Fix BMI160 gate and optimize directives (betaflight#13237)

* Add BMI160 gate and other defines * Fix make test * Remove redundant directives
davidbitton · Feb 5, 2024 · cdb6ea9 · cdb6ea9
1 parent 099137d
commit cdb6ea9
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Showing 2 changed files with 10 additions and 20 deletions.
diff --git a/src/main/sensors/acceleration_init.c b/src/main/sensors/acceleration_init.c
@@ -240,7 +240,7 @@ bool accDetect(accDev_t *dev, accelerationSensor_e accHardwareToUse)
     case ACC_ICM20608G:
 #if defined(USE_ACC_MPU6500) || defined(USE_ACC_SPI_MPU6500)
 #ifdef USE_ACC_SPI_MPU6500
-        if (mpu6500AccDetect(dev) || mpu6500SpiAccDetect(dev)) {
+        if (mpu6500SpiAccDetect(dev)) {
 #else
         if (mpu6500AccDetect(dev)) {
 #endif

diff --git a/src/main/sensors/gyro_init.c b/src/main/sensors/gyro_init.c
@@ -75,7 +75,8 @@
 #if !defined(USE_GYRO_L3G4200D) && !defined(USE_GYRO_MPU3050) && !defined(USE_GYRO_MPU6050) && \
     !defined(USE_GYRO_MPU6500) && !defined(USE_GYRO_SPI_ICM20689) && !defined(USE_GYRO_SPI_MPU6000) && \
     !defined(USE_GYRO_SPI_MPU6500) && !defined(USE_GYRO_SPI_MPU9250) && !defined(USE_GYRO_L3GD20) && \
-    !defined(USE_GYRO_SPI_ICM42605) && !defined(USE_GYRO_SPI_ICM42688P) && !defined(USE_ACCGYRO_BMI270) && \
+    !defined(USE_GYRO_SPI_ICM42605) && !defined(USE_GYRO_SPI_ICM42688P) && \
+    !defined(USE_ACCGYRO_BMI160) && !defined(USE_ACCGYRO_BMI270) && \
     !defined(USE_ACCGYRO_LSM6DSV16X) && !defined(USE_ACCGYRO_LSM6DSO) && !defined(USE_VIRTUAL_GYRO)
 #error At least one USE_GYRO device definition required
 #endif
@@ -409,7 +410,7 @@ STATIC_UNIT_TESTED gyroHardware_e gyroDetect(gyroDev_t *dev)
     case GYRO_ICM20602:
     case GYRO_ICM20608G:
 #ifdef USE_GYRO_SPI_MPU6500
-        if (mpu6500GyroDetect(dev) || mpu6500SpiGyroDetect(dev)) {
+        if (mpu6500SpiGyroDetect(dev)) {
 #else
         if (mpu6500GyroDetect(dev)) {
 #endif
@@ -540,22 +541,13 @@ STATIC_UNIT_TESTED gyroHardware_e gyroDetect(gyroDev_t *dev)
 
 static bool gyroDetectSensor(gyroSensor_t *gyroSensor, const gyroDeviceConfig_t *config)
 {
-#if defined(USE_GYRO_MPU6050) || defined(USE_GYRO_MPU3050) || defined(USE_GYRO_MPU6500) || defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_MPU6000) \
- || defined(USE_ACC_MPU6050) || defined(USE_GYRO_SPI_MPU9250) || defined(USE_GYRO_SPI_ICM20601) || defined(USE_GYRO_SPI_ICM20649) \
- || defined(USE_GYRO_SPI_ICM20689) || defined(USE_GYRO_L3GD20) || defined(USE_ACCGYRO_BMI160) || defined(USE_ACCGYRO_BMI270) \
- || defined(USE_ACCGYRO_LSM6DSO) || defined(USE_GYRO_SPI_ICM42605) || defined(USE_GYRO_SPI_ICM42688P) || defined(USE_ACCGYRO_LSM6DSV16X)
-
+#ifdef USE_VIRTUAL_GYRO
+    UNUSED(config);
+#else
     bool gyroFound = mpuDetect(&gyroSensor->gyroDev, config);
-
-#if !defined(USE_VIRTUAL_GYRO) // Allow resorting to virtual accgyro if defined
     if (!gyroFound) {
         return false;
     }
-#else
-    UNUSED(gyroFound);
-#endif
-#else
-    UNUSED(config);
 #endif
 
     const gyroHardware_e gyroHardware = gyroDetect(&gyroSensor->gyroDev);
@@ -566,12 +558,10 @@ static bool gyroDetectSensor(gyroSensor_t *gyroSensor, const gyroDeviceConfig_t
 
 static void gyroPreInitSensor(const gyroDeviceConfig_t *config)
 {
-#if defined(USE_GYRO_MPU6050) || defined(USE_GYRO_MPU3050) || defined(USE_GYRO_MPU6500) || defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_MPU6000) \
- || defined(USE_ACC_MPU6050) || defined(USE_GYRO_SPI_MPU9250) || defined(USE_GYRO_SPI_ICM20601) || defined(USE_GYRO_SPI_ICM20649) \
- || defined(USE_GYRO_SPI_ICM20689) || defined(USE_ACCGYRO_BMI160) || defined(USE_ACCGYRO_BMI270) || defined(USE_ACCGRYO_LSM6DSO)
-    mpuPreInit(config);
-#else
+#ifdef USE_VIRTUAL_GYRO
     UNUSED(config);
+#else
+    mpuPreInit(config);
 #endif
 }