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Code Issues Wiki Activity

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

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This commit is contained in:
Mark Haslinghuis 2024-12-31 20:06:39 +01:00 • committed by GitHub
parent ef81595f1d
commit 38928085f2
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GPG key ID: B5690EEEBB952194
26 changed files with 114 additions and 1483 deletions
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20
mk/source.mk
View file

@ -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

43
src/main/cli/settings.c
View file

@ -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)

3
src/main/drivers/accgyro/accgyro.h
View file

@ -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,

2
src/main/drivers/accgyro/accgyro_mpu.c
View file

@ -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;

114
src/main/drivers/accgyro/accgyro_mpu3050.c
View file

@ -1,114 +0,0 @@
/*
* This file is part of Cleanflight and Betaflight.
*
* Cleanflight and Betaflight are free software. You can redistribute
* this software and/or modify this software under the terms of the
* GNU General Public License as published by the Free Software
* Foundation, either version 3 of the License, or (at your option)
* any later version.
*
* Cleanflight and Betaflight are distributed in the hope that they
* will be useful, but WITHOUT ANY WARRANTY; without even the implied
* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this software.
*
* If not, see <http://www.gnu.org/licenses/>.
*/
// NOTE: This gyro is considered obsolete and may be removed in the future.
#include <stdbool.h>
#include <stdint.h>
#include "platform.h"
#ifdef USE_GYRO_MPU3050
#include "common/maths.h"
#include "common/utils.h"
#include "drivers/bus_i2c.h"
#include "drivers/exti.h"
#include "drivers/sensor.h"
#include "drivers/system.h"
#include "drivers/time.h"
#include "accgyro.h"
#include "accgyro_mpu.h"
#include "accgyro_mpu3050.h"
// MPU3050, Standard address 0x68
#define MPU3050_ADDRESS 0x68
// Bits
#define MPU3050_FS_SEL_2000DPS 0x18
#define MPU3050_DLPF_10HZ 0x05
#define MPU3050_DLPF_20HZ 0x04
#define MPU3050_DLPF_42HZ 0x03
#define MPU3050_DLPF_98HZ 0x02
#define MPU3050_DLPF_188HZ 0x01
#define MPU3050_DLPF_256HZ 0x00
#define MPU3050_USER_RESET 0x01
#define MPU3050_CLK_SEL_PLL_GX 0x01
static void mpu3050Init(gyroDev_t *gyro)
{
delay(25); // datasheet page 13 says 20ms. other stuff could have been running meanwhile. but we'll be safe
const bool ack = busWriteRegister(&gyro->bus, MPU3050_SMPLRT_DIV, 0);
if (!ack) {
failureMode(FAILURE_ACC_INIT);
}
busWriteRegister(&gyro->bus, MPU3050_DLPF_FS_SYNC, MPU3050_FS_SEL_2000DPS | MPU3050_DLPF_256HZ);
busWriteRegister(&gyro->bus, MPU3050_INT_CFG, 0);
busWriteRegister(&gyro->bus, MPU3050_USER_CTRL, MPU3050_USER_RESET);
busWriteRegister(&gyro->bus, MPU3050_PWR_MGM, MPU3050_CLK_SEL_PLL_GX);
}
static bool mpu3050GyroRead(gyroDev_t *gyro)
{
uint8_t data[6];
const bool ack = busReadRegisterBuffer(&gyro->bus, MPU3050_GYRO_OUT, data, 6);
if (!ack) {
return false;
}
gyro->gyroADCRaw[X] = (int16_t)((data[0] << 8) | data[1]);
gyro->gyroADCRaw[Y] = (int16_t)((data[2] << 8) | data[3]);
gyro->gyroADCRaw[Z] = (int16_t)((data[4] << 8) | data[5]);
return true;
}
static bool mpu3050ReadTemperature(gyroDev_t *gyro, int16_t *tempData)
{
uint8_t buf[2];
if (!busReadRegisterBuffer(&gyro->bus, MPU3050_TEMP_OUT, buf, 2)) {
return false;
}
*tempData = 35 + ((int32_t)(buf[0] << 8 | buf[1]) + 13200) / 280;
return true;
}
bool mpu3050Detect(gyroDev_t *gyro)
{
if (gyro->mpuDetectionResult.sensor != MPU_3050) {
return false;
}
gyro->initFn = mpu3050Init;
gyro->readFn = mpu3050GyroRead;
gyro->temperatureFn = mpu3050ReadTemperature;
gyro->scale = GYRO_SCALE_2000DPS;
return true;
}
#endif

32
src/main/drivers/accgyro/accgyro_mpu3050.h
View file

@ -1,32 +0,0 @@
/*
* This file is part of Cleanflight and Betaflight.
*
* Cleanflight and Betaflight are free software. You can redistribute
* this software and/or modify this software under the terms of the
* GNU General Public License as published by the Free Software
* Foundation, either version 3 of the License, or (at your option)
* any later version.
*
* Cleanflight and Betaflight are distributed in the hope that they
* will be useful, but WITHOUT ANY WARRANTY; without even the implied
* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this software.
*
* If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
// Registers
#define MPU3050_SMPLRT_DIV 0x15
#define MPU3050_DLPF_FS_SYNC 0x16
#define MPU3050_INT_CFG 0x17
#define MPU3050_TEMP_OUT 0x1B
#define MPU3050_GYRO_OUT 0x1D
#define MPU3050_USER_CTRL 0x3D
#define MPU3050_PWR_MGM 0x3E
bool mpu3050Detect(gyroDev_t *gyro);

7
src/main/drivers/accgyro/accgyro_mpu6500.c
View file

@ -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

4
src/main/drivers/accgyro/accgyro_spi_icm20689.c
View file

@ -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

4
src/main/drivers/accgyro/accgyro_spi_mpu6500.c
View file

@ -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

4
src/main/drivers/accgyro/accgyro_spi_mpu9250.c
View file

@ -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

139
src/main/drivers/accgyro/legacy/accgyro_adxl345.c
View file

@ -1,139 +0,0 @@
/*
* This file is part of Cleanflight and Betaflight.
*
* Cleanflight and Betaflight are free software. You can redistribute
* this software and/or modify this software under the terms of the
* GNU General Public License as published by the Free Software
* Foundation, either version 3 of the License, or (at your option)
* any later version.
*
* Cleanflight and Betaflight are distributed in the hope that they
* will be useful, but WITHOUT ANY WARRANTY; without even the implied
* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this software.
*
* If not, see <http://www.gnu.org/licenses/>.
*/
#include <stdbool.h>
#include <stdint.h>
#include "platform.h"
#ifdef USE_ACC_ADXL345
#include "drivers/bus_i2c.h"
#include "drivers/sensor.h"
#include "drivers/accgyro/accgyro.h"
#include "accgyro_adxl345.h"
// ADXL345, Alternative address mode 0x53
#define ADXL345_ADDRESS 0x53
// Registers
#define ADXL345_BW_RATE 0x2C
#define ADXL345_POWER_CTL 0x2D
#define ADXL345_INT_ENABLE 0x2E
#define ADXL345_DATA_FORMAT 0x31
#define ADXL345_DATA_OUT 0x32
#define ADXL345_FIFO_CTL 0x38
// BW_RATE values
#define ADXL345_RATE_50 0x09
#define ADXL345_RATE_100 0x0A
#define ADXL345_RATE_200 0x0B
#define ADXL345_RATE_400 0x0C
#define ADXL345_RATE_800 0x0D
#define ADXL345_RATE_1600 0x0E
#define ADXL345_RATE_3200 0x0F
// various register values
#define ADXL345_POWER_MEAS 0x08
#define ADXL345_FULL_RANGE 0x08
#define ADXL345_RANGE_2G 0x00
#define ADXL345_RANGE_4G 0x01
#define ADXL345_RANGE_8G 0x02
#define ADXL345_RANGE_16G 0x03
#define ADXL345_FIFO_STREAM 0x80
static bool useFifo = false;
static void adxl345Init(accDev_t *acc)
{
if (useFifo) {
uint8_t fifoDepth = 16;
i2cWrite(MPU_I2C_INSTANCE, ADXL345_ADDRESS, ADXL345_POWER_CTL, ADXL345_POWER_MEAS);
i2cWrite(MPU_I2C_INSTANCE, ADXL345_ADDRESS, ADXL345_DATA_FORMAT, ADXL345_FULL_RANGE | ADXL345_RANGE_8G);
i2cWrite(MPU_I2C_INSTANCE, ADXL345_ADDRESS, ADXL345_BW_RATE, ADXL345_RATE_400);
i2cWrite(MPU_I2C_INSTANCE, ADXL345_ADDRESS, ADXL345_FIFO_CTL, (fifoDepth & 0x1F) | ADXL345_FIFO_STREAM);
} else {
i2cWrite(MPU_I2C_INSTANCE, ADXL345_ADDRESS, ADXL345_POWER_CTL, ADXL345_POWER_MEAS);
i2cWrite(MPU_I2C_INSTANCE, ADXL345_ADDRESS, ADXL345_DATA_FORMAT, ADXL345_FULL_RANGE | ADXL345_RANGE_8G);
i2cWrite(MPU_I2C_INSTANCE, ADXL345_ADDRESS, ADXL345_BW_RATE, ADXL345_RATE_100);
}
acc->acc_1G = 256; // 3.3V operation
}
uint8_t acc_samples = 0;
static bool adxl345Read(accDev_t *acc)
{
uint8_t buf[8];
if (useFifo) {
int32_t x = 0;
int32_t y = 0;
int32_t z = 0;
uint8_t i = 0;
uint8_t samples_remaining;
do {
i++;
if (!i2cRead(MPU_I2C_INSTANCE, ADXL345_ADDRESS, ADXL345_DATA_OUT, 8, buf)) {
return false;
}
x += (int16_t)(buf[0] + (buf[1] << 8));
y += (int16_t)(buf[2] + (buf[3] << 8));
z += (int16_t)(buf[4] + (buf[5] << 8));
samples_remaining = buf[7] & 0x7F;
} while ((i < 32) && (samples_remaining > 0));
acc->ADCRaw[0] = x / i;
acc->ADCRaw[1] = y / i;
acc->ADCRaw[2] = z / i;
acc_samples = i;
} else {
if (!i2cRead(MPU_I2C_INSTANCE, ADXL345_ADDRESS, ADXL345_DATA_OUT, 6, buf)) {
return false;
}
acc->ADCRaw[0] = buf[0] + (buf[1] << 8);
acc->ADCRaw[1] = buf[2] + (buf[3] << 8);
acc->ADCRaw[2] = buf[4] + (buf[5] << 8);
}
return true;
}
bool adxl345Detect(drv_adxl345_config_t *init, accDev_t *acc)
{
uint8_t sig = 0;
bool ack = i2cRead(MPU_I2C_INSTANCE, ADXL345_ADDRESS, 0x00, 1, &sig);
if (!ack || sig != 0xE5)
return false;
// use ADXL345's fifo to filter data or not
useFifo = init->useFifo;
acc->initFn = adxl345Init;
acc->readFn = adxl345Read;
return true;
}
#endif

