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Dominic Clifton 2014-09-15 23:38:51 +01:00
parent 876cf6bdd7
commit 4237370b60
3 changed files with 724 additions and 724 deletions
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426
src/main/common/printf.c
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@ -1,213 +1,213 @@
/* /*
* Copyright (c) 2004,2012 Kustaa Nyholm / SpareTimeLabs * Copyright (c) 2004,2012 Kustaa Nyholm / SpareTimeLabs
* *
* All rights reserved. * All rights reserved.
* *
* Redistribution and use in source and binary forms, with or without modification, * Redistribution and use in source and binary forms, with or without modification,
* are permitted provided that the following conditions are met: * are permitted provided that the following conditions are met:
* *
* Redistributions of source code must retain the above copyright notice, this list * Redistributions of source code must retain the above copyright notice, this list
* of conditions and the following disclaimer. * of conditions and the following disclaimer.
* *
* Redistributions in binary form must reproduce the above copyright notice, this * Redistributions in binary form must reproduce the above copyright notice, this
* list of conditions and the following disclaimer in the documentation and/or other * list of conditions and the following disclaimer in the documentation and/or other
* materials provided with the distribution. * materials provided with the distribution.
* *
* Neither the name of the Kustaa Nyholm or SpareTimeLabs nor the names of its * Neither the name of the Kustaa Nyholm or SpareTimeLabs nor the names of its
* contributors may be used to endorse or promote products derived from this software * contributors may be used to endorse or promote products derived from this software
* without specific prior written permission. * without specific prior written permission.
* *
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
* IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, * IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT,
* INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT * INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT
* NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, * NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
* OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, * OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
* WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
* OF SUCH DAMAGE. * OF SUCH DAMAGE.
*/ */
#include <stdbool.h> #include <stdbool.h>
#include <stdint.h> #include <stdint.h>
#include <stdarg.h> #include <stdarg.h>
#include <stdlib.h> #include <stdlib.h>
#include "platform.h" #include "platform.h"
#include "build_config.h" #include "build_config.h"
#include "drivers/serial.h" #include "drivers/serial.h"
#include "io/serial.h" #include "io/serial.h"
#include "build_config.h" #include "build_config.h"
#include "printf.h" #include "printf.h"
#ifdef REQUIRE_PRINTF_LONG_SUPPORT #ifdef REQUIRE_PRINTF_LONG_SUPPORT
#include "typeconversion.h" #include "typeconversion.h"
#endif #endif
static serialPort_t *printfSerialPort; static serialPort_t *printfSerialPort;
#ifdef REQUIRE_CC_ARM_PRINTF_SUPPORT #ifdef REQUIRE_CC_ARM_PRINTF_SUPPORT
typedef void (*putcf) (void *, char); typedef void (*putcf) (void *, char);
static putcf stdout_putf; static putcf stdout_putf;
static void *stdout_putp; static void *stdout_putp;
static void putchw(void *putp, putcf putf, int n, char z, char *bf) static void putchw(void *putp, putcf putf, int n, char z, char *bf)
{ {
char fc = z ? '0' : ' '; char fc = z ? '0' : ' ';
char ch; char ch;
char *p = bf; char *p = bf;
while (*p++ && n > 0) while (*p++ && n > 0)
n--; n--;
while (n-- > 0) while (n-- > 0)
putf(putp, fc); putf(putp, fc);
while ((ch = *bf++)) while ((ch = *bf++))
putf(putp, ch); putf(putp, ch);
} }
void tfp_format(void *putp, putcf putf, char *fmt, va_list va) void tfp_format(void *putp, putcf putf, char *fmt, va_list va)
{ {
char bf[12]; char bf[12];
char ch; char ch;
while ((ch = *(fmt++))) { while ((ch = *(fmt++))) {
if (ch != '%') if (ch != '%')
putf(putp, ch); putf(putp, ch);
else { else {
char lz = 0; char lz = 0;
#ifdef REQUIRE_PRINTF_LONG_SUPPORT #ifdef REQUIRE_PRINTF_LONG_SUPPORT
char lng = 0; char lng = 0;
