; // 20KB STM32F103
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}
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}
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// Generate system reset
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SCB->AIRCR = AIRCR_VECTKEY_MASK | (uint32_t)0x04;
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12
src/main.c
12
src/main.c
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@ -56,15 +56,9 @@ int main(void)
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}
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adcInit(&adc_params);
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// We have these sensors
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#ifndef FY90Q
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// AfroFlight32
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sensorsSet(SENSOR_ACC | SENSOR_BARO | SENSOR_MAG);
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#else
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// FY90Q
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sensorsSet(SENSOR_ACC);
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#endif
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// We have these sensors; SENSORS_SET defined in board.h depending on hardware platform
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sensorsSet(SENSORS_SET);
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mixerInit(); // this will set useServo var depending on mixer type
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// when using airplane/wing mixer, servo/motor outputs are remapped
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@ -59,7 +59,7 @@ retry:
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if (mcfg.acc_hardware == ACC_ADXL345)
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break;
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; // fallthrough
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case 2: // MPU6050
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case 2: // MPU6050
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if (haveMpu6k) {
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mpu6050Detect(&acc, &gyro, mcfg.gyro_lpf, &mcfg.mpu6050_scale); // yes, i'm rerunning it again. re-fill acc struct
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accHardware = ACC_MPU6050;
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@ -68,11 +68,13 @@ retry:
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}
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; // fallthrough
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case 3: // MMA8452
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#ifndef OLIMEXINO
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if (mma8452Detect(&acc)) {
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accHardware = ACC_MMA8452;
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if (mcfg.acc_hardware == ACC_MMA8452)
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break;
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}
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#endif
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}
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// Found anything? Check if user fucked up or ACC is really missing.
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