28
src/main/drivers/accgyro/legacy/accgyro_adxl345.h
View file

@ -1,28 +0,0 @@
/*
* This file is part of Cleanflight and Betaflight.
*
* Cleanflight and Betaflight are free software. You can redistribute
* this software and/or modify this software under the terms of the
* GNU General Public License as published by the Free Software
* Foundation, either version 3 of the License, or (at your option)
* any later version.
*
* Cleanflight and Betaflight are distributed in the hope that they
* will be useful, but WITHOUT ANY WARRANTY; without even the implied
* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this software.
*
* If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
typedef struct drv_adxl345_config_s {
uint16_t dataRate;
bool useFifo;
} drv_adxl345_config_t;
bool adxl345Detect(drv_adxl345_config_t *init, accDev_t *acc);

76
src/main/drivers/accgyro/legacy/accgyro_bma280.c
View file

@ -1,76 +0,0 @@
/*
* This file is part of Cleanflight and Betaflight.
*
* Cleanflight and Betaflight are free software. You can redistribute
* this software and/or modify this software under the terms of the
* GNU General Public License as published by the Free Software
* Foundation, either version 3 of the License, or (at your option)
* any later version.
*
* Cleanflight and Betaflight are distributed in the hope that they
* will be useful, but WITHOUT ANY WARRANTY; without even the implied
* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this software.
*
* If not, see <http://www.gnu.org/licenses/>.
*/
#include <stdbool.h>
#include <stdint.h>
#include "platform.h"
#ifdef USE_ACC_BMA280
#include "drivers/bus_i2c.h"
#include "drivers/sensor.h"
#include "drivers/accgyro/accgyro.h"
#include "accgyro_bma280.h"
// BMA280, default I2C address mode 0x18
#define BMA280_ADDRESS 0x18
#define BMA280_ACC_X_LSB 0x02
#define BMA280_PMU_BW 0x10
#define BMA280_PMU_RANGE 0x0F
static void bma280Init(accDev_t *acc)
{
i2cWrite(MPU_I2C_INSTANCE, BMA280_ADDRESS, BMA280_PMU_RANGE, 0x08); // +-8g range
i2cWrite(MPU_I2C_INSTANCE, BMA280_ADDRESS, BMA280_PMU_BW, 0x0E); // 500Hz BW
acc->acc_1G = 512 * 8;
}
static bool bma280Read(accDev_t *acc)
{
uint8_t buf[6];
if (!i2cRead(MPU_I2C_INSTANCE, BMA280_ADDRESS, BMA280_ACC_X_LSB, 6, buf)) {
return false;
}
// Data format is lsb<5:0><crap><new_data_bit> | msb<13:6>
acc->ADCRaw[0] = (int16_t)((buf[0] >> 2) + (buf[1] << 8));
acc->ADCRaw[1] = (int16_t)((buf[2] >> 2) + (buf[3] << 8));
acc->ADCRaw[2] = (int16_t)((buf[4] >> 2) + (buf[5] << 8));
return true;
}
bool bma280Detect(accDev_t *acc)
{
uint8_t sig = 0;
bool ack = i2cRead(MPU_I2C_INSTANCE, BMA280_ADDRESS, 0x00, 1, &sig);
if (!ack || sig != 0xFB)
return false;
acc->initFn = bma280Init;
acc->readFn = bma280Read;
return true;
}
#endif

23
src/main/drivers/accgyro/legacy/accgyro_bma280.h
View file

@ -1,23 +0,0 @@
/*
* This file is part of Cleanflight and Betaflight.
*
* Cleanflight and Betaflight are free software. You can redistribute
* this software and/or modify this software under the terms of the
* GNU General Public License as published by the Free Software
* Foundation, either version 3 of the License, or (at your option)
* any later version.
*
* Cleanflight and Betaflight are distributed in the hope that they
* will be useful, but WITHOUT ANY WARRANTY; without even the implied
* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this software.
*
* If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
bool bma280Detect(accDev_t *acc);

119
src/main/drivers/accgyro/legacy/accgyro_l3g4200d.c
View file

@ -1,119 +0,0 @@
/*
* This file is part of Cleanflight and Betaflight.
*
* Cleanflight and Betaflight are free software. You can redistribute
* this software and/or modify this software under the terms of the
* GNU General Public License as published by the Free Software
* Foundation, either version 3 of the License, or (at your option)
* any later version.
*
* Cleanflight and Betaflight are distributed in the hope that they
* will be useful, but WITHOUT ANY WARRANTY; without even the implied
* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this software.
*
* If not, see <http://www.gnu.org/licenses/>.
*/
// NOTE: This gyro is considered obsolete and may be removed in the future.
#include <stdbool.h>
#include <stdint.h>
#include "platform.h"
#ifdef USE_GYRO_L3G4200D
#include "drivers/accgyro/accgyro.h"
#include "accgyro_l3g4200d.h"
#include "common/maths.h"
#include "common/axis.h"
#include "drivers/bus_i2c.h"
#include "drivers/time.h"
#include "drivers/sensor.h"
#include "drivers/system.h"
// L3G4200D, Standard address 0x68
#define L3G4200D_ADDRESS 0x68
#define L3G4200D_ID 0xD3
#define L3G4200D_AUTOINCR 0x80
// Registers
#define L3G4200D_WHO_AM_I 0x0F
#define L3G4200D_CTRL_REG1 0x20
#define L3G4200D_CTRL_REG2 0x21
#define L3G4200D_CTRL_REG3 0x22
#define L3G4200D_CTRL_REG4 0x23
#define L3G4200D_CTRL_REG5 0x24
#define L3G4200D_REFERENCE 0x25
#define L3G4200D_STATUS_REG 0x27
#define L3G4200D_GYRO_OUT 0x28
// Bits
#define L3G4200D_POWER_ON 0x0F
#define L3G4200D_FS_SEL_2000DPS 0xF0
#define L3G4200D_DLPF_32HZ 0x00
#define L3G4200D_DLPF_54HZ 0x40
#define L3G4200D_DLPF_78HZ 0x80
#define L3G4200D_DLPF_93HZ 0xC0
static void l3g4200dInit(gyroDev_t *gyro)
{
bool ack;
// Removed lowpass filter selection and just default to 32Hz regardless of gyro->hardware_lpf
// The previous selection was broken anyway as the old gyro->lpf values ranged from 0-7 and
// the switch statement would have always taken the default and used L3G4200D_DLPF_32HZ
delay(100);
ack = i2cWrite(MPU_I2C_INSTANCE, L3G4200D_ADDRESS, L3G4200D_CTRL_REG4, L3G4200D_FS_SEL_2000DPS);
if (!ack)
failureMode(FAILURE_ACC_INIT);
delay(5);
i2cWrite(MPU_I2C_INSTANCE, L3G4200D_ADDRESS, L3G4200D_CTRL_REG1, L3G4200D_POWER_ON | L3G4200D_DLPF_32HZ);
UNUSED(gyro);
}
// Read 3 gyro values into user-provided buffer. No overrun checking is done.
static bool l3g4200dRead(gyroDev_t *gyro)
{
uint8_t buf[6];
if (!i2cRead(MPU_I2C_INSTANCE, L3G4200D_ADDRESS, L3G4200D_AUTOINCR | L3G4200D_GYRO_OUT, 6, buf)) {
return false;
}
gyro->gyroADCRaw[X] = (int16_t)((buf[0] << 8) | buf[1]);
gyro->gyroADCRaw[Y] = (int16_t)((buf[2] << 8) | buf[3]);
gyro->gyroADCRaw[Z] = (int16_t)((buf[4] << 8) | buf[5]);
return true;
}
bool l3g4200dDetect(gyroDev_t *gyro)
{
uint8_t deviceid;
delay(25);
i2cRead(MPU_I2C_INSTANCE, L3G4200D_ADDRESS, L3G4200D_WHO_AM_I, 1, &deviceid);
if (deviceid != L3G4200D_ID)
return false;
gyro->initFn = l3g4200dInit;
gyro->readFn = l3g4200dRead;
// 14.2857dps/lsb scalefactor
gyro->scale = 1.0f / 14.2857f;
return true;
}
#endif