#endif #endif
int w = 0; int w = 0;
ch = *(fmt++); ch = *(fmt++);
if (ch == '0') { if (ch == '0') {
ch = *(fmt++); ch = *(fmt++);
lz = 1; lz = 1;
} }
if (ch >= '0' && ch <= '9') { if (ch >= '0' && ch <= '9') {
ch = a2i(ch, &fmt, 10, &w); ch = a2i(ch, &fmt, 10, &w);
} }
#ifdef REQUIRE_PRINTF_LONG_SUPPORT #ifdef REQUIRE_PRINTF_LONG_SUPPORT
if (ch == 'l') { if (ch == 'l') {
ch = *(fmt++); ch = *(fmt++);
lng = 1; lng = 1;
} }
#endif #endif
switch (ch) { switch (ch) {
case 0: case 0:
goto abort; goto abort;
case 'u':{ case 'u':{
#ifdef REQUIRE_PRINTF_LONG_SUPPORT #ifdef REQUIRE_PRINTF_LONG_SUPPORT
if (lng) if (lng)
uli2a(va_arg(va, unsigned long int), 10, 0, bf); uli2a(va_arg(va, unsigned long int), 10, 0, bf);
else else
#endif #endif
ui2a(va_arg(va, unsigned int), 10, 0, bf); ui2a(va_arg(va, unsigned int), 10, 0, bf);
putchw(putp, putf, w, lz, bf); putchw(putp, putf, w, lz, bf);
break; break;
} }
case 'd':{ case 'd':{
#ifdef REQUIRE_PRINTF_LONG_SUPPORT #ifdef REQUIRE_PRINTF_LONG_SUPPORT
if (lng) if (lng)
li2a(va_arg(va, unsigned long int), bf); li2a(va_arg(va, unsigned long int), bf);
else else
#endif #endif
i2a(va_arg(va, int), bf); i2a(va_arg(va, int), bf);
putchw(putp, putf, w, lz, bf); putchw(putp, putf, w, lz, bf);
break; break;
} }
case 'x': case 'x':
case 'X': case 'X':
#ifdef REQUIRE_PRINTF_LONG_SUPPORT #ifdef REQUIRE_PRINTF_LONG_SUPPORT
if (lng) if (lng)
uli2a(va_arg(va, unsigned long int), 16, (ch == 'X'), bf); uli2a(va_arg(va, unsigned long int), 16, (ch == 'X'), bf);
else else
#endif #endif
ui2a(va_arg(va, unsigned int), 16, (ch == 'X'), bf); ui2a(va_arg(va, unsigned int), 16, (ch == 'X'), bf);
putchw(putp, putf, w, lz, bf); putchw(putp, putf, w, lz, bf);
break; break;
case 'c': case 'c':
putf(putp, (char) (va_arg(va, int))); putf(putp, (char) (va_arg(va, int)));
break; break;
case 's': case 's':
putchw(putp, putf, w, 0, va_arg(va, char *)); putchw(putp, putf, w, 0, va_arg(va, char *));
break; break;
case '%': case '%':
putf(putp, ch); putf(putp, ch);
break; break;
default: default:
break; break;
} }
} }
} }
abort:; abort:;
} }
void init_printf(void *putp, void (*putf) (void *, char)) void init_printf(void *putp, void (*putf) (void *, char))
{ {
stdout_putf = putf; stdout_putf = putf;
stdout_putp = putp; stdout_putp = putp;
} }
void tfp_printf(char *fmt, ...) void tfp_printf(char *fmt, ...)
{ {
va_list va; va_list va;
va_start(va, fmt); va_start(va, fmt);
tfp_format(stdout_putp, stdout_putf, fmt, va); tfp_format(stdout_putp, stdout_putf, fmt, va);
va_end(va); va_end(va);
while (!isSerialTransmitBufferEmpty(printfSerialPort)); while (!isSerialTransmitBufferEmpty(printfSerialPort));
} }
static void putcp(void *p, char c) static void putcp(void *p, char c)
{ {
*(*((char **) p))++ = c; *(*((char **) p))++ = c;
} }
void tfp_sprintf(char *s, char *fmt, ...) void tfp_sprintf(char *s, char *fmt, ...)
{ {
va_list va; va_list va;
va_start(va, fmt); va_start(va, fmt);
tfp_format(&s, putcp, fmt, va); tfp_format(&s, putcp, fmt, va);
putcp(&s, 0); putcp(&s, 0);
va_end(va); va_end(va);
} }
static void _putc(void *p, char c) static void _putc(void *p, char c)
{ {
UNUSED(p); UNUSED(p);
serialWrite(printfSerialPort, c); serialWrite(printfSerialPort, c);
} }
void initPrintfSupport(void) void initPrintfSupport(void)
{ {
init_printf(NULL, _putc); init_printf(NULL, _putc);
} }
#else #else
// keil/armcc version // keil/armcc version
int fputc(int c, FILE *f) int fputc(int c, FILE *f)
{ {
// let DMA catch up a bit when using set or dump, we're too fast. // let DMA catch up a bit when using set or dump, we're too fast.
while (!isSerialTransmitBufferEmpty(serialPorts.mainport)); while (!isSerialTransmitBufferEmpty(serialPorts.mainport));
serialWrite(printfSerialPort, c); serialWrite(printfSerialPort, c);
return c; return c;
} }
void initPrintfSupport(serialPort_t *serialPort) void initPrintfSupport(serialPort_t *serialPort)
{ {
// Nothing to do // Nothing to do
} }
#endif #endif
void setPrintfSerialPort(serialPort_t *serialPort) void setPrintfSerialPort(serialPort_t *serialPort)
{ {
printfSerialPort = serialPort; printfSerialPort = serialPort;
} }

878
src/main/sensors/initialisation.c
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@ -1,439 +1,439 @@
/* /*
* This file is part of Cleanflight. * This file is part of Cleanflight.
