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CHEBUZZF3 - Update makefile and sensor initialisation code to support

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ChebuzzF3 target.
This commit is contained in:
Dominic Clifton 2014-05-07 22:11:38 +01:00
parent 672627e7f4
commit 3b1801cacd
2 changed files with 38 additions and 16 deletions
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18
src/sensors_initialisation.c
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@ -42,6 +42,7 @@
// Use these to help with porting to new boards
//#define USE_FAKE_ACC
//#define USE_FAKE_GYRO
#define USE_ACC_ADXL345
extern uint16_t batteryWarningVoltage;
extern uint8_t batteryCellCount;
@ -78,6 +79,16 @@ bool fakeAccDetect(acc_t *acc)
}
#endif
#ifdef CHEBUZZF3
// FIXME ugly hack to support a target that will never use these sensors. There needs to be a better way of compiling in and detecting only the sensors needed.
#define mpu6050Detect(a,b,c) false
#define l3g4200dDetect(a,b) false
#define mpu3050Detect(a,b) false
#define adxl345Detect(a,b) false
#undef USE_ACC_ADXL345
#endif
#ifdef FY90Q
// FY90Q analog gyro/acc
bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint16_t gyroLpf, uint8_t accHardwareToUse, int16_t magDeclinationFromConfig)
@ -91,7 +102,9 @@ bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint16_t
bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint16_t gyroLpf, uint8_t accHardwareToUse, int16_t magDeclinationFromConfig)
{
int16_t deg, min;
#ifdef USE_ACC_ADXL345
drv_adxl345_config_t acc_params;
#endif
bool haveMpu6k = false;
memset(&acc, sizeof(acc), 0);
@ -135,6 +148,7 @@ retry:
sensorsClear(SENSOR_ACC);
break;
case ACC_DEFAULT: // autodetect
#ifdef USE_ACC_ADXL345
case ACC_ADXL345: // ADXL345
acc_params.useFifo = false;
acc_params.dataRate = 800; // unused currently
@ -145,9 +159,9 @@ retry:
if (accHardwareToUse == ACC_ADXL345)
break;
; // fallthrough
#endif
case ACC_MPU6050: // MPU6050
if (haveMpu6k) {
mpu6050Detect(&acc, &gyro, gyroLpf); // yes, i'm rerunning it again. re-fill acc struct
if (haveMpu6k && mpu6050Detect(&acc, &gyro, gyroLpf)) { // FIXME decouple mpu detection from gyro/acc struct filling
accHardware = ACC_MPU6050;
accAlign = CW0_DEG; // default NAZE alignment
if (accHardwareToUse == ACC_MPU6050)