23
src/main/drivers/accgyro/legacy/accgyro_l3g4200d.h
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/*
* This file is part of Cleanflight and Betaflight.
*
* Cleanflight and Betaflight are free software. You can redistribute
* this software and/or modify this software under the terms of the
* GNU General Public License as published by the Free Software
* Foundation, either version 3 of the License, or (at your option)
* any later version.
*
* Cleanflight and Betaflight are distributed in the hope that they
* will be useful, but WITHOUT ANY WARRANTY; without even the implied
* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this software.
*
* If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
bool l3g4200dDetect(gyroDev_t *gyro);

171
src/main/drivers/accgyro/legacy/accgyro_lsm303dlhc.c
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/*
* This file is part of Cleanflight and Betaflight.
*
* Cleanflight and Betaflight are free software. You can redistribute
* this software and/or modify this software under the terms of the
* GNU General Public License as published by the Free Software
* Foundation, either version 3 of the License, or (at your option)
* any later version.
*
* Cleanflight and Betaflight are distributed in the hope that they
* will be useful, but WITHOUT ANY WARRANTY; without even the implied
* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this software.
*
* If not, see <http://www.gnu.org/licenses/>.
*/
#include <stdbool.h>
#include <stdint.h>
#include "platform.h"
#ifdef USE_ACC_LSM303DLHC
#include "build/debug.h"
#include "common/maths.h"
#include "common/axis.h"
#include "drivers/time.h"
#include "drivers/io.h"
#include "drivers/bus_i2c.h"
#include "drivers/sensor.h"
#include "drivers/accgyro/accgyro.h"
#include "accgyro_lsm303dlhc.h"
// Addresses (7 bit address format)
#define LSM303DLHC_ACCEL_ADDRESS 0x19
#define LSM303DLHC_MAG_ADDRESS 0x1E
/**
* Address Auto Increment - See LSM303DLHC datasheet, Section 5.1.1 I2C operation.
* http://www.st.com/web/en/resource/technical/document/datasheet/DM00027543.pdf
*
* "The I2C embedded inside the LSM303DLHC behaves like a slave device and the following protocol must be adhered to.
* After the START condition (ST) a slave address is sent, once a slave acknowledge (SAK) has been returned, an 8-bit
* sub-address (SUB) is transmitted; the 7 LSBs represent the actual register address while the MSB enables address
* autoincrement.
*
* If the MSB of the SUB field is ‘1’, the SUB (register address) is automatically increased to allow multiple data
* Read/Write.
*
* To minimize the communication between the master and magnetic digital interface of LSM303DLHC, the address pointer
* updates automatically without master intervention. This automatic address pointer update has two additional
* features. First, when address 12 or higher is accessed, the pointer updates to address 00, and secondly, when
* address 08 is reached, the pointer rolls back to address 03. Logically, the address pointer operation functions
* as shown below.
* 1) If (address pointer = 08) then the address pointer = 03
* Or else, if (address pointer >= 12) then the address pointer = 0
* Or else, (address pointer) = (address pointer) + 1
*
* The address pointer value itself cannot be read via the I2C bus"
*/
#define AUTO_INCREMENT_ENABLE 0x80
// Registers
#define CTRL_REG1_A 0x20
#define CTRL_REG4_A 0x23
#define CTRL_REG5_A 0x24
#define OUT_X_L_A 0x28
#define CRA_REG_M 0x00
#define CRB_REG_M 0x01
#define MR_REG_M 0x02
#define OUT_X_H_M 0x03
///////////////////////////////////////
#define ODR_1344_HZ 0x90
#define AXES_ENABLE 0x07
#define FULLSCALE_2G 0x00
#define FULLSCALE_4G 0x10
#define FULLSCALE_8G 0x20
#define FULLSCALE_16G 0x30
#define BOOT 0x80
///////////////////////////////////////
#define ODR_75_HZ 0x18
#define ODR_15_HZ 0x10
#define FS_1P3_GA 0x20
#define FS_1P9_GA 0x40
#define FS_2P5_GA 0x60
#define FS_4P0_GA 0x80
#define FS_4P7_GA 0xA0
#define FS_5P6_GA 0xC0
#define FS_8P1_GA 0xE0
#define CONTINUOUS_CONVERSION 0x00
uint8_t accelCalibrating = false;
float accelOneG = 9.8065;
int32_t accelSum100Hz[3] = { 0, 0, 0 };
int32_t accelSum500Hz[3] = { 0, 0, 0 };
int32_t accelSummedSamples100Hz[3];
int32_t accelSummedSamples500Hz[3];
void lsm303dlhcAccInit(accDev_t *acc)
{
i2cWrite(MPU_I2C_INSTANCE, LSM303DLHC_ACCEL_ADDRESS, CTRL_REG5_A, BOOT);
delay(100);
i2cWrite(MPU_I2C_INSTANCE, LSM303DLHC_ACCEL_ADDRESS, CTRL_REG1_A, ODR_1344_HZ | AXES_ENABLE);
delay(10);
i2cWrite(MPU_I2C_INSTANCE, LSM303DLHC_ACCEL_ADDRESS, CTRL_REG4_A, FULLSCALE_4G);
delay(100);
acc->acc_1G = 512 * 8;
}
// Read 3 gyro values into user-provided buffer. No overrun checking is done.
static bool lsm303dlhcAccRead(accDev_t *acc)
{
uint8_t buf[6];
bool ack = i2cRead(MPU_I2C_INSTANCE, LSM303DLHC_ACCEL_ADDRESS, AUTO_INCREMENT_ENABLE | OUT_X_L_A, 6, buf);
if (!ack) {
return false;
}
// the values range from -8192 to +8191
acc->ADCRaw[X] = (int16_t)((buf[1] << 8) | buf[0]) / 2;
acc->ADCRaw[Y] = (int16_t)((buf[3] << 8) | buf[2]) / 2;
acc->ADCRaw[Z] = (int16_t)((buf[5] << 8) | buf[4]) / 2;
return true;
}
bool lsm303dlhcAccDetect(accDev_t *acc)
{
bool ack;
uint8_t status;
ack = i2cRead(MPU_I2C_INSTANCE, LSM303DLHC_ACCEL_ADDRESS, LSM303DLHC_STATUS_REG_A, 1, &status);
if (!ack) {
return false;
}
acc->initFn = lsm303dlhcAccInit;
acc->readFn = lsm303dlhcAccRead;
return true;
}
#endif