* *
* Cleanflight is free software: you can redistribute it and/or modify * Cleanflight is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by * it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or * the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version. * (at your option) any later version.
* *
* Cleanflight is distributed in the hope that it will be useful, * Cleanflight is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of * but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details. * GNU General Public License for more details.
* *
* You should have received a copy of the GNU General Public License * You should have received a copy of the GNU General Public License
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>. * along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
*/ */
#include <stdbool.h> #include <stdbool.h>
#include <stdint.h> #include <stdint.h>
#include <string.h> #include <string.h>
#include "platform.h" #include "platform.h"
#include "build_config.h" #include "build_config.h"
#include "common/axis.h" #include "common/axis.h"
#include "drivers/accgyro.h" #include "drivers/accgyro.h"
#include "drivers/accgyro_adxl345.h" #include "drivers/accgyro_adxl345.h"
#include "drivers/accgyro_bma280.h" #include "drivers/accgyro_bma280.h"
#include "drivers/accgyro_l3g4200d.h" #include "drivers/accgyro_l3g4200d.h"
#include "drivers/accgyro_mma845x.h" #include "drivers/accgyro_mma845x.h"
#include "drivers/accgyro_mpu3050.h" #include "drivers/accgyro_mpu3050.h"
#include "drivers/accgyro_mpu6050.h" #include "drivers/accgyro_mpu6050.h"
#ifdef STM32F3DISCOVERY #ifdef STM32F3DISCOVERY
#include "drivers/accgyro_l3gd20.h" #include "drivers/accgyro_l3gd20.h"
#include "drivers/accgyro_lsm303dlhc.h" #include "drivers/accgyro_lsm303dlhc.h"
#endif #endif
#ifdef CC3D #ifdef CC3D
#include "drivers/accgyro_spi_mpu6000.h" #include "drivers/accgyro_spi_mpu6000.h"
#endif #endif
#include "drivers/barometer.h" #include "drivers/barometer.h"
#include "drivers/barometer_bmp085.h" #include "drivers/barometer_bmp085.h"
#include "drivers/barometer_ms5611.h" #include "drivers/barometer_ms5611.h"
#include "drivers/compass_hmc5883l.h" #include "drivers/compass_hmc5883l.h"
#include "drivers/sonar_hcsr04.h" #include "drivers/sonar_hcsr04.h"
#include "drivers/system.h" #include "drivers/system.h"
#include "flight/flight.h" #include "flight/flight.h"
#include "config/runtime_config.h" #include "config/runtime_config.h"
#include "sensors/sensors.h" #include "sensors/sensors.h"
#include "sensors/acceleration.h" #include "sensors/acceleration.h"
#include "sensors/barometer.h" #include "sensors/barometer.h"
#include "sensors/gyro.h" #include "sensors/gyro.h"
#include "sensors/compass.h" #include "sensors/compass.h"
#include "sensors/sonar.h" #include "sensors/sonar.h"
// Use these to help with porting to new boards // Use these to help with porting to new boards
//#define USE_FAKE_GYRO //#define USE_FAKE_GYRO
#define USE_GYRO_L3G4200D #define USE_GYRO_L3G4200D
#define USE_GYRO_L3GD20 #define USE_GYRO_L3GD20
#define USE_GYRO_MPU6050 #define USE_GYRO_MPU6050
#define USE_GYRO_SPI_MPU6000 #define USE_GYRO_SPI_MPU6000
#define USE_GYRO_MPU3050 #define USE_GYRO_MPU3050
//#define USE_FAKE_ACC //#define USE_FAKE_ACC
#define USE_ACC_ADXL345 #define USE_ACC_ADXL345
#define USE_ACC_BMA280 #define USE_ACC_BMA280
#define USE_ACC_MMA8452 #define USE_ACC_MMA8452
