Adds missing ACCGYRO defines and remove legacy drivers (betaflight#14087

)

mk/source.mk

@@ -290,7 +290,6 @@ ifneq ($(SIMULATOR_BUILD),yes)
 COMMON_SRC += \
             drivers/bus_spi.c \
             drivers/serial_uart.c \
-            drivers/accgyro/accgyro_mpu3050.c \
             drivers/accgyro/accgyro_mpu6050.c \
             drivers/accgyro/accgyro_mpu6500.c \
             drivers/accgyro/accgyro_mpu.c \
@@ -332,24 +331,6 @@ COMMON_SRC += \
             drivers/vtx_rtc6705.c \
             drivers/vtx_rtc6705_soft_spi.c
 
-ifneq ($(GYRO_DEFINE),)
-
-LEGACY_GYRO_DEFINES := USE_GYRO_L3GD20
-ifneq ($(findstring $(GYRO_DEFINE),$(LEGACY_GYRO_DEFINES)),)
-
-LEGACY_SRC := \
-            drivers/accgyro/legacy/accgyro_adxl345.c \
-            drivers/accgyro/legacy/accgyro_bma280.c \
-            drivers/accgyro/legacy/accgyro_l3g4200d.c \
-            drivers/accgyro/legacy/accgyro_lsm303dlhc.c \
-            drivers/accgyro/legacy/accgyro_mma845x.c
-
-COMMON_SRC += $(LEGACY_SRC)
-SPEED_OPTIMISED_SRC += $(LEGACY_SRC)
-
-endif
-endif
-
 RX_SRC = \
             drivers/rx/expresslrs_driver.c \
             drivers/rx/rx_a7105.c \
@@ -425,7 +406,6 @@ SPEED_OPTIMISED_SRC += \
             drivers/bus_spi.c \
             drivers/serial_uart.c \
             drivers/accgyro/accgyro_mpu.c \
-            drivers/accgyro/accgyro_mpu3050.c \
             drivers/accgyro/accgyro_spi_bmi160.c \
             drivers/accgyro/accgyro_spi_bmi270.c \
             drivers/accgyro/accgyro_spi_lsm6dso.c

src/main/cli/settings.c

@@ -143,16 +143,47 @@
 // Sensor names (used in lookup tables for *_hardware settings and in status command output)
 // sync with accelerationSensor_e
 const char * const lookupTableAccHardware[] = {
-    "AUTO", "NONE", "ADXL345", "MPU6050", "MMA8452", "BMA280", "LSM303DLHC",
-    "MPU6000", "MPU6500", "MPU9250", "ICM20601", "ICM20602", "ICM20608G", "ICM20649", "ICM20689", "ICM42605", "ICM42688P",
-    "BMI160", "BMI270", "LSM6DSO", "LSM6DSV16X", "VIRTUAL"
+    "AUTO",
+    "NONE",
+    "MPU6050",
+    "MPU6000",
+    "MPU6500",
+    "MPU9250",
+    "ICM20601",
+    "ICM20602",
+    "ICM20608G",
+    "ICM20649",
+    "ICM20689",
+    "ICM42605",
+    "ICM42688P",
+    "BMI160",
+    "BMI270",
+    "LSM6DSO",
+    "LSM6DSV16X",
+    "VIRTUAL"
 };
 
 // sync with gyroHardware_e
 const char * const lookupTableGyroHardware[] = {
-    "AUTO", "NONE", "MPU6050", "L3G4200D", "MPU3050", "L3GD20",
-    "MPU6000", "MPU6500", "MPU9250", "ICM20601", "ICM20602", "ICM20608G", "ICM20649", "ICM20689", "ICM42605", "ICM42688P",
-    "BMI160", "BMI270", "LSM6DSO", "LSM6DSV16X", "VIRTUAL"
+    "AUTO",
+    "NONE",
+    "MPU6050",
+    "L3GD20",
+    "MPU6000",
+    "MPU6500",
+    "MPU9250",
+    "ICM20601",
+    "ICM20602",
+    "ICM20608G",
+    "ICM20649",
+    "ICM20689",
+    "ICM42605",
+    "ICM42688P",
+    "BMI160",
+    "BMI270",
+    "LSM6DSO",
+    "LSM6DSV16X",
+    "VIRTUAL"
 };
 