434
src/main/drivers/accgyro/legacy/accgyro_lsm303dlhc.h
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/*
* This file is part of Cleanflight and Betaflight.
*
* Cleanflight and Betaflight are free software. You can redistribute
* this software and/or modify this software under the terms of the
* GNU General Public License as published by the Free Software
* Foundation, either version 3 of the License, or (at your option)
* any later version.
*
* Cleanflight and Betaflight are distributed in the hope that they
* will be useful, but WITHOUT ANY WARRANTY; without even the implied
* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this software.
*
* If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
/**
* @brief LSM303DLHC Status
*/
/* LSM303DLHC ACC struct */
typedef struct {
uint8_t Power_Mode; /* Power-down/Normal Mode */
uint8_t AccOutput_DataRate; /* OUT data rate */
uint8_t Axes_Enable; /* Axes enable */
uint8_t High_Resolution; /* High Resolution enabling/disabling */
uint8_t BlockData_Update; /* Block Data Update */
uint8_t Endianness; /* Endian Data selection */
uint8_t AccFull_Scale; /* Full Scale selection */
} LSM303DLHCAcc_InitTypeDef;
/* LSM303DLHC Acc High Pass Filter struct */
typedef struct {
uint8_t HighPassFilter_Mode_Selection; /* Internal filter mode */
uint8_t HighPassFilter_CutOff_Frequency; /* High pass filter cut-off frequency */
uint8_t HighPassFilter_AOI1; /* HPF_enabling/disabling for AOI function on interrupt 1 */
uint8_t HighPassFilter_AOI2; /* HPF_enabling/disabling for AOI function on interrupt 2 */
} LSM303DLHCAcc_FilterConfigTypeDef;
/* LSM303DLHC Mag struct */
typedef struct {
uint8_t Temperature_Sensor; /* Temperature sensor enable/disable */
uint8_t MagOutput_DataRate; /* OUT data rate */
uint8_t Working_Mode; /* operating mode */
uint8_t MagFull_Scale; /* Full Scale selection */
} LSM303DLHCMag_InitTypeDef;
/**
* @}
*/
/** @defgroup STM32F3_DISCOVERY_LSM303DLHC_Exported_Constants
* @{
*/
#define LSM303DLHC_OK ((uint32_t) 0)
#define LSM303DLHC_FAIL ((uint32_t) 0)
/* Uncomment the following line to use the default LSM303DLHC_TIMEOUT_UserCallback()
function implemented in stm32f3_discovery_lgd20.c file.
LSM303DLHC_TIMEOUT_UserCallback() function is called whenever a timeout condition
occure during communication (waiting transmit data register empty flag(TXE)
or waiting receive data register is not empty flag (RXNE)). */
// #define USE_DEFAULT_TIMEOUT_CALLBACK
/* Maximum Timeout values for flags waiting loops. These timeouts are not based
on accurate values, they just guarantee that the application will not remain
stuck if the I2C communication is corrupted.
You may modify these timeout values depending on CPU frequency and application
conditions (interrupts routines ...). */
#define LSM303DLHC_FLAG_TIMEOUT ((uint32_t)0x1000)
#define LSM303DLHC_LONG_TIMEOUT ((uint32_t)(10 * LSM303DLHC_FLAG_TIMEOUT))
/******************************************************************************/
/*************************** START REGISTER MAPPING **************************/
/******************************************************************************/
/* Acceleration Registers */
#define LSM303DLHC_CTRL_REG1_A 0x20 /* Control register 1 acceleration */
#define LSM303DLHC_CTRL_REG2_A 0x21 /* Control register 2 acceleration */
#define LSM303DLHC_CTRL_REG3_A 0x22 /* Control register 3 acceleration */
#define LSM303DLHC_CTRL_REG4_A 0x23 /* Control register 4 acceleration */
#define LSM303DLHC_CTRL_REG5_A 0x24 /* Control register 5 acceleration */
#define LSM303DLHC_CTRL_REG6_A 0x25 /* Control register 6 acceleration */
#define LSM303DLHC_REFERENCE_A 0x26 /* Reference register acceleration */
#define LSM303DLHC_STATUS_REG_A 0x27 /* Status register acceleration */
#define LSM303DLHC_OUT_X_L_A 0x28 /* Output Register X acceleration */
#define LSM303DLHC_OUT_X_H_A 0x29 /* Output Register X acceleration */
#define LSM303DLHC_OUT_Y_L_A 0x2A /* Output Register Y acceleration */
#define LSM303DLHC_OUT_Y_H_A 0x2B /* Output Register Y acceleration */
#define LSM303DLHC_OUT_Z_L_A 0x2C /* Output Register Z acceleration */
#define LSM303DLHC_OUT_Z_H_A 0x2D /* Output Register Z acceleration */
#define LSM303DLHC_FIFO_CTRL_REG_A 0x2E /* Fifo control Register acceleration */
#define LSM303DLHC_FIFO_SRC_REG_A 0x2F /* Fifo src Register acceleration */
#define LSM303DLHC_INT1_CFG_A 0x30 /* Interrupt 1 configuration Register acceleration */
#define LSM303DLHC_INT1_SOURCE_A 0x31 /* Interrupt 1 source Register acceleration */
#define LSM303DLHC_INT1_THS_A 0x32 /* Interrupt 1 Threshold register acceleration */
#define LSM303DLHC_INT1_DURATION_A 0x33 /* Interrupt 1 DURATION register acceleration */
#define LSM303DLHC_INT2_CFG_A 0x34 /* Interrupt 2 configuration Register acceleration */
#define LSM303DLHC_INT2_SOURCE_A 0x35 /* Interrupt 2 source Register acceleration */
#define LSM303DLHC_INT2_THS_A 0x36 /* Interrupt 2 Threshold register acceleration */
#define LSM303DLHC_INT2_DURATION_A 0x37 /* Interrupt 2 DURATION register acceleration */
#define LSM303DLHC_CLICK_CFG_A 0x38 /* Click configuration Register acceleration */
#define LSM303DLHC_CLICK_SOURCE_A 0x39 /* Click 2 source Register acceleration */
#define LSM303DLHC_CLICK_THS_A 0x3A /* Click 2 Threshold register acceleration */
#define LSM303DLHC_TIME_LIMIT_A 0x3B /* Time Limit Register acceleration */
#define LSM303DLHC_TIME_LATENCY_A 0x3C /* Time Latency Register acceleration */
#define LSM303DLHC_TIME_WINDOW_A 0x3D /* Time window register acceleration */
/* Magnetic field Registers */
#define LSM303DLHC_CRA_REG_M 0x00 /* Control register A magnetic field */
#define LSM303DLHC_CRB_REG_M 0x01 /* Control register B magnetic field */
#define LSM303DLHC_MR_REG_M 0x02 /* Control register MR magnetic field */
#define LSM303DLHC_OUT_X_H_M 0x03 /* Output Register X magnetic field */
#define LSM303DLHC_OUT_X_L_M 0x04 /* Output Register X magnetic field */
#define LSM303DLHC_OUT_Z_H_M 0x05 /* Output Register Z magnetic field */
#define LSM303DLHC_OUT_Z_L_M 0x06 /* Output Register Z magnetic field */
#define LSM303DLHC_OUT_Y_H_M 0x07 /* Output Register Y magnetic field */
#define LSM303DLHC_OUT_Y_L_M 0x08 /* Output Register Y magnetic field */
#define LSM303DLHC_SR_REG_M 0x09 /* Status Register magnetic field */
#define LSM303DLHC_IRA_REG_M 0x0A /* IRA Register magnetic field */
#define LSM303DLHC_IRB_REG_M 0x0B /* IRB Register magnetic field */
#define LSM303DLHC_IRC_REG_M 0x0C /* IRC Register magnetic field */
#define LSM303DLHC_TEMP_OUT_H_M 0x31 /* Temperature Register magnetic field */
#define LSM303DLHC_TEMP_OUT_L_M 0x32 /* Temperature Register magnetic field */
/******************************************************************************/
/**************************** END REGISTER MAPPING ***************************/
/******************************************************************************/
#define ACC_I2C_ADDRESS 0x32
#define MAG_I2C_ADDRESS 0x3C
/** @defgroup Acc_Power_Mode_selection
* @{
*/
#define LSM303DLHC_NORMAL_MODE ((uint8_t)0x00)
#define LSM303DLHC_LOWPOWER_MODE ((uint8_t)0x08)
/**
* @}
*/
/** @defgroup Acc_OutPut_DataRate_Selection
* @{
*/
#define LSM303DLHC_ODR_1_HZ ((uint8_t)0x10) /*!< Output Data Rate = 1 Hz */
#define LSM303DLHC_ODR_10_HZ ((uint8_t)0x20) /*!< Output Data Rate = 10 Hz */
#define LSM303DLHC_ODR_25_HZ ((uint8_t)0x30) /*!< Output Data Rate = 25 Hz */
#define LSM303DLHC_ODR_50_HZ ((uint8_t)0x40) /*!< Output Data Rate = 50 Hz */
#define LSM303DLHC_ODR_100_HZ ((uint8_t)0x50) /*!< Output Data Rate = 100 Hz */
#define LSM303DLHC_ODR_200_HZ ((uint8_t)0x60) /*!< Output Data Rate = 200 Hz */
#define LSM303DLHC_ODR_400_HZ ((uint8_t)0x70) /*!< Output Data Rate = 400 Hz */
#define LSM303DLHC_ODR_1620_HZ_LP ((uint8_t)0x80) /*!< Output Data Rate = 1620 Hz only in Low Power Mode */
#define LSM303DLHC_ODR_1344_HZ ((uint8_t)0x90) /*!< Output Data Rate = 1344 Hz in Normal mode and 5376 Hz in Low Power Mode */
/**
* @}
*/
/** @defgroup Acc_Axes_Selection
* @{
*/
#define LSM303DLHC_X_ENABLE ((uint8_t)0x01)
#define LSM303DLHC_Y_ENABLE ((uint8_t)0x02)
#define LSM303DLHC_Z_ENABLE ((uint8_t)0x04)
#define LSM303DLHC_AXES_ENABLE ((uint8_t)0x07)
#define LSM303DLHC_AXES_DISABLE ((uint8_t)0x00)
/**
* @}
*/
/** @defgroup Acc_High_Resolution
* @{
*/