#define USE_ACC_LSM303DLHC #define USE_ACC_LSM303DLHC
#define USE_ACC_MPU6050 #define USE_ACC_MPU6050
#define USE_ACC_SPI_MPU6000 #define USE_ACC_SPI_MPU6000
#define USE_BARO_MS5611 #define USE_BARO_MS5611
#define USE_BARO_BMP085 #define USE_BARO_BMP085
#ifdef NAZE #ifdef NAZE
#undef USE_ACC_LSM303DLHC #undef USE_ACC_LSM303DLHC
#undef USE_ACC_SPI_MPU6000 #undef USE_ACC_SPI_MPU6000
#undef USE_GYRO_SPI_MPU6000 #undef USE_GYRO_SPI_MPU6000
#undef USE_GYRO_L3GD20 #undef USE_GYRO_L3GD20
#endif #endif
#ifdef NAZE32PRO #ifdef NAZE32PRO
#define USE_FAKE_ACC #define USE_FAKE_ACC
#define USE_FAKE_GYRO #define USE_FAKE_GYRO
#undef USE_ACC_LSM303DLHC #undef USE_ACC_LSM303DLHC
#undef USE_ACC_ADXL345 #undef USE_ACC_ADXL345
#undef USE_ACC_BMA280 #undef USE_ACC_BMA280
#undef USE_ACC_MMA8452 #undef USE_ACC_MMA8452
#undef USE_ACC_LSM303DLHC #undef USE_ACC_LSM303DLHC
#undef USE_ACC_MPU6050 #undef USE_ACC_MPU6050
#undef USE_ACC_SPI_MPU6000 #undef USE_ACC_SPI_MPU6000
#undef USE_GYRO_L3G4200D #undef USE_GYRO_L3G4200D
#undef USE_GYRO_L3GD20 #undef USE_GYRO_L3GD20
#undef USE_GYRO_MPU3050 #undef USE_GYRO_MPU3050
#undef USE_GYRO_MPU6050 #undef USE_GYRO_MPU6050
#undef USE_GYRO_SPI_MPU6000 #undef USE_GYRO_SPI_MPU6000
#endif #endif
#if defined(OLIMEXINO) || defined(EUSTM32F103RC) #if defined(OLIMEXINO) || defined(EUSTM32F103RC)
#undef USE_GYRO_L3GD20 #undef USE_GYRO_L3GD20
#undef USE_GYRO_L3G4200D #undef USE_GYRO_L3G4200D
#undef USE_GYRO_MPU3050 #undef USE_GYRO_MPU3050
#undef USE_GYRO_SPI_MPU6000 #undef USE_GYRO_SPI_MPU6000
#undef USE_ACC_LSM303DLHC #undef USE_ACC_LSM303DLHC
#undef USE_ACC_BMA280 #undef USE_ACC_BMA280
#undef USE_ACC_MMA8452 #undef USE_ACC_MMA8452
#undef USE_ACC_ADXL345 #undef USE_ACC_ADXL345
#undef USE_ACC_SPI_MPU6000 #undef USE_ACC_SPI_MPU6000
#undef USE_BARO_MS5611 #undef USE_BARO_MS5611
#endif #endif
#ifdef EUSTM32F103RC #ifdef EUSTM32F103RC
#define USE_FAKE_GYRO #define USE_FAKE_GYRO
#define USE_FAKE_ACC #define USE_FAKE_ACC
#define USE_GYRO_L3G4200D #define USE_GYRO_L3G4200D
#endif #endif
#ifdef STM32F3DISCOVERY #ifdef STM32F3DISCOVERY
#undef USE_ACC_SPI_MPU6000 #undef USE_ACC_SPI_MPU6000
#undef USE_GYRO_SPI_MPU6000 #undef USE_GYRO_SPI_MPU6000
#endif #endif
#ifdef CHEBUZZF3 #ifdef CHEBUZZF3
#undef USE_GYRO_L3G4200D #undef USE_GYRO_L3G4200D
#undef USE_GYRO_MPU6050 #undef USE_GYRO_MPU6050
#undef USE_GYRO_MPU3050 #undef USE_GYRO_MPU3050
#undef USE_GYRO_SPI_MPU6000 #undef USE_GYRO_SPI_MPU6000
#undef USE_ACC_ADXL345 #undef USE_ACC_ADXL345
#undef USE_ACC_BMA280 #undef USE_ACC_BMA280
#undef USE_ACC_MPU6050 #undef USE_ACC_MPU6050
#undef USE_ACC_MMA8452 #undef USE_ACC_MMA8452
#undef USE_ACC_SPI_MPU6000 #undef USE_ACC_SPI_MPU6000
#endif #endif
#ifdef CC3D #ifdef CC3D
#undef USE_GYRO_L3GD20 #undef USE_GYRO_L3GD20
#undef USE_GYRO_L3G4200D #undef USE_GYRO_L3G4200D
#undef USE_GYRO_MPU6050 #undef USE_GYRO_MPU6050
#undef USE_GYRO_MPU3050 #undef USE_GYRO_MPU3050
#undef USE_ACC_LSM303DLHC #undef USE_ACC_LSM303DLHC
#undef USE_ACC_ADXL345 #undef USE_ACC_ADXL345
#undef USE_ACC_BMA280 #undef USE_ACC_BMA280
#undef USE_ACC_MPU6050 #undef USE_ACC_MPU6050
#undef USE_ACC_MMA8452 #undef USE_ACC_MMA8452
#endif #endif
#ifdef CJMCU #ifdef CJMCU
#undef USE_GYRO_SPI_MPU6000 #undef USE_GYRO_SPI_MPU6000
#undef USE_GYRO_L3GD20 #undef USE_GYRO_L3GD20
#undef USE_GYRO_L3G4200D #undef USE_GYRO_L3G4200D
#undef USE_GYRO_MPU3050 #undef USE_GYRO_MPU3050
#undef USE_ACC_LSM303DLHC #undef USE_ACC_LSM303DLHC
