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Merge branch 'master' into betaflight

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Conflicts:
	Makefile
	docs/Cli.md
	src/main/config/config.c
	src/main/drivers/accgyro_mpu3050.c
	src/main/drivers/accgyro_mpu6050.c
	src/main/drivers/accgyro_mpu6050.h
	src/main/drivers/accgyro_spi_mpu6000.c
	src/main/drivers/accgyro_spi_mpu6000.h
	src/main/drivers/accgyro_spi_mpu6500.c
	src/main/drivers/accgyro_spi_mpu6500.h
	src/main/drivers/barometer_bmp280.c
	src/main/drivers/sensor.h
	src/main/flight/pid.c
	src/main/mw.c
	src/main/rx/rx.c
	src/main/sensors/initialisation.c
	src/main/target/CC3D/target.h
This commit is contained in:
borisbstyle 2015-10-07 17:12:54 +02:00
commit 12c9f65f43
82 changed files with 2309 additions and 1771 deletions
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168
src/main/sensors/initialisation.c
View file

@ -24,6 +24,10 @@
#include "common/axis.h"
#include "drivers/gpio.h"
#include "drivers/system.h"
#include "drivers/exti.h"
#include "drivers/sensor.h"
#include "drivers/accgyro.h"
@ -31,8 +35,10 @@
#include "drivers/accgyro_bma280.h"
#include "drivers/accgyro_l3g4200d.h"
#include "drivers/accgyro_mma845x.h"
#include "drivers/accgyro_mpu.h"
#include "drivers/accgyro_mpu3050.h"
#include "drivers/accgyro_mpu6050.h"
#include "drivers/accgyro_mpu6500.h"
#include "drivers/accgyro_l3gd20.h"
#include "drivers/accgyro_lsm303dlhc.h"
@ -52,9 +58,6 @@
#include "drivers/sonar_hcsr04.h"
#include "drivers/gpio.h"
#include "drivers/system.h"
#include "config/runtime_config.h"
#include "sensors/sensors.h"
@ -78,11 +81,11 @@ extern acc_t acc;
uint8_t detectedSensors[MAX_SENSORS_TO_DETECT] = { GYRO_NONE, ACC_NONE, BARO_NONE, MAG_NONE };
const mpu6050Config_t *selectMPU6050Config(void)
const extiConfig_t *selectMPUIntExtiConfig(void)
{
#ifdef NAZE
// MPU_INT output on rev4 PB13
static const mpu6050Config_t nazeRev4MPU6050Config = {
static const extiConfig_t nazeRev4MPUIntExtiConfig = {
.gpioAPB2Peripherals = RCC_APB2Periph_GPIOB,
.gpioPin = Pin_13,
.gpioPort = GPIOB,
@ -92,7 +95,7 @@ const mpu6050Config_t *selectMPU6050Config(void)
.exti_irqn = EXTI15_10_IRQn
};
// MPU_INT output on rev5 hardware PC13
static const mpu6050Config_t nazeRev5MPU6050Config = {
static const extiConfig_t nazeRev5MPUIntExtiConfig = {
.gpioAPB2Peripherals = RCC_APB2Periph_GPIOC,
.gpioPin = Pin_13,
.gpioPort = GPIOC,
@ -103,14 +106,14 @@ const mpu6050Config_t *selectMPU6050Config(void)
};
if (hardwareRevision < NAZE32_REV5) {
return &nazeRev4MPU6050Config;
return &nazeRev4MPUIntExtiConfig;
} else {
return &nazeRev5MPU6050Config;
return &nazeRev5MPUIntExtiConfig;
}
#endif
#ifdef SPRACINGF3
static const mpu6050Config_t spRacingF3MPU6050Config = {
#if defined(SPRACINGF3)
static const extiConfig_t spRacingF3MPUIntExtiConfig = {
.gpioAHBPeripherals = RCC_AHBPeriph_GPIOC,
.gpioPort = GPIOC,
.gpioPin = Pin_13,
@ -119,11 +122,24 @@ const mpu6050Config_t *selectMPU6050Config(void)
.exti_line = EXTI_Line13,
.exti_irqn = EXTI15_10_IRQn
};
return &spRacingF3MPU6050Config;
return &spRacingF3MPUIntExtiConfig;
#endif
#if defined(CC3D)
static const extiConfig_t CC3DMPU6000Config = {
.gpioAPB2Peripherals = RCC_APB2Periph_GPIOA,
.gpioPort = GPIOA,
.gpioPin = Pin_3,
.exti_port_source = GPIO_PortSourceGPIOA,