#define LSM303DLHC_HR_ENABLE ((uint8_t)0x08)
#define LSM303DLHC_HR_DISABLE ((uint8_t)0x00)
/**
* @}
*/
/** @defgroup Acc_Full_Scale_Selection
* @{
*/
#define LSM303DLHC_FULLSCALE_2G ((uint8_t)0x00) /*!< +/-2 g */
#define LSM303DLHC_FULLSCALE_4G ((uint8_t)0x10) /*!< +/-4 g */
#define LSM303DLHC_FULLSCALE_8G ((uint8_t)0x20) /*!< +/-8 g */
#define LSM303DLHC_FULLSCALE_16G ((uint8_t)0x30) /*!< +/-16 g */
/**
* @}
*/
/** @defgroup Acc_Block_Data_Update
* @{
*/
#define LSM303DLHC_BlockUpdate_Continous ((uint8_t)0x00) /*!< Continuos Update */
#define LSM303DLHC_BlockUpdate_Single ((uint8_t)0x80) /*!< Single Update: output registers not updated until MSB and LSB reading */
/**
* @}
*/
/** @defgroup Acc_Endian_Data_selection
* @{
*/
#define LSM303DLHC_BLE_LSB ((uint8_t)0x00) /*!< Little Endian: data LSB @ lower address */
#define LSM303DLHC_BLE_MSB ((uint8_t)0x40) /*!< Big Endian: data MSB @ lower address */
/**
* @}
*/
/** @defgroup Acc_Boot_Mode_selection
* @{
*/
#define LSM303DLHC_BOOT_NORMALMODE ((uint8_t)0x00)
#define LSM303DLHC_BOOT_REBOOTMEMORY ((uint8_t)0x80)
/**
* @}
*/
/** @defgroup Acc_High_Pass_Filter_Mode
* @{
*/
#define LSM303DLHC_HPM_NORMAL_MODE_RES ((uint8_t)0x00)
#define LSM303DLHC_HPM_REF_SIGNAL ((uint8_t)0x40)
#define LSM303DLHC_HPM_NORMAL_MODE ((uint8_t)0x80)
#define LSM303DLHC_HPM_AUTORESET_INT ((uint8_t)0xC0)
/**
* @}
*/
/** @defgroup Acc_High_Pass_CUT OFF_Frequency
* @{
*/
#define LSM303DLHC_HPFCF_8 ((uint8_t)0x00)
#define LSM303DLHC_HPFCF_16 ((uint8_t)0x10)
#define LSM303DLHC_HPFCF_32 ((uint8_t)0x20)
#define LSM303DLHC_HPFCF_64 ((uint8_t)0x30)
/**
* @}
*/
/** @defgroup Acc_High_Pass_Filter_status
* @{
*/
#define LSM303DLHC_HIGHPASSFILTER_DISABLE ((uint8_t)0x00)
#define LSM303DLHC_HIGHPASSFILTER_ENABLE ((uint8_t)0x08)
/**
* @}
*/
/** @defgroup Acc_High_Pass_Filter_Click_status
* @{
*/
#define LSM303DLHC_HPF_CLICK_DISABLE ((uint8_t)0x00)
#define LSM303DLHC_HPF_CLICK_ENABLE ((uint8_t)0x04)
/**
* @}
*/
/** @defgroup Acc_High_Pass_Filter_AOI1_status
* @{
*/
#define LSM303DLHC_HPF_AOI1_DISABLE ((uint8_t)0x00)
#define LSM303DLHC_HPF_AOI1_ENABLE ((uint8_t)0x01)
/**
* @}
*/
/** @defgroup Acc_High_Pass_Filter_AOI2_status
* @{
*/
#define LSM303DLHC_HPF_AOI2_DISABLE ((uint8_t)0x00)
#define LSM303DLHC_HPF_AOI2_ENABLE ((uint8_t)0x02)
/**
* @}
*/
/** @defgroup Acc_LSM303DLHC_Interrupt1_Configuration_definition
* @{
*/
#define LSM303DLHC_IT1_CLICK ((uint8_t)0x80)
#define LSM303DLHC_IT1_AOI1 ((uint8_t)0x40)
#define LSM303DLHC_IT1_AOI2 ((uint8_t)0x20)
#define LSM303DLHC_IT1_DRY1 ((uint8_t)0x10)
#define LSM303DLHC_IT1_DRY2 ((uint8_t)0x08)
#define LSM303DLHC_IT1_WTM ((uint8_t)0x04)
#define LSM303DLHC_IT1_OVERRUN ((uint8_t)0x02)
/**
* @}
*/
/** @defgroup Acc_LSM303DLHC_Interrupt2_Configuration_definition
* @{
*/
#define LSM303DLHC_IT2_CLICK ((uint8_t)0x80)
#define LSM303DLHC_IT2_INT1 ((uint8_t)0x40)
#define LSM303DLHC_IT2_INT2 ((uint8_t)0x20)
#define LSM303DLHC_IT2_BOOT ((uint8_t)0x10)
#define LSM303DLHC_IT2_ACT ((uint8_t)0x08)
#define LSM303DLHC_IT2_HLACTIVE ((uint8_t)0x02)
/**
* @}
*/
/** @defgroup Acc_INT_Combination_Status
* @{
*/
#define LSM303DLHC_OR_COMBINATION ((uint8_t)0x00) /*!< OR combination of enabled IRQs */
#define LSM303DLHC_AND_COMBINATION ((uint8_t)0x80) /*!< AND combination of enabled IRQs */
#define LSM303DLHC_MOV_RECOGNITION ((uint8_t)0x40) /*!< 6D movement recognition */
#define LSM303DLHC_POS_RECOGNITION ((uint8_t)0xC0) /*!< 6D position recognition */
/**
* @}
*/
/** @defgroup Acc_INT_Axes
* @{
*/
#define LSM303DLHC_Z_HIGH ((uint8_t)0x20) /*!< Z High enabled IRQs */
#define LSM303DLHC_Z_LOW ((uint8_t)0x10) /*!< Z low enabled IRQs */
#define LSM303DLHC_Y_HIGH ((uint8_t)0x08) /*!< Y High enabled IRQs */
#define LSM303DLHC_Y_LOW ((uint8_t)0x04) /*!< Y low enabled IRQs */
#define LSM303DLHC_X_HIGH ((uint8_t)0x02) /*!< X High enabled IRQs */
#define LSM303DLHC_X_LOW ((uint8_t)0x01) /*!< X low enabled IRQs */
/**
* @}
*/
/** @defgroup Acc_INT_Click
* @{
*/
#define LSM303DLHC_Z_DOUBLE_CLICK ((uint8_t)0x20) /*!< Z double click IRQs */
#define LSM303DLHC_Z_SINGLE_CLICK ((uint8_t)0x10) /*!< Z single click IRQs */
#define LSM303DLHC_Y_DOUBLE_CLICK ((uint8_t)0x08) /*!< Y double click IRQs */
#define LSM303DLHC_Y_SINGLE_CLICK ((uint8_t)0x04) /*!< Y single click IRQs */
#define LSM303DLHC_X_DOUBLE_CLICK ((uint8_t)0x02) /*!< X double click IRQs */
#define LSM303DLHC_X_SINGLE_CLICK ((uint8_t)0x01) /*!< X single click IRQs */
/**
* @}
*/
/** @defgroup Acc_INT1_Interrupt_status
* @{
*/
#define LSM303DLHC_INT1INTERRUPT_DISABLE ((uint8_t)0x00)
#define LSM303DLHC_INT1INTERRUPT_ENABLE ((uint8_t)0x80)
/**
* @}
*/
/** @defgroup Acc_INT1_Interrupt_ActiveEdge
* @{
*/
#define LSM303DLHC_INT1INTERRUPT_LOW_EDGE ((uint8_t)0x20)
#define LSM303DLHC_INT1INTERRUPT_HIGH_EDGE ((uint8_t)0x00)
/**
* @}
*/
/** @defgroup Mag_Data_Rate
* @{
*/
#define LSM303DLHC_ODR_0_75_HZ ((uint8_t) 0x00) /*!< Output Data Rate = 0.75 Hz */
#define LSM303DLHC_ODR_1_5_HZ ((uint8_t) 0x04) /*!< Output Data Rate = 1.5 Hz */
#define LSM303DLHC_ODR_3_0_HZ ((uint8_t) 0x08) /*!< Output Data Rate = 3 Hz */
#define LSM303DLHC_ODR_7_5_HZ ((uint8_t) 0x0C) /*!< Output Data Rate = 7.5 Hz */
#define LSM303DLHC_ODR_15_HZ ((uint8_t) 0x10) /*!< Output Data Rate = 15 Hz */
#define LSM303DLHC_ODR_30_HZ ((uint8_t) 0x14) /*!< Output Data Rate = 30 Hz */
#define LSM303DLHC_ODR_75_HZ ((uint8_t) 0x18) /*!< Output Data Rate = 75 Hz */
#define LSM303DLHC_ODR_220_HZ ((uint8_t) 0x1C) /*!< Output Data Rate = 220 Hz */
/**
* @}
*/
/** @defgroup Mag_Full_Scale
* @{
*/
#define LSM303DLHC_FS_1_3_GA ((uint8_t) 0x20) /*!< Full scale = +/-1.3 Gauss */
#define LSM303DLHC_FS_1_9_GA ((uint8_t) 0x40) /*!< Full scale = +/-1.9 Gauss */
#define LSM303DLHC_FS_2_5_GA ((uint8_t) 0x60) /*!< Full scale = +/-2.5 Gauss */
#define LSM303DLHC_FS_4_0_GA ((uint8_t) 0x80) /*!< Full scale = +/-4.0 Gauss */
#define LSM303DLHC_FS_4_7_GA ((uint8_t) 0xA0) /*!< Full scale = +/-4.7 Gauss */
#define LSM303DLHC_FS_5_6_GA ((uint8_t) 0xC0) /*!< Full scale = +/-5.6 Gauss */
#define LSM303DLHC_FS_8_1_GA ((uint8_t) 0xE0) /*!< Full scale = +/-8.1 Gauss */
/**
* @}
*/
/**
* @defgroup Magnetometer_Sensitivity
* @{
*/
#define LSM303DLHC_M_SENSITIVITY_XY_1_3Ga 1100 /*!< magnetometer X Y axes sensitivity for 1.3 Ga full scale [LSB/Ga] */
#define LSM303DLHC_M_SENSITIVITY_XY_1_9Ga 855 /*!< magnetometer X Y axes sensitivity for 1.9 Ga full scale [LSB/Ga] */
#define LSM303DLHC_M_SENSITIVITY_XY_2_5Ga 670 /*!< magnetometer X Y axes sensitivity for 2.5 Ga full scale [LSB/Ga] */
#define LSM303DLHC_M_SENSITIVITY_XY_4Ga 450 /*!< magnetometer X Y axes sensitivity for 4 Ga full scale [LSB/Ga] */
#define LSM303DLHC_M_SENSITIVITY_XY_4_7Ga 400 /*!< magnetometer X Y axes sensitivity for 4.7 Ga full scale [LSB/Ga] */
#define LSM303DLHC_M_SENSITIVITY_XY_5_6Ga 330 /*!< magnetometer X Y axes sensitivity for 5.6 Ga full scale [LSB/Ga] */
#define LSM303DLHC_M_SENSITIVITY_XY_8_1Ga 230 /*!< magnetometer X Y axes sensitivity for 8.1 Ga full scale [LSB/Ga] */
#define LSM303DLHC_M_SENSITIVITY_Z_1_3Ga 980 /*!< magnetometer Z axis sensitivity for 1.3 Ga full scale [LSB/Ga] */
#define LSM303DLHC_M_SENSITIVITY_Z_1_9Ga 760 /*!< magnetometer Z axis sensitivity for 1.9 Ga full scale [LSB/Ga] */
#define LSM303DLHC_M_SENSITIVITY_Z_2_5Ga 600 /*!< magnetometer Z axis sensitivity for 2.5 Ga full scale [LSB/Ga] */
#define LSM303DLHC_M_SENSITIVITY_Z_4Ga 400 /*!< magnetometer Z axis sensitivity for 4 Ga full scale [LSB/Ga] */
#define LSM303DLHC_M_SENSITIVITY_Z_4_7Ga 355 /*!< magnetometer Z axis sensitivity for 4.7 Ga full scale [LSB/Ga] */
#define LSM303DLHC_M_SENSITIVITY_Z_5_6Ga 295 /*!< magnetometer Z axis sensitivity for 5.6 Ga full scale [LSB/Ga] */
#define LSM303DLHC_M_SENSITIVITY_Z_8_1Ga 205 /*!< magnetometer Z axis sensitivity for 8.1 Ga full scale [LSB/Ga] */
/**
* @}
*/
/** @defgroup Mag_Working_Mode
* @{
*/
#define LSM303DLHC_CONTINUOS_CONVERSION ((uint8_t) 0x00) /*!< Continuous-Conversion Mode */
#define LSM303DLHC_SINGLE_CONVERSION ((uint8_t) 0x01) /*!< Single-Conversion Mode */
#define LSM303DLHC_SLEEP ((uint8_t) 0x02) /*!< Sleep Mode */
/**
* @}
*/
/** @defgroup Mag_Temperature_Sensor
* @{
*/
#define LSM303DLHC_TEMPSENSOR_ENABLE ((uint8_t) 0x80) /*!< Temp sensor Enable */
#define LSM303DLHC_TEMPSENSOR_DISABLE ((uint8_t) 0x00) /*!< Temp sensor Disable */
bool lsm303dlhcAccDetect(accDev_t *acc);