#undef USE_ACC_SPI_MPU6000 #undef USE_ACC_SPI_MPU6000
#undef USE_ACC_ADXL345 #undef USE_ACC_ADXL345
#undef USE_ACC_BMA280 #undef USE_ACC_BMA280
#undef USE_ACC_MMA8452 #undef USE_ACC_MMA8452
#endif #endif
extern float magneticDeclination; extern float magneticDeclination;
extern gyro_t gyro; extern gyro_t gyro;
extern baro_t baro; extern baro_t baro;
extern acc_t acc; extern acc_t acc;
#ifdef USE_FAKE_GYRO #ifdef USE_FAKE_GYRO
static void fakeGyroInit(void) {} static void fakeGyroInit(void) {}
static void fakeGyroRead(int16_t *gyroData) { static void fakeGyroRead(int16_t *gyroData) {
UNUSED(gyroData); UNUSED(gyroData);
} }
static void fakeGyroReadTemp(int16_t *tempData) { static void fakeGyroReadTemp(int16_t *tempData) {
UNUSED(tempData); UNUSED(tempData);
} }
bool fakeGyroDetect(gyro_t *gyro, uint16_t lpf) bool fakeGyroDetect(gyro_t *gyro, uint16_t lpf)
{ {
UNUSED(lpf); UNUSED(lpf);
gyro->init = fakeGyroInit; gyro->init = fakeGyroInit;
gyro->read = fakeGyroRead; gyro->read = fakeGyroRead;
gyro->temperature = fakeGyroReadTemp; gyro->temperature = fakeGyroReadTemp;
return true; return true;
} }
#endif #endif
#ifdef USE_FAKE_ACC #ifdef USE_FAKE_ACC
static void fakeAccInit(void) {} static void fakeAccInit(void) {}
static void fakeAccRead(int16_t *accData) { static void fakeAccRead(int16_t *accData) {
UNUSED(accData); UNUSED(accData);
} }
bool fakeAccDetect(acc_t *acc) bool fakeAccDetect(acc_t *acc)
{ {
acc->init = fakeAccInit; acc->init = fakeAccInit;
acc->read = fakeAccRead; acc->read = fakeAccRead;
acc->revisionCode = 0; acc->revisionCode = 0;
return true; return true;
} }
#endif #endif
bool detectGyro(uint16_t gyroLpf) bool detectGyro(uint16_t gyroLpf)
{ {
gyroAlign = ALIGN_DEFAULT; gyroAlign = ALIGN_DEFAULT;
#ifdef USE_GYRO_MPU6050 #ifdef USE_GYRO_MPU6050
if (mpu6050GyroDetect(&gyro, gyroLpf)) { if (mpu6050GyroDetect(&gyro, gyroLpf)) {
#ifdef NAZE #ifdef NAZE
gyroAlign = CW0_DEG; gyroAlign = CW0_DEG;
#endif #endif
return true; return true;
} }
#endif #endif
#ifdef USE_GYRO_L3G4200D #ifdef USE_GYRO_L3G4200D
if (l3g4200dDetect(&gyro, gyroLpf)) { if (l3g4200dDetect(&gyro, gyroLpf)) {
#ifdef NAZE #ifdef NAZE
gyroAlign = CW0_DEG; gyroAlign = CW0_DEG;
#endif #endif
return true; return true;
} }
#endif #endif
#ifdef USE_GYRO_MPU3050 #ifdef USE_GYRO_MPU3050
if (mpu3050Detect(&gyro, gyroLpf)) { if (mpu3050Detect(&gyro, gyroLpf)) {
#ifdef NAZE #ifdef NAZE
gyroAlign = CW0_DEG; gyroAlign = CW0_DEG;
#endif #endif
return true; return true;
} }
#endif #endif
#ifdef USE_GYRO_L3GD20 #ifdef USE_GYRO_L3GD20
if (l3gd20Detect(&gyro, gyroLpf)) { if (l3gd20Detect(&gyro, gyroLpf)) {
return true; return true;
} }
#endif #endif
#ifdef USE_GYRO_SPI_MPU6000 #ifdef USE_GYRO_SPI_MPU6000
if (mpu6000SpiGyroDetect(&gyro, gyroLpf)) { if (mpu6000SpiGyroDetect(&gyro, gyroLpf)) {
#ifdef CC3D #ifdef CC3D
gyroAlign = CW270_DEG; gyroAlign = CW270_DEG;
#endif #endif
return true; return true;
} }
#endif #endif
#ifdef USE_FAKE_GYRO #ifdef USE_FAKE_GYRO
if (fakeGyroDetect(&gyro, gyroLpf)) { if (fakeGyroDetect(&gyro, gyroLpf)) {
return true; return true;
} }
#endif #endif
return false; return false;
} }
static void detectAcc(uint8_t accHardwareToUse) static void detectAcc(uint8_t accHardwareToUse)
{ {
#ifdef USE_ACC_ADXL345 #ifdef USE_ACC_ADXL345
drv_adxl345_config_t acc_params; drv_adxl345_config_t acc_params;
#endif #endif
retry: retry:
accAlign = ALIGN_DEFAULT; accAlign = ALIGN_DEFAULT;