 #if defined(USE_SENSOR_NAMES) || defined(USE_BARO)

src/main/drivers/accgyro/accgyro.h

@@ -41,12 +41,11 @@
 #define GYRO_SCALE_2000DPS (2000.0f / (1 << 15))   // 16.384 dps/lsb scalefactor for 2000dps sensors
 #define GYRO_SCALE_4000DPS (4000.0f / (1 << 15))   //  8.192 dps/lsb scalefactor for 4000dps sensors
 
+// Gyro hardware types were updated in PR #14087 (removed GYRO_L3G4200D, GYRO_MPU3050)
 typedef enum {
     GYRO_NONE = 0,
     GYRO_DEFAULT,
     GYRO_MPU6050,
-    GYRO_L3G4200D,
-    GYRO_MPU3050,
     GYRO_L3GD20,
     GYRO_MPU6000,
     GYRO_MPU6500,

src/main/drivers/accgyro/accgyro_mpu.c

@@ -43,7 +43,6 @@
 #include "drivers/time.h"
 
 #include "drivers/accgyro/accgyro.h"
-#include "drivers/accgyro/accgyro_mpu3050.h"
 #include "drivers/accgyro/accgyro_mpu6050.h"
 #include "drivers/accgyro/accgyro_mpu6500.h"
 #include "drivers/accgyro/accgyro_spi_bmi160.h"
@@ -452,7 +451,6 @@ bool mpuDetect(gyroDev_t *gyro, const gyroDeviceConfig_t *config)
 
         if (ack) {
             busDeviceRegister(&gyro->dev);
-            // If an MPU3050 is connected sig will contain 0.
             uint8_t inquiryResult;
             ack = busReadRegisterBuffer(&gyro->dev, MPU_RA_WHO_AM_I_LEGACY, &inquiryResult, 1);
             inquiryResult &= MPU_INQUIRY_MASK;

src/main/drivers/accgyro/accgyro_mpu6500.c

@@ -24,6 +24,11 @@
 
 #include "platform.h"
 
+#if defined(USE_ACC_SPI_MPU6500) \
+    || defined(USE_GYRO_SPI_MPU6500) \
+    || defined(USE_ACC_MPU6500) \
+    || defined(USE_GYRO_MPU6500)
+
 #include "common/axis.h"
 #include "common/maths.h"
 
@@ -108,3 +113,5 @@ bool mpu6500GyroDetect(gyroDev_t *gyro)
 
     return true;
 }
+
+#endif // USE_ACC_SPI_MPU6500 || USE_GYRO_SPI_MPU6500 || USE_ACC_MPU6500 || USE_GYRO_MPU6500

src/main/drivers/accgyro/accgyro_spi_icm20689.c

@@ -24,6 +24,8 @@
 
 #include "platform.h"
 
+#if defined(USE_ACC_SPI_ICM20689) || defined(USE_GYRO_SPI_ICM20689)
+
 #include "common/axis.h"
 #include "common/maths.h"
 
@@ -187,3 +189,5 @@ bool icm20689SpiGyroDetect(gyroDev_t *gyro)
 
     return true;
 }
+
+#endif // USE_ACC_SPI_ICM20689 || USE_GYRO_SPI_ICM20689

src/main/drivers/accgyro/accgyro_spi_mpu6500.c

@@ -23,6 +23,8 @@
 
 #include "platform.h"
 
+#if defined(USE_ACC_SPI_MPU6500) || defined(USE_GYRO_SPI_MPU6500)
+
 #include "common/axis.h"
 #include "common/maths.h"
 
@@ -146,3 +148,5 @@ bool mpu6500SpiGyroDetect(gyroDev_t *gyro)
 
     return true;
 }
+
+#endif // USE_ACC_SPI_MPU6500 || USE_GYRO_SPI_MPU6500

src/main/drivers/accgyro/accgyro_spi_mpu9250.c

@@ -30,6 +30,8 @@
 
 #include "platform.h"
 
+#ifdef USE_ACC_SPI_MPU9250
+
 #include "common/axis.h"
 #include "common/maths.h"
 
@@ -173,3 +175,5 @@ bool mpu9250SpiGyroDetect(gyroDev_t *gyro)
 
     return true;
 }
+
+#endif // USE_ACC_SPI_MPU9250