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Reduce RAM usage of mpu6050 initialisation.

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This commit is contained in:
Dominic Clifton 2014-10-16 01:10:23 +01:00
parent f5895b762f
commit 38dbe897d9
3 changed files with 30 additions and 26 deletions
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26
src/main/drivers/accgyro_mpu6050.c
View file

@ -172,19 +172,19 @@ typedef enum {
static mpu6050Resolution_e mpuAccelTrim; static mpu6050Resolution_e mpuAccelTrim;
static mpu6050Config_t *config = NULL; static const mpu6050Config_t *mpu6050Config = NULL;
void mpu6050GpioInit(void) { void mpu6050GpioInit(void) {
gpio_config_t gpio; gpio_config_t gpio;
if (config->gpioAPB2Peripherals) { if (mpu6050Config->gpioAPB2Peripherals) {
RCC_APB2PeriphClockCmd(config->gpioAPB2Peripherals, ENABLE); RCC_APB2PeriphClockCmd(mpu6050Config->gpioAPB2Peripherals, ENABLE);
} }
gpio.pin = config->gpioPin; gpio.pin = mpu6050Config->gpioPin;
gpio.speed = Speed_2MHz; gpio.speed = Speed_2MHz;
gpio.mode = Mode_IN_FLOATING; gpio.mode = Mode_IN_FLOATING;
gpioInit(config->gpioPort, &gpio); gpioInit(mpu6050Config->gpioPort, &gpio);
} }
static bool mpu6050Detect(void) static bool mpu6050Detect(void)
@ -209,13 +209,13 @@ static bool mpu6050Detect(void)
return true; return true;
} }
bool mpu6050AccDetect(mpu6050Config_t *configToUse, acc_t *acc) bool mpu6050AccDetect(const mpu6050Config_t *configToUse, acc_t *acc)
{ {
uint8_t readBuffer[6]; uint8_t readBuffer[6];
uint8_t revision; uint8_t revision;
uint8_t productId; uint8_t productId;
config = configToUse; mpu6050Config = configToUse;
if (!mpu6050Detect()) { if (!mpu6050Detect()) {
return false; return false;
@ -255,9 +255,9 @@ bool mpu6050AccDetect(mpu6050Config_t *configToUse, acc_t *acc)
return true; return true;
} }
bool mpu6050GyroDetect(mpu6050Config_t *configToUse, gyro_t *gyro, uint16_t lpf) bool mpu6050GyroDetect(const mpu6050Config_t *configToUse, gyro_t *gyro, uint16_t lpf)
{ {
config = configToUse; mpu6050Config = configToUse;
if (!mpu6050Detect()) { if (!mpu6050Detect()) {
return false; return false;
@ -288,9 +288,9 @@ bool mpu6050GyroDetect(mpu6050Config_t *configToUse, gyro_t *gyro, uint16_t lpf)
static void mpu6050AccInit(void) static void mpu6050AccInit(void)
{ {
if (config) { if (mpu6050Config) {
mpu6050GpioInit(); mpu6050GpioInit();
config = NULL; // avoid re-initialisation of GPIO; mpu6050Config = NULL; // avoid re-initialisation of GPIO;
} }
switch (mpuAccelTrim) { switch (mpuAccelTrim) {
@ -315,9 +315,9 @@ static void mpu6050AccRead(int16_t *accData)
static void mpu6050GyroInit(void) static void mpu6050GyroInit(void)
{ {
if (config) { if (mpu6050Config) {
mpu6050GpioInit(); mpu6050GpioInit();
config = NULL; // avoid re-initialisation of GPIO; mpu6050Config = NULL; // avoid re-initialisation of GPIO;
} }
i2cWrite(MPU6050_ADDRESS, MPU_RA_PWR_MGMT_1, 0x80); //PWR_MGMT_1 -- DEVICE_RESET 1 i2cWrite(MPU6050_ADDRESS, MPU_RA_PWR_MGMT_1, 0x80); //PWR_MGMT_1 -- DEVICE_RESET 1