switch (accHardwareToUse) { switch (accHardwareToUse) {
#ifdef USE_FAKE_ACC #ifdef USE_FAKE_ACC
default: default:
if (fakeAccDetect(&acc)) { if (fakeAccDetect(&acc)) {
accHardware = ACC_FAKE; accHardware = ACC_FAKE;
if (accHardwareToUse == ACC_FAKE) if (accHardwareToUse == ACC_FAKE)
break; break;
} }
#endif #endif
case ACC_NONE: // disable ACC case ACC_NONE: // disable ACC
sensorsClear(SENSOR_ACC); sensorsClear(SENSOR_ACC);
break; break;
case ACC_DEFAULT: // autodetect case ACC_DEFAULT: // autodetect
#ifdef USE_ACC_ADXL345 #ifdef USE_ACC_ADXL345
case ACC_ADXL345: // ADXL345 case ACC_ADXL345: // ADXL345
acc_params.useFifo = false; acc_params.useFifo = false;
acc_params.dataRate = 800; // unused currently acc_params.dataRate = 800; // unused currently
if (adxl345Detect(&acc_params, &acc)) { if (adxl345Detect(&acc_params, &acc)) {
accHardware = ACC_ADXL345; accHardware = ACC_ADXL345;
#ifdef NAZE #ifdef NAZE
accAlign = CW270_DEG; accAlign = CW270_DEG;
#endif #endif
} }
if (accHardwareToUse == ACC_ADXL345) if (accHardwareToUse == ACC_ADXL345)
break; break;
; // fallthrough ; // fallthrough
#endif #endif
#ifdef USE_ACC_MPU6050 #ifdef USE_ACC_MPU6050
case ACC_MPU6050: // MPU6050 case ACC_MPU6050: // MPU6050
if (mpu6050AccDetect(&acc)) { if (mpu6050AccDetect(&acc)) {
accHardware = ACC_MPU6050; accHardware = ACC_MPU6050;
#ifdef NAZE #ifdef NAZE
accAlign = CW0_DEG; accAlign = CW0_DEG;
#endif #endif
if (accHardwareToUse == ACC_MPU6050) if (accHardwareToUse == ACC_MPU6050)
break; break;
} }
; // fallthrough ; // fallthrough
#endif #endif
#ifdef USE_ACC_MMA8452 #ifdef USE_ACC_MMA8452
case ACC_MMA8452: // MMA8452 case ACC_MMA8452: // MMA8452
if (mma8452Detect(&acc)) { if (mma8452Detect(&acc)) {
accHardware = ACC_MMA8452; accHardware = ACC_MMA8452;
#ifdef NAZE #ifdef NAZE
accAlign = CW90_DEG; accAlign = CW90_DEG;
#endif #endif
if (accHardwareToUse == ACC_MMA8452) if (accHardwareToUse == ACC_MMA8452)
break; break;
} }
; // fallthrough ; // fallthrough
#endif #endif
#ifdef USE_ACC_BMA280 #ifdef USE_ACC_BMA280
case ACC_BMA280: // BMA280 case ACC_BMA280: // BMA280
if (bma280Detect(&acc)) { if (bma280Detect(&acc)) {
accHardware = ACC_BMA280; accHardware = ACC_BMA280;
#ifdef NAZE #ifdef NAZE
accAlign = CW0_DEG; accAlign = CW0_DEG;
#endif #endif
if (accHardwareToUse == ACC_BMA280) if (accHardwareToUse == ACC_BMA280)
break; break;
} }
; // fallthrough ; // fallthrough
#endif #endif
#ifdef USE_ACC_LSM303DLHC #ifdef USE_ACC_LSM303DLHC
case ACC_LSM303DLHC: case ACC_LSM303DLHC:
if (lsm303dlhcAccDetect(&acc)) { if (lsm303dlhcAccDetect(&acc)) {
accHardware = ACC_LSM303DLHC; accHardware = ACC_LSM303DLHC;
if (accHardwareToUse == ACC_LSM303DLHC) if (accHardwareToUse == ACC_LSM303DLHC)
break; break;
} }
; // fallthrough ; // fallthrough
#endif #endif
#ifdef USE_GYRO_SPI_MPU6000 #ifdef USE_GYRO_SPI_MPU6000
case ACC_SPI_MPU6000: case ACC_SPI_MPU6000:
if (mpu6000SpiAccDetect(&acc)) { if (mpu6000SpiAccDetect(&acc)) {
accHardware = ACC_SPI_MPU6000; accHardware = ACC_SPI_MPU6000;
#ifdef CC3D #ifdef CC3D
accAlign = CW270_DEG; accAlign = CW270_DEG;
#endif #endif
if (accHardwareToUse == ACC_SPI_MPU6000) if (accHardwareToUse == ACC_SPI_MPU6000)
break; break;
} }
; // fallthrough ; // fallthrough
#endif #endif
; // prevent compiler error ; // prevent compiler error
} }
// Found anything? Check if user fucked up or ACC is really missing. // Found anything? Check if user fucked up or ACC is really missing.