.exti_pin_source = GPIO_PinSource3,
.exti_line = EXTI_Line3,
.exti_irqn = EXTI3_IRQn
};
return &CC3DMPU6000Config;
#endif
#if defined(MOTOLAB) || defined(SPARKY)
static const mpu6050Config_t MotolabF3MPU6050Config = {
static const extiConfig_t MotolabF3MPU6050Config = {
.gpioAHBPeripherals = RCC_AHBPeriph_GPIOA,
.gpioPort = GPIOA,
.gpioPin = Pin_15,
@ -138,40 +154,26 @@ const mpu6050Config_t *selectMPU6050Config(void)
return NULL;
}
const mpu6000Config_t *selectMPU6000Config(void)
#ifdef USE_FAKE_GYRO
static void fakeGyroInit(uint16_t lpf)
{
#ifdef CC3D
static const mpu6000Config_t CC3DMPU6000Config = {
.gpioAPB2Peripherals = RCC_APB2Periph_GPIOA,
.gpioPort = GPIOA,
.gpioPin = Pin_3,
.exti_port_source = GPIO_PortSourceGPIOA,
.exti_pin_source = GPIO_PinSource3,
.exti_line = EXTI_Line3,
.exti_irqn = EXTI3_IRQn
};
return &CC3DMPU6000Config;
#endif
return NULL;
UNUSED(lpf);
}
#ifdef USE_FAKE_GYRO
static void fakeGyroInit(void) {}
static bool fakeGyroRead(int16_t *gyroADC) {
static bool fakeGyroRead(int16_t *gyroADC)
{
memset(gyroADC, 0, sizeof(int16_t[XYZ_AXIS_COUNT]));
return true;
}
static bool fakeGyroReadTemp(int16_t *tempData) {
static bool fakeGyroReadTemp(int16_t *tempData)
{
UNUSED(tempData);
return true;
}
bool fakeGyroDetect(gyro_t *gyro, uint16_t lpf)
bool fakeGyroDetect(gyro_t *gyro)
{
UNUSED(lpf);
gyro->init = fakeGyroInit;
gyro->read = fakeGyroRead;
gyro->temperature = fakeGyroReadTemp;
@ -197,7 +199,6 @@ bool fakeAccDetect(acc_t *acc)
bool detectGyro(void)
{
uint16_t gyroLpf = GYRO_LPF;
gyroSensor_e gyroHardware = GYRO_DEFAULT;
gyroAlign = ALIGN_DEFAULT;
@ -207,7 +208,7 @@ bool detectGyro(void)
; // fallthrough
case GYRO_MPU6050:
#ifdef USE_GYRO_MPU6050
if (mpu6050GyroDetect(selectMPU6050Config(), &gyro, gyroLpf)) {
if (mpu6050GyroDetect(&gyro)) {
#ifdef GYRO_MPU6050_ALIGN
gyroHardware = GYRO_MPU6050;
gyroAlign = GYRO_MPU6050_ALIGN;
@ -218,7 +219,7 @@ bool detectGyro(void)
; // fallthrough
case GYRO_L3G4200D:
#ifdef USE_GYRO_L3G4200D
if (l3g4200dDetect(&gyro, gyroLpf)) {
if (l3g4200dDetect(&gyro)) {
#ifdef GYRO_L3G4200D_ALIGN
gyroHardware = GYRO_L3G4200D;
gyroAlign = GYRO_L3G4200D_ALIGN;
@ -230,7 +231,7 @@ bool detectGyro(void)
case GYRO_MPU3050:
#ifdef USE_GYRO_MPU3050
if (mpu3050Detect(&gyro, gyroLpf)) {
if (mpu3050Detect(&gyro)) {
#ifdef GYRO_MPU3050_ALIGN
gyroHardware = GYRO_MPU3050;
gyroAlign = GYRO_MPU3050_ALIGN;
@ -242,7 +243,7 @@ bool detectGyro(void)
case GYRO_L3GD20:
#ifdef USE_GYRO_L3GD20
if (l3gd20Detect(&gyro, gyroLpf)) {
if (l3gd20Detect(&gyro)) {
#ifdef GYRO_L3GD20_ALIGN
gyroHardware = GYRO_L3GD20;
gyroAlign = GYRO_L3GD20_ALIGN;
@ -252,46 +253,39 @@ bool detectGyro(void)
#endif
; // fallthrough
case GYRO_SPI_MPU6000:
case GYRO_MPU6000:
#ifdef USE_GYRO_SPI_MPU6000
if (mpu6000SpiGyroDetect(selectMPU6000Config(), &gyro, gyroLpf)) {
#ifdef GYRO_SPI_MPU6000_ALIGN
gyroHardware = GYRO_SPI_MPU6000;
gyroAlign = GYRO_SPI_MPU6000_ALIGN;
if (mpu6000SpiGyroDetect(&gyro)) {
#ifdef GYRO_MPU6000_ALIGN
gyroHardware = GYRO_MPU6000;
gyroAlign = GYRO_MPU6000_ALIGN;
#endif
break;
}
#endif
; // fallthrough
case GYRO_SPI_MPU6500:
case GYRO_MPU6500:
#ifdef USE_GYRO_MPU6500
#ifdef USE_GYRO_SPI_MPU6500
#ifdef USE_HARDWARE_REVISION_DETECTION
spiBusInit();
#endif
#ifdef NAZE
if (hardwareRevision == NAZE32_SP && mpu6500SpiGyroDetect(&gyro, gyroLpf)) {