144
src/main/drivers/accgyro/legacy/accgyro_mma845x.c
View file

@ -1,144 +0,0 @@
/*
* This file is part of Cleanflight and Betaflight.
*
* Cleanflight and Betaflight are free software. You can redistribute
* this software and/or modify this software under the terms of the
* GNU General Public License as published by the Free Software
* Foundation, either version 3 of the License, or (at your option)
* any later version.
*
* Cleanflight and Betaflight are distributed in the hope that they
* will be useful, but WITHOUT ANY WARRANTY; without even the implied
* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this software.
*
* If not, see <http://www.gnu.org/licenses/>.
*/
#include <stdbool.h>
#include <stdint.h>
#include "platform.h"
#ifdef USE_ACC_MMA8452
#include "drivers/io.h"
#include "drivers/bus_i2c.h"
#include "drivers/sensor.h"
#include "drivers/accgyro/accgyro.h"
#include "accgyro_mma845x.h"
#ifndef MMA8452_I2C_INSTANCE
#define MMA8452_I2C_INSTANCE I2CDEV_1
#endif
// MMA8452QT, Standard address 0x1C
// ACC_INT2 routed to PA5
#define MMA8452_ADDRESS 0x1C
#define MMA8452_DEVICE_SIGNATURE 0x2A
#define MMA8451_DEVICE_SIGNATURE 0x1A
#define MMA8452_STATUS 0x00
#define MMA8452_OUT_X_MSB 0x01
#define MMA8452_WHO_AM_I 0x0D
#define MMA8452_XYZ_DATA_CFG 0x0E
#define MMA8452_HP_FILTER_CUTOFF 0x0F
#define MMA8452_CTRL_REG1 0x2A
#define MMA8452_CTRL_REG2 0x2B
#define MMA8452_CTRL_REG3 0x2C
#define MMA8452_CTRL_REG4 0x2D
#define MMA8452_CTRL_REG5 0x2E
#define MMA8452_FS_RANGE_8G 0x02
#define MMA8452_FS_RANGE_4G 0x01
#define MMA8452_FS_RANGE_2G 0x00
#define MMA8452_HPF_CUTOFF_LV1 0x00
#define MMA8452_HPF_CUTOFF_LV2 0x01
#define MMA8452_HPF_CUTOFF_LV3 0x02
#define MMA8452_HPF_CUTOFF_LV4 0x03
#define MMA8452_CTRL_REG2_B7_ST 0x80
#define MMA8452_CTRL_REG2_B6_RST 0x40
#define MMA8452_CTRL_REG2_B4_SMODS1 0x10
#define MMA8452_CTRL_REG2_B3_SMODS0 0x08
#define MMA8452_CTRL_REG2_B2_SLPE 0x04
#define MMA8452_CTRL_REG2_B1_MODS1 0x02
#define MMA8452_CTRL_REG2_B0_MODS0 0x01
#define MMA8452_CTRL_REG2_MODS_LP 0x03
#define MMA8452_CTRL_REG2_MODS_HR 0x02
#define MMA8452_CTRL_REG2_MODS_LNLP 0x01
#define MMA8452_CTRL_REG2_MODS_NOR 0x00
#define MMA8452_CTRL_REG3_IPOL 0x02
#define MMA8452_CTRL_REG4_INT_EN_DRDY 0x01
#define MMA8452_CTRL_REG1_LNOISE 0x04
#define MMA8452_CTRL_REG1_ACTIVE 0x01
static uint8_t device_id;
static inline void mma8451ConfigureInterrupt(void)
{
#ifdef MMA8451_INT_PIN
IOInit(IOGetByTag(IO_TAG(MMA8451_INT_PIN)), OWNER_GYRO_EXTI, 0);
// TODO - maybe pullup / pulldown ?
IOConfigGPIO(IOGetByTag(IO_TAG(MMA8451_INT_PIN)), IOCFG_IN_FLOATING);
#endif
i2cWrite(MPU_I2C_INSTANCE, MMA8452_ADDRESS, MMA8452_CTRL_REG3, MMA8452_CTRL_REG3_IPOL); // Interrupt polarity (active HIGH)
i2cWrite(MPU_I2C_INSTANCE, MMA8452_ADDRESS, MMA8452_CTRL_REG4, MMA8452_CTRL_REG4_INT_EN_DRDY); // Enable DRDY interrupt (unused by this driver)
i2cWrite(MPU_I2C_INSTANCE, MMA8452_ADDRESS, MMA8452_CTRL_REG5, 0); // DRDY routed to INT2
}
static void mma8452Init(accDev_t *acc)
{
i2cWrite(MPU_I2C_INSTANCE, MMA8452_ADDRESS, MMA8452_CTRL_REG1, 0); // Put device in standby to configure stuff
i2cWrite(MPU_I2C_INSTANCE, MMA8452_ADDRESS, MMA8452_XYZ_DATA_CFG, MMA8452_FS_RANGE_8G);
i2cWrite(MPU_I2C_INSTANCE, MMA8452_ADDRESS, MMA8452_HP_FILTER_CUTOFF, MMA8452_HPF_CUTOFF_LV4);
i2cWrite(MPU_I2C_INSTANCE, MMA8452_ADDRESS, MMA8452_CTRL_REG2, MMA8452_CTRL_REG2_MODS_HR | MMA8452_CTRL_REG2_MODS_HR << 3); // High resolution measurement in both sleep and active modes
mma8451ConfigureInterrupt();
i2cWrite(MPU_I2C_INSTANCE, MMA8452_ADDRESS, MMA8452_CTRL_REG1, MMA8452_CTRL_REG1_LNOISE | MMA8452_CTRL_REG1_ACTIVE); // Turn on measurements, low noise at max scale mode, Data Rate 800Hz. LNoise mode makes range +-4G.
acc->acc_1G = 256;
}
static bool mma8452Read(accDev_t *acc)
{
uint8_t buf[6];
if (!i2cRead(MPU_I2C_INSTANCE, MMA8452_ADDRESS, MMA8452_OUT_X_MSB, 6, buf)) {
return false;
}
acc->ADCRaw[0] = ((int16_t)((buf[0] << 8) | buf[1]) >> 2) / 4;
acc->ADCRaw[1] = ((int16_t)((buf[2] << 8) | buf[3]) >> 2) / 4;
acc->ADCRaw[2] = ((int16_t)((buf[4] << 8) | buf[5]) >> 2) / 4;
return true;
}
bool mma8452Detect(accDev_t *acc)
{
uint8_t sig = 0;
bool ack = i2cRead(MPU_I2C_INSTANCE, MMA8452_ADDRESS, MMA8452_WHO_AM_I, 1, &sig);
if (!ack || (sig != MMA8452_DEVICE_SIGNATURE && sig != MMA8451_DEVICE_SIGNATURE))
return false;
acc->initFn = mma8452Init;
acc->readFn = mma8452Read;
device_id = sig;
return true;
}
#endif