if (accHardware == ACC_DEFAULT) { if (accHardware == ACC_DEFAULT) {
if (accHardwareToUse > ACC_DEFAULT) { if (accHardwareToUse > ACC_DEFAULT) {
// Nothing was found and we have a forced sensor type. Stupid user probably chose a sensor that isn't present. // Nothing was found and we have a forced sensor type. Stupid user probably chose a sensor that isn't present.
accHardwareToUse = ACC_DEFAULT; accHardwareToUse = ACC_DEFAULT;
goto retry; goto retry;
} else { } else {
// No ACC was detected // No ACC was detected
sensorsClear(SENSOR_ACC); sensorsClear(SENSOR_ACC);
} }
} }
} }
static void detectBaro() static void detectBaro()
{ {
#ifdef BARO #ifdef BARO
#ifdef USE_BARO_MS5611 #ifdef USE_BARO_MS5611
// Detect what pressure sensors are available. baro->update() is set to sensor-specific update function // Detect what pressure sensors are available. baro->update() is set to sensor-specific update function
if (ms5611Detect(&baro)) { if (ms5611Detect(&baro)) {
return; return;
} }
#endif #endif
#ifdef USE_BARO_BMP085 #ifdef USE_BARO_BMP085
// ms5611 disables BMP085, and tries to initialize + check PROM crc. if this works, we have a baro // ms5611 disables BMP085, and tries to initialize + check PROM crc. if this works, we have a baro
if (bmp085Detect(&baro)) { if (bmp085Detect(&baro)) {
return; return;
} }
#endif #endif
sensorsClear(SENSOR_BARO); sensorsClear(SENSOR_BARO);
#endif #endif
} }
void reconfigureAlignment(sensorAlignmentConfig_t *sensorAlignmentConfig) void reconfigureAlignment(sensorAlignmentConfig_t *sensorAlignmentConfig)
{ {
if (sensorAlignmentConfig->gyro_align != ALIGN_DEFAULT) { if (sensorAlignmentConfig->gyro_align != ALIGN_DEFAULT) {
gyroAlign = sensorAlignmentConfig->gyro_align; gyroAlign = sensorAlignmentConfig->gyro_align;
} }
if (sensorAlignmentConfig->acc_align != ALIGN_DEFAULT) { if (sensorAlignmentConfig->acc_align != ALIGN_DEFAULT) {
accAlign = sensorAlignmentConfig->acc_align; accAlign = sensorAlignmentConfig->acc_align;
} }
if (sensorAlignmentConfig->mag_align != ALIGN_DEFAULT) { if (sensorAlignmentConfig->mag_align != ALIGN_DEFAULT) {
magAlign = sensorAlignmentConfig->mag_align; magAlign = sensorAlignmentConfig->mag_align;
} }
} }
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, int16_t magDeclinationFromConfig)
{ {
int16_t deg, min; int16_t deg, min;
memset(&acc, sizeof(acc), 0); memset(&acc, sizeof(acc), 0);
memset(&gyro, sizeof(gyro), 0); memset(&gyro, sizeof(gyro), 0);
if (!detectGyro(gyroLpf)) { if (!detectGyro(gyroLpf)) {
return false; return false;
} }
detectAcc(accHardwareToUse); detectAcc(accHardwareToUse);
detectBaro(); detectBaro();
reconfigureAlignment(sensorAlignmentConfig); reconfigureAlignment(sensorAlignmentConfig);
// Now time to init things, acc first // Now time to init things, acc first
if (sensors(SENSOR_ACC)) if (sensors(SENSOR_ACC))
acc.init(); acc.init();
// this is safe because either mpu6050 or mpu3050 or lg3d20 sets it, and in case of fail, we never get here. // this is safe because either mpu6050 or mpu3050 or lg3d20 sets it, and in case of fail, we never get here.