#ifdef GYRO_SPI_MPU6500_ALIGN
gyroHardware = GYRO_SPI_MPU6500;
gyroAlign = GYRO_SPI_MPU6500_ALIGN;
#endif
break;
}
if (mpu6500GyroDetect(&gyro) || mpu6500SpiGyroDetect(&gyro))
#else
if (mpu6500SpiGyroDetect(&gyro, gyroLpf)) {
#ifdef GYRO_SPI_MPU6500_ALIGN
gyroHardware = GYRO_SPI_MPU6500;
gyroAlign = GYRO_SPI_MPU6500_ALIGN;
if (mpu6500GyroDetect(&gyro))
#endif
{
gyroHardware = GYRO_MPU6500;
#ifdef GYRO_MPU6500_ALIGN
gyroAlign = GYRO_MPU6500_ALIGN;
#endif
break;
}
#endif
#endif
; // fallthrough
case GYRO_FAKE:
#ifdef USE_FAKE_GYRO
if (fakeGyroDetect(&gyro, gyroLpf)) {
if (fakeGyroDetect(&gyro)) {
gyroHardware = GYRO_FAKE;
break;
}
@ -315,7 +309,7 @@ static void detectAcc(accelerationSensor_e accHardwareToUse)
{
accelerationSensor_e accHardware;
#ifdef USE_ACC_ADXL345
#ifdef USE_ACC_ADXL345
drv_adxl345_config_t acc_params;
#endif
@ -355,7 +349,7 @@ retry:
; // fallthrough
case ACC_MPU6050: // MPU6050
#ifdef USE_ACC_MPU6050
if (mpu6050AccDetect(selectMPU6050Config(), &acc)) {
if (mpu6050AccDetect(&acc)) {
#ifdef ACC_MPU6050_ALIGN
accAlign = ACC_MPU6050_ALIGN;
#endif
@ -391,28 +385,29 @@ retry:
}
#endif
; // fallthrough
case ACC_SPI_MPU6000:
case ACC_MPU6000:
#ifdef USE_ACC_SPI_MPU6000
if (mpu6000SpiAccDetect(selectMPU6000Config(), &acc)) {
#ifdef ACC_SPI_MPU6000_ALIGN
accAlign = ACC_SPI_MPU6000_ALIGN;
if (mpu6000SpiAccDetect(&acc)) {
#ifdef ACC_MPU6000_ALIGN
accAlign = ACC_MPU6000_ALIGN;
#endif
accHardware = ACC_SPI_MPU6000;
accHardware = ACC_MPU6000;
break;
}
#endif
; // fallthrough
case ACC_SPI_MPU6500:
case ACC_MPU6500:
#ifdef USE_ACC_MPU6500
#ifdef USE_ACC_SPI_MPU6500
#ifdef NAZE
if (hardwareRevision == NAZE32_SP && mpu6500SpiAccDetect(&acc)) {
if (mpu6500AccDetect(&acc) || mpu6500SpiAccDetect(&acc))
#else
if (mpu6500SpiAccDetect(&acc)) {
if (mpu6500AccDetect(&acc))
#endif
#ifdef ACC_SPI_MPU6500_ALIGN
accAlign = ACC_SPI_MPU6500_ALIGN;
{
#ifdef ACC_MPU6500_ALIGN
accAlign = ACC_MPU6500_ALIGN;
#endif
accHardware = ACC_SPI_MPU6500;
accHardware = ACC_MPU6500;
break;
}
#endif
@ -449,7 +444,9 @@ retry:
static void detectBaro(baroSensor_e baroHardwareToUse)
{
#ifdef BARO
#ifndef BARO
UNUSED(baroHardwareToUse);
#else
// Detect what pressure sensors are available. baro->update() is set to sensor-specific update function
baroSensor_e baroHardware = baroHardwareToUse;
@ -638,9 +635,19 @@ bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint8_t a
{
int16_t deg, min;
uint16_t gyroLpf = GYRO_LPF;
memset(&acc, 0, sizeof(acc));
memset(&gyro, 0, sizeof(gyro));
#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)
const extiConfig_t *extiConfig = selectMPUIntExtiConfig();
mpuDetectionResult_t *mpuDetectionResult = detectMpu(extiConfig);
UNUSED(mpuDetectionResult);
#endif
if (!detectGyro()) {
return false;
}
@ -652,8 +659,8 @@ bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint8_t a
if (sensors(SENSOR_ACC))
acc.init();
// this is safe because either mpu6050 or mpu3050 or lg3d20 sets it, and in case of fail, we never get here.
gyroUpdateSampleRate(); // Set gyro refresh rate before initialisation
gyro.init();
gyroUpdateSampleRate(); // Set gyro refresh rate before initialisation
gyro.init(gyroLpf);
detectMag(magHardwareToUse);
@ -672,4 +679,3 @@ bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint8_t a
return true;
}