23
src/main/drivers/accgyro/legacy/accgyro_mma845x.h
View file

@ -1,23 +0,0 @@
/*
* This file is part of Cleanflight and Betaflight.
*
* Cleanflight and Betaflight are free software. You can redistribute
* this software and/or modify this software under the terms of the
* GNU General Public License as published by the Free Software
* Foundation, either version 3 of the License, or (at your option)
* any later version.
*
* Cleanflight and Betaflight are distributed in the hope that they
* will be useful, but WITHOUT ANY WARRANTY; without even the implied
* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this software.
*
* If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
bool mma8452Detect(accDev_t *acc);

2
src/main/sensors/acceleration.c
View file

@ -57,7 +57,7 @@ static inline void calibrateAccelerometer(void)
{
if (!accIsCalibrationComplete()) {
// acc.accADC is held at 0 until calibration is completed
performAcclerationCalibration(&accelerometerConfigMutable()->accelerometerTrims);
performAccelerometerCalibration(&accelerometerConfigMutable()->accelerometerTrims);
}
if (featureIsEnabled(FEATURE_INFLIGHT_ACC_CAL)) {

5
src/main/sensors/acceleration.h
View file

@ -31,14 +31,11 @@
#include "sensors/sensors.h"
// Type of accelerometer used/detected
// Acc hardware types were updated in PR #14087 (removed ACC_ADXL345, ACC_MMA8452, ACC_BMA280, ACC_LSM303DLHC)
typedef enum {
ACC_DEFAULT,
ACC_NONE,
ACC_ADXL345,
ACC_MPU6050,
ACC_MMA8452,
ACC_BMA280,
ACC_LSM303DLHC,
ACC_MPU6000,
ACC_MPU6500,
ACC_MPU9250,

82
src/main/sensors/acceleration_init.c
View file

@ -35,37 +35,25 @@
#include "config/feature.h"
#include "drivers/accgyro/accgyro.h"
#include "drivers/accgyro/accgyro_virtual.h"
#include "drivers/accgyro/accgyro_mpu.h"
#include "drivers/accgyro/accgyro_mpu3050.h"
#include "drivers/accgyro/accgyro_virtual.h"
#include "drivers/accgyro/accgyro_mpu6050.h"
#include "drivers/accgyro/accgyro_mpu6500.h"
#include "drivers/accgyro/accgyro_spi_bmi160.h"
#include "drivers/accgyro/accgyro_spi_bmi270.h"
#include "drivers/accgyro/accgyro_spi_icm20649.h"
#include "drivers/accgyro/accgyro_spi_icm20689.h"
#include "drivers/accgyro/accgyro_spi_icm426xx.h"
#include "drivers/accgyro/accgyro_spi_lsm6dso.h"
#include "drivers/accgyro/accgyro_spi_lsm6dsv16x.h"
#include "drivers/accgyro/accgyro_spi_mpu6000.h"
#include "drivers/accgyro/accgyro_spi_mpu6500.h"
#include "drivers/accgyro/accgyro_spi_mpu9250.h"
#include "drivers/accgyro/accgyro_spi_lsm6dsv16x.h"
#ifdef USE_ACC_ADXL345
#include "drivers/accgyro/legacy/accgyro_adxl345.h"
#endif
#ifdef USE_ACC_BMA280
#include "drivers/accgyro/legacy/accgyro_bma280.h"
#endif
#ifdef USE_ACC_LSM303DLHC
#include "drivers/accgyro/legacy/accgyro_lsm303dlhc.h"
#endif
#ifdef USE_ACC_MMA8452
#include "drivers/accgyro/legacy/accgyro_mma845x.h"
#endif
#include "config/config.h"
@ -85,18 +73,6 @@
#include "acceleration_init.h"
#if !defined(USE_ACC_ADXL345) && !defined(USE_ACC_BMA280) && !defined(USE_ACC_LSM303DLHC) \
&& !defined(USE_ACC_MMA8452) && !defined(USE_ACC_LSM303DLHC) \
&& !defined(USE_ACC_MPU6000) && !defined(USE_ACC_MPU6050) && !defined(USE_ACC_MPU6500) \
&& !defined(USE_ACC_SPI_MPU6000) && !defined(USE_ACC_SPI_MPU6500) && !defined(USE_ACC_SPI_MPU9250) \
&& !defined(USE_ACC_SPI_ICM20602) && !defined(USE_ACC_SPI_ICM20649) && !defined(USE_ACC_SPI_ICM20689) \
&& !defined(USE_ACCGYRO_BMI160) && !defined(USE_ACCGYRO_BMI270) \
&& !defined(USE_ACC_SPI_ICM42605) && !defined(USE_ACC_SPI_ICM42688P) \
&& !defined(USE_ACCGYRO_LSM6DSO) && !defined(USE_ACCGYRO_LSM6DSV16X) \
&& !defined(USE_VIRTUAL_ACC)
#error At least one USE_ACC device definition required
#endif
#define CALIBRATING_ACC_CYCLES 400
FAST_DATA_ZERO_INIT accelerationRuntime_t accelerationRuntime;
@ -158,36 +134,12 @@ bool accDetect(accDev_t *dev, accelerationSensor_e accHardwareToUse)
{
accelerationSensor_e accHardware = ACC_NONE;
#ifdef USE_ACC_ADXL345
drv_adxl345_config_t acc_params;
#endif
retry:
switch (accHardwareToUse) {
case ACC_DEFAULT:
FALLTHROUGH;
#ifdef USE_ACC_ADXL345
case ACC_ADXL345: // ADXL345
acc_params.useFifo = false;
acc_params.dataRate = 800; // unused currently
if (adxl345Detect(&acc_params, dev)) {
accHardware = ACC_ADXL345;
break;
}
FALLTHROUGH;
#endif
#ifdef USE_ACC_LSM303DLHC
case ACC_LSM303DLHC:
if (lsm303dlhcAccDetect(dev)) {
accHardware = ACC_LSM303DLHC;
break;
}
FALLTHROUGH;
#endif
#ifdef USE_ACC_MPU6050
case ACC_MPU6050: // MPU6050
if (mpu6050AccDetect(dev)) {
@ -197,24 +149,6 @@ retry:
FALLTHROUGH;
#endif
#ifdef USE_ACC_MMA8452
case ACC_MMA8452: // MMA8452
if (mma8452Detect(dev)) {
accHardware = ACC_MMA8452;
break;
}
FALLTHROUGH;
#endif
#ifdef USE_ACC_BMA280
case ACC_BMA280: // BMA280
if (bma280Detect(dev)) {
accHardware = ACC_BMA280;
break;
}
FALLTHROUGH;
#endif
#ifdef USE_ACC_SPI_MPU6000
case ACC_MPU6000:
if (mpu6000SpiAccDetect(dev)) {
@ -438,7 +372,7 @@ static bool isOnFirstAccelerationCalibrationCycle(void)
return accelerationRuntime.calibratingA == CALIBRATING_ACC_CYCLES;
}
void performAcclerationCalibration(rollAndPitchTrims_t *rollAndPitchTrims)
void performAccelerometerCalibration(rollAndPitchTrims_t *rollAndPitchTrims)
{
static int32_t a[3];