gyro.init(); gyro.init();
#ifdef MAG #ifdef MAG
if (hmc5883lDetect()) { if (hmc5883lDetect()) {
magAlign = CW180_DEG; // default NAZE alignment magAlign = CW180_DEG; // default NAZE alignment
} else { } else {
sensorsClear(SENSOR_MAG); sensorsClear(SENSOR_MAG);
} }
#endif #endif
// FIXME extract to a method to reduce dependencies, maybe move to sensors_compass.c // FIXME extract to a method to reduce dependencies, maybe move to sensors_compass.c
if (sensors(SENSOR_MAG)) { if (sensors(SENSOR_MAG)) {
// calculate magnetic declination // calculate magnetic declination
deg = magDeclinationFromConfig / 100; deg = magDeclinationFromConfig / 100;
min = magDeclinationFromConfig % 100; min = magDeclinationFromConfig % 100;
magneticDeclination = (deg + ((float)min * (1.0f / 60.0f))) * 10; // heading is in 0.1deg units magneticDeclination = (deg + ((float)min * (1.0f / 60.0f))) * 10; // heading is in 0.1deg units
} else { } 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. 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.
} }
return true; return true;
} }

144
src/main/target/NAZE/target.h
View file

@ -1,72 +1,72 @@
/* /*
* This file is part of Cleanflight. * This file is part of Cleanflight.
* *
* Cleanflight is free software: you can redistribute it and/or modify * Cleanflight is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by * it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or * the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version. * (at your option) any later version.
* *
* Cleanflight is distributed in the hope that it will be useful, * Cleanflight is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of * but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details. * GNU General Public License for more details.
* *
* You should have received a copy of the GNU General Public License * You should have received a copy of the GNU General Public License
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>. * along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
*/ */
#pragma once #pragma once
#define LED0_GPIO GPIOB #define LED0_GPIO GPIOB
#define LED0_PIN Pin_3 // PB3 (LED) #define LED0_PIN Pin_3 // PB3 (LED)
#define LED0_PERIPHERAL RCC_APB2Periph_GPIOB #define LED0_PERIPHERAL RCC_APB2Periph_GPIOB
#define LED1_GPIO GPIOB #define LED1_GPIO GPIOB
#define LED1_PIN Pin_4 // PB4 (LED) #define LED1_PIN Pin_4 // PB4 (LED)
#define LED1_PERIPHERAL RCC_APB2Periph_GPIOB #define LED1_PERIPHERAL RCC_APB2Periph_GPIOB
#define BEEP_GPIO GPIOA #define BEEP_GPIO GPIOA
#define BEEP_PIN Pin_12 // PA12 (Beeper) #define BEEP_PIN Pin_12 // PA12 (Beeper)
#define BEEP_PERIPHERAL RCC_APB2Periph_GPIOA #define BEEP_PERIPHERAL RCC_APB2Periph_GPIOA
#define BARO_GPIO GPIOC #define BARO_GPIO GPIOC
#define BARO_PIN Pin_13 #define BARO_PIN Pin_13
#define INVERTER_PIN Pin_2 // PB2 (BOOT1) abused as inverter select GPIO #define INVERTER_PIN Pin_2 // PB2 (BOOT1) abused as inverter select GPIO
#define INVERTER_GPIO GPIOB #define INVERTER_GPIO GPIOB
#define INVERTER_PERIPHERAL RCC_APB2Periph_GPIOB #define INVERTER_PERIPHERAL RCC_APB2Periph_GPIOB
#define INVERTER_USART USART2 #define INVERTER_USART USART2
#define GYRO #define GYRO
#define ACC #define ACC
#define MAG #define MAG
#define BARO #define BARO
#define SONAR #define SONAR
#define BEEPER #define BEEPER
#define LED0 #define LED0
#define LED1 #define LED1
#define INVERTER #define INVERTER
#define DISPLAY #define DISPLAY
#define USE_USART1 #define USE_USART1
#define USE_USART2 #define USE_USART2
#define USE_SOFT_SERIAL #define USE_SOFT_SERIAL
#define SERIAL_PORT_COUNT 4 #define SERIAL_PORT_COUNT 4
#define I2C_DEVICE (I2CDEV_2) #define I2C_DEVICE (I2CDEV_2)
// #define SOFT_I2C // enable to test software i2c // #define SOFT_I2C // enable to test software i2c
// #define SOFT_I2C_PB1011 // If SOFT_I2C is enabled above, need to define pinout as well (I2C1 = PB67, I2C2 = PB1011) // #define SOFT_I2C_PB1011 // If SOFT_I2C is enabled above, need to define pinout as well (I2C1 = PB67, I2C2 = PB1011)
// #define SOFT_I2C_PB67 // #define SOFT_I2C_PB67
#define SENSORS_SET (SENSOR_ACC | SENSOR_BARO | SENSOR_MAG) #define SENSORS_SET (SENSOR_ACC | SENSOR_BARO | SENSOR_MAG)
#define GPS #define GPS
#define LED_STRIP #define LED_STRIP
#define TELEMETRY #define TELEMETRY
#define SOFT_SERIAL #define SOFT_SERIAL
#define SERIAL_RX #define SERIAL_RX
#define AUTOTUNE #define AUTOTUNE