Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-16 04:45:24 +03:00
Code Issues Wiki Activity

Decouple sensor alignment from all acc/gyro/mag drivers.

Browse source 
This resulted in the removal of duplicate logic, duplicate code and the
removal of a temporary buffer per-driver.

The NAZE specific sensor alignment is now contained within the core code
instead of in the drivers.
The sensor alignment is determines by the sensor initialisation code.
The alignment of sensor readings is now performed once and only by the
appropriate sensor code, see usages of alignSensors().

The acc/gyro/compass driver code is now more reusable since it has no
dependencies on the main code.
This commit is contained in:
Dominic Clifton 2014-04-21 14:14:14 +01:00
parent 0f3e4add48
commit 297609d4c3
18 changed files with 124 additions and 185 deletions
Download patch file Download diff file Expand all files Collapse all files

38
src/sensors_initialisation.c
View file

@ -4,6 +4,7 @@
#include "sensors_acceleration.h"
#include "sensors_barometer.h"
#include "sensors_gyro.h"
#include "sensors_compass.h"
#include "sensors_common.h"
@ -38,12 +39,13 @@ void sensorsAutodetect(void)
// Autodetect gyro hardware. We have MPU3050 or MPU6050.
if (mpu6050Detect(&acc, &gyro, mcfg.gyro_lpf)) {
// this filled up acc.* struct with init values
haveMpu6k = true;
gyroAlign = CW0_DEG; // default NAZE alignment
} else if (l3g4200dDetect(&gyro, mcfg.gyro_lpf)) {
// well, we found our gyro
;
} else if (!mpu3050Detect(&gyro, mcfg.gyro_lpf)) {
gyroAlign = CW0_DEG;
} else if (mpu3050Detect(&gyro, mcfg.gyro_lpf)) {
gyroAlign = CW0_DEG;
} else {
// if this fails, we get a beep + blink pattern. we're doomed, no gyro or i2c error.
failureMode(3);
}
@ -58,8 +60,10 @@ retry:
case ACC_ADXL345: // ADXL345
acc_params.useFifo = false;
acc_params.dataRate = 800; // unused currently
if (adxl345Detect(&acc_params, &acc))
if (adxl345Detect(&acc_params, &acc)) {
accHardware = ACC_ADXL345;
accAlign = CW270_DEG; // default NAZE alignment
}
if (mcfg.acc_hardware == ACC_ADXL345)
break;
; // fallthrough
@ -67,6 +71,7 @@ retry:
if (haveMpu6k) {
mpu6050Detect(&acc, &gyro, mcfg.gyro_lpf); // yes, i'm rerunning it again. re-fill acc struct
accHardware = ACC_MPU6050;
accAlign = CW0_DEG; // default NAZE alignment
if (mcfg.acc_hardware == ACC_MPU6050)
break;
}
@ -75,6 +80,7 @@ retry:
case ACC_MMA8452: // MMA8452
if (mma8452Detect(&acc)) {
accHardware = ACC_MMA8452;
accAlign = CW90_DEG; // default NAZE alignment
if (mcfg.acc_hardware == ACC_MMA8452)
break;
}
@ -82,6 +88,7 @@ retry:
case ACC_BMA280: // BMA280
if (bma280Detect(&acc)) {
accHardware = ACC_BMA280;
accAlign = CW0_DEG; //
if (mcfg.acc_hardware == ACC_BMA280)
break;
}
@ -113,22 +120,27 @@ retry:
// Now time to init things, acc first
if (sensors(SENSOR_ACC))
acc.init(mcfg.acc_align);
acc.init();
// this is safe because either mpu6050 or mpu3050 or lg3d20 sets it, and in case of fail, we never get here.
gyro.init(mcfg.gyro_align);
gyro.init();
#ifdef MAG
if (!hmc5883lDetect(mcfg.mag_align))
if (hmc5883lDetect()) {
magAlign = CW180_DEG; // default NAZE alignment
} else {
sensorsClear(SENSOR_MAG);
}
#endif
if (sensors(SENSOR_MAG)) {
// calculate magnetic declination
deg = cfg.mag_declination / 100;
min = cfg.mag_declination % 100;
if (sensors(SENSOR_MAG))
deg = cfg.mag_declination / 100;
min = cfg.mag_declination % 100;
magneticDeclination = (deg + ((float)min * (1.0f / 60.0f))) * 10; // heading is in 0.1deg units
else
magneticDeclination = 0.0f;
} else {
magneticDeclination = 0.0f; // TODO investigate if this is actually needed if there is no mag sensor or if the value stored in the config should be used.
}
}
#endif