2
src/main/sensors/acceleration_init.h
View file

@ -37,5 +37,5 @@ typedef struct accelerationRuntime_s {
extern accelerationRuntime_t accelerationRuntime;
void performAcclerationCalibration(rollAndPitchTrims_t *rollAndPitchTrims);
void performAccelerometerCalibration(rollAndPitchTrims_t *rollAndPitchTrims);
void performInflightAccelerationCalibration(rollAndPitchTrims_t *rollAndPitchTrims);

48
src/main/sensors/gyro_init.c
View file

@ -37,27 +37,24 @@
#include "drivers/accgyro/accgyro.h"
#include "drivers/accgyro/accgyro_virtual.h"
#include "drivers/accgyro/accgyro_mpu.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"
#include "drivers/accgyro/accgyro_spi_bmi270.h"
#include "drivers/accgyro/accgyro_spi_icm20649.h"
#include "drivers/accgyro/accgyro_spi_icm20689.h"
#include "drivers/accgyro/accgyro_spi_icm426xx.h"
#include "drivers/accgyro/accgyro_spi_l3gd20.h"
#include "drivers/accgyro/accgyro_spi_lsm6dso.h"
#include "drivers/accgyro/accgyro_spi_lsm6dsv16x.h"
#include "drivers/accgyro/accgyro_spi_mpu6000.h"
#include "drivers/accgyro/accgyro_spi_mpu6500.h"
#include "drivers/accgyro/accgyro_spi_mpu9250.h"
#include "drivers/accgyro/accgyro_spi_lsm6dsv16x.h"
#ifdef USE_GYRO_L3GD20
#include "drivers/accgyro/accgyro_spi_l3gd20.h"
#endif
#ifdef USE_GYRO_L3G4200D
#include "drivers/accgyro/legacy/accgyro_l3g4200d.h"
#endif
#include "drivers/accgyro/gyro_sync.h"
@ -72,17 +69,6 @@
#include "sensors/gyro.h"
#include "sensors/sensors.h"
#if !defined(USE_GYRO_L3G4200D) && !defined(USE_GYRO_L3GD20) \
&& !defined(USE_GYRO_MPU3050) && !defined(USE_GYRO_MPU6050) && !defined(USE_GYRO_MPU6500) \
&& !defined(USE_GYRO_SPI_MPU6000) && !defined(USE_GYRO_SPI_MPU6500) && !defined(USE_GYRO_SPI_MPU9250) \
&& !defined(USE_GYRO_SPI_ICM20602) && !defined(USE_GYRO_SPI_ICM20649) && !defined(USE_GYRO_SPI_ICM20689) \
&& !defined(USE_ACCGYRO_BMI160) && !defined(USE_ACCGYRO_BMI270) \
&& !defined(USE_GYRO_SPI_ICM42605) && !defined(USE_GYRO_SPI_ICM42688P) \
&& !defined(USE_ACCGYRO_LSM6DSO) && !defined(USE_ACCGYRO_LSM6DSV16X) \
&& !defined(USE_VIRTUAL_GYRO)
#error At least one USE_GYRO device definition required
#endif
#ifdef USE_MULTI_GYRO
#define ACTIVE_GYRO ((gyro.gyroToUse == GYRO_CONFIG_USE_GYRO_2) ? &gyro.gyroSensor2 : &gyro.gyroSensor1)
#else
@ -319,8 +305,6 @@ void gyroInitSensor(gyroSensor_t *gyroSensor, const gyroDeviceConfig_t *config)
case GYRO_DEFAULT:
case GYRO_VIRTUAL:
case GYRO_MPU6050:
case GYRO_L3G4200D:
case GYRO_MPU3050:
case GYRO_L3GD20:
case GYRO_BMI160:
case GYRO_BMI270:
@ -367,24 +351,6 @@ STATIC_UNIT_TESTED gyroHardware_e gyroDetect(gyroDev_t *dev)
FALLTHROUGH;
#endif
#ifdef USE_GYRO_L3G4200D
case GYRO_L3G4200D:
if (l3g4200dDetect(dev)) {
gyroHardware = GYRO_L3G4200D;
break;
}
FALLTHROUGH;
#endif
#ifdef USE_GYRO_MPU3050
case GYRO_MPU3050:
if (mpu3050Detect(dev)) {
gyroHardware = GYRO_MPU3050;
break;
}
FALLTHROUGH;
#endif
#ifdef USE_GYRO_L3GD20
case GYRO_L3GD20:
if (l3gd20GyroDetect(dev)) {

45
src/main/target/common_post.h
View file

@ -91,6 +91,45 @@
// normalize serial ports definitions
#include "serial_post.h"
#if defined(USE_ACC) \
&& !defined(USE_ACC_MPU6000) \
&& !defined(USE_ACC_MPU6050) \
&& !defined(USE_ACC_MPU6500) \
&& !defined(USE_ACCGYRO_BMI160) \
&& !defined(USE_ACCGYRO_BMI270) \
&& !defined(USE_ACC_SPI_ICM20602) \
&& !defined(USE_ACC_SPI_ICM20649) \
&& !defined(USE_ACC_SPI_ICM20689) \
&& !defined(USE_ACC_SPI_ICM42605) \
&& !defined(USE_ACC_SPI_ICM42688P) \
&& !defined(USE_ACCGYRO_LSM6DSO) \
&& !defined(USE_ACCGYRO_LSM6DSV16X) \
&& !defined(USE_ACC_SPI_MPU6000) \
&& !defined(USE_ACC_SPI_MPU6500) \
&& !defined(USE_ACC_SPI_MPU9250) \
&& !defined(USE_VIRTUAL_ACC)
#error At least one USE_ACC device definition required
#endif
#if defined(USE_GYRO) \
&& !defined(USE_GYRO_MPU6050) \
&& !defined(USE_GYRO_MPU6500) \
&& !defined(USE_ACCGYRO_BMI160) \
&& !defined(USE_ACCGYRO_BMI270) \
&& !defined(USE_GYRO_SPI_ICM20602) \
&& !defined(USE_GYRO_SPI_ICM20649) \
&& !defined(USE_GYRO_SPI_ICM20689) \
&& !defined(USE_GYRO_SPI_ICM42605) \
&& !defined(USE_GYRO_SPI_ICM42688P) \
&& !defined(USE_ACCGYRO_LSM6DSO) \
&& !defined(USE_ACCGYRO_LSM6DSV16X) \
&& !defined(USE_GYRO_SPI_MPU6000) \
&& !defined(USE_GYRO_SPI_MPU6500) \
&& !defined(USE_GYRO_SPI_MPU9250) \
&& !defined(USE_VIRTUAL_GYRO)
#error At least one USE_GYRO device definition required
#endif
#if defined(USE_MAG) && !defined(USE_VIRTUAL_MAG)
#ifndef USE_MAG_DATA_READY_SIGNAL
@ -426,12 +465,6 @@
#endif
// Generate USE_SPI_GYRO or USE_I2C_GYRO
#if defined(USE_GYRO_L3G4200D) || defined(USE_GYRO_MPU3050) || defined(USE_GYRO_MPU6000) || defined(USE_GYRO_MPU6050) || defined(USE_GYRO_MPU6500)
#ifndef USE_I2C_GYRO
#define USE_I2C_GYRO
#endif
#endif
#if defined(USE_GYRO_SPI_ICM20689) || defined(USE_GYRO_SPI_MPU6000) || defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_MPU9250) \
|| defined(USE_GYRO_L3GD20) || defined(USE_GYRO_SPI_ICM42605) || defined(USE_GYRO_SPI_ICM42688P) || defined(USE_ACCGYRO_BMI160) \
|| defined(USE_ACCGYRO_BMI270) || defined(USE_ACCGYRO_LSM6DSV16X) || defined(USE_ACCGYRO_LSM6DSO)