4
src/main/drivers/accgyro_mpu6050.h
View file

@ -23,7 +23,7 @@ typedef struct mpu6050Config_s {
GPIO_TypeDef *gpioPort; GPIO_TypeDef *gpioPort;
} mpu6050Config_t; } mpu6050Config_t;
bool mpu6050AccDetect(mpu6050Config_t *config,acc_t *acc); bool mpu6050AccDetect(const mpu6050Config_t *config,acc_t *acc);
bool mpu6050GyroDetect(mpu6050Config_t *config, gyro_t *gyro, uint16_t lpf); bool mpu6050GyroDetect(const mpu6050Config_t *config, gyro_t *gyro, uint16_t lpf);
void mpu6050DmpLoop(void); void mpu6050DmpLoop(void);
void mpu6050DmpResetFifo(void); void mpu6050DmpResetFifo(void);

26
src/main/sensors/initialisation.c
View file

@ -67,23 +67,27 @@ extern gyro_t gyro;
extern baro_t baro; extern baro_t baro;
extern acc_t acc; extern acc_t acc;
mpu6050Config_t *generateMPU6050Config(void) const mpu6050Config_t *selectMPU6050Config(void)
{ {
#ifdef NAZE #ifdef NAZE
static mpu6050Config_t nazeMPU6050Config;
// MPU_INT output on rev4/5 hardware (PB13, PC13) // MPU_INT output on rev4/5 hardware (PB13, PC13)
nazeMPU6050Config.gpioPin = Pin_13; static const mpu6050Config_t nazeRev4MPU6050Config = {
.gpioAPB2Peripherals = RCC_APB2Periph_GPIOB,
.gpioPort = GPIOB,
.gpioPin = Pin_13
};
static const mpu6050Config_t nazeRev5MPU6050Config = {
.gpioAPB2Peripherals = RCC_APB2Periph_GPIOC,
.gpioPort = GPIOC,
.gpioPin = Pin_13
};
if (hardwareRevision < NAZE32_REV5) { if (hardwareRevision < NAZE32_REV5) {
nazeMPU6050Config.gpioAPB2Peripherals = RCC_APB2Periph_GPIOB; return &nazeRev4MPU6050Config;
nazeMPU6050Config.gpioPort = GPIOB;
} else { } else {
nazeMPU6050Config.gpioAPB2Peripherals = RCC_APB2Periph_GPIOC; return &nazeRev5MPU6050Config;
nazeMPU6050Config.gpioPort = GPIOC;
} }
return &nazeMPU6050Config;
#endif #endif
return NULL; return NULL;
} }
@ -127,7 +131,7 @@ bool detectGyro(uint16_t gyroLpf)
gyroAlign = ALIGN_DEFAULT; gyroAlign = ALIGN_DEFAULT;
#ifdef USE_GYRO_MPU6050 #ifdef USE_GYRO_MPU6050
if (mpu6050GyroDetect(generateMPU6050Config(), &gyro, gyroLpf)) { if (mpu6050GyroDetect(selectMPU6050Config(), &gyro, gyroLpf)) {
#ifdef NAZE #ifdef NAZE
gyroAlign = CW0_DEG; gyroAlign = CW0_DEG;
#endif #endif
@ -231,7 +235,7 @@ retry:
#endif #endif
#ifdef USE_ACC_MPU6050 #ifdef USE_ACC_MPU6050
case ACC_MPU6050: // MPU6050 case ACC_MPU6050: // MPU6050
if (mpu6050AccDetect(generateMPU6050Config(), &acc)) { if (mpu6050AccDetect(selectMPU6050Config(), &acc)) {
accHardware = ACC_MPU6050; accHardware = ACC_MPU6050;
#ifdef NAZE #ifdef NAZE
accAlign = CW0_DEG; accAlign = CW0_DEG;