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Add MPU9150 mag support and mag autodetection. Add AK8975 mag driver.

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Note: not working on the sparky, MPU9150 needs passthough enabling but
when enabled the mag and gyro won't ack on the default addresses.  Needs
further investigation.
This commit is contained in:
Dominic Clifton 2014-12-21 17:55:13 +00:00
parent 13305dd2e4
commit 183c5f8e16
47 changed files with 348 additions and 55 deletions
Download patch file Download diff file Expand all files Collapse all files

94
src/main/sensors/initialisation.c
View file

@ -24,8 +24,9 @@
#include "common/axis.h"
#include "drivers/accgyro.h"
#include "drivers/sensor.h"
#include "drivers/accgyro.h"
#include "drivers/accgyro_adxl345.h"
#include "drivers/accgyro_bma280.h"
#include "drivers/accgyro_l3g4200d.h"
@ -43,8 +44,13 @@
#include "drivers/barometer.h"
#include "drivers/barometer_bmp085.h"
#include "drivers/barometer_ms5611.h"
#include "drivers/compass.h"
#include "drivers/compass_hmc5883l.h"
#include "drivers/compass_ak8975.h"
#include "drivers/sonar_hcsr04.h"
#include "drivers/gpio.h"
#include "drivers/system.h"
@ -330,7 +336,7 @@ retry:
// Found anything? Check if error or ACC is really missing.
if (accHardware == ACC_DEFAULT) {
if (accHardwareToUse > ACC_DEFAULT) {
if (accHardwareToUse > ACC_DEFAULT && accHardwareToUse < ACC_NONE) {
// Nothing was found and we have a forced sensor that isn't present.
accHardwareToUse = ACC_DEFAULT;
goto retry;
@ -384,6 +390,77 @@ static void detectBaro()
sensorsClear(SENSOR_BARO);
}
static void detectMag(uint8_t magHardwareToUse)
{
#ifdef USE_MAG_HMC5883
static hmc5883Config_t *hmc5883Config = 0;
#ifdef NAZE
hmc5883Config_t nazeHmc5883Config;
if (hardwareRevision < NAZE32_REV5) {
nazeHmc5883Config.gpioAPB2Peripherals = RCC_APB2Periph_GPIOB;
nazeHmc5883Config.gpioPin = Pin_12;
nazeHmc5883Config.gpioPort = GPIOB;
} else {
nazeHmc5883Config.gpioAPB2Peripherals = RCC_APB2Periph_GPIOC;
nazeHmc5883Config.gpioPin = Pin_14;
nazeHmc5883Config.gpioPort = GPIOC;
}
hmc5883Config = &nazeHmc5883Config;
#endif
#endif
retry:
magAlign = ALIGN_DEFAULT;
switch(magHardwareToUse) {
case MAG_NONE: // disable MAG
sensorsClear(SENSOR_MAG);
break;
case MAG_DEFAULT: // autodetect
#ifdef USE_MAG_HMC5883
case MAG_HMC5883:
if (hmc5883lDetect(&mag, hmc5883Config)) {
#ifdef NAZE
magAlign = CW180_DEG;
#endif
magHardware = MAG_HMC5883;
if (magHardwareToUse == MAG_HMC5883)
break;
}
; // fallthrough
#endif
#ifdef USE_MAG_AK8975
case MAG_AK8975:
if (ak8975detect(&mag)) {
magHardware = MAG_AK8975;
if (magHardwareToUse == MAG_AK8975)
break;
}
; // fallthrough
#endif
; // prevent compiler error.
}
if (magHardware == MAG_DEFAULT) {
if (magHardwareToUse > MAG_DEFAULT && magHardwareToUse < MAG_NONE) {
// Nothing was found and we have a forced sensor that isn't present.
magHardwareToUse = MAG_DEFAULT;
goto retry;
} else {
// No MAG was detected
sensorsClear(SENSOR_MAG);
}
}
}
void reconfigureAlignment(sensorAlignmentConfig_t *sensorAlignmentConfig)
{
if (sensorAlignmentConfig->gyro_align != ALIGN_DEFAULT) {
@ -397,7 +474,7 @@ void reconfigureAlignment(sensorAlignmentConfig_t *sensorAlignmentConfig)
}
}
bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint16_t gyroLpf, uint8_t accHardwareToUse, int16_t magDeclinationFromConfig)
bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint16_t gyroLpf, uint8_t accHardwareToUse, uint8_t magHardwareToUse, int16_t magDeclinationFromConfig)
{
int16_t deg, min;
memset(&acc, sizeof(acc), 0);
@ -409,16 +486,7 @@ bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint16_t
sensorsSet(SENSOR_GYRO);
detectAcc(accHardwareToUse);
detectBaro();
#ifdef MAG
if (hmc5883lDetect()) {
#ifdef NAZE
magAlign = CW180_DEG;
#endif
} else {
sensorsClear(SENSOR_MAG);
}
#endif
detectMag(magHardwareToUse);
reconfigureAlignment(sensorAlignmentConfig);