Add MPU6050

sensei-hacker · Oct 4, 2023 · e6038d0 · e6038d0
1 parent 1382ab6
commit e6038d0
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Showing 2 changed files with 13 additions and 1,678 deletions.
diff --git a/src/main/sensors/acceleration.c b/src/main/sensors/acceleration.c
@@ -37,6 +37,7 @@
 #include "drivers/accgyro/accgyro.h"
 #include "drivers/accgyro/accgyro_mpu.h"
 #include "drivers/accgyro/accgyro_mpu6000.h"
+#include "drivers/accgyro/accgyro_mpu6050.h"
 #include "drivers/accgyro/accgyro_mpu6500.h"
 #include "drivers/accgyro/accgyro_mpu9250.h"
 
@@ -130,7 +131,18 @@ static bool accDetect(accDev_t *dev, accelerationSensor_e accHardwareToUse)
     switch (accHardwareToUse) {
     case ACC_AUTODETECT:
         FALLTHROUGH;
-
+#ifdef USE_IMU_MPU6050
+    case ACC_MPU6050: // MPU6050
+        if (mpu6050AccDetect(dev)) {
+            accHardware = ACC_MPU6050;
+            break;
+        }
+        /* If we are asked for a specific sensor - break out, otherwise - fall through and continue */
+        if (accHardwareToUse != ACC_AUTODETECT) {
+            break;
+        }
+        FALLTHROUGH;
+#endif
 #ifdef USE_IMU_MPU6000
     case ACC_MPU6000:
         if (mpu6000AccDetect(dev)) {