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Move sensor alignment defaults into target.h files.

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This commit is contained in:
Dominic Clifton 2014-12-26 00:07:03 +00:00
parent 78bb6b52e2
commit 451ee4ab2b
8 changed files with 103 additions and 61 deletions
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71
src/main/sensors/initialisation.c
View file

@ -137,8 +137,8 @@ bool detectGyro(uint16_t gyroLpf)
#ifdef USE_GYRO_MPU6050 #ifdef USE_GYRO_MPU6050
if (mpu6050GyroDetect(selectMPU6050Config(), &gyro, gyroLpf)) { if (mpu6050GyroDetect(selectMPU6050Config(), &gyro, gyroLpf)) {
#ifdef NAZE #ifdef GYRO_MPU6050_ALIGN
gyroAlign = CW0_DEG; gyroAlign = GYRO_MPU6050_ALIGN;
#endif #endif
return true; return true;
} }
@ -146,8 +146,8 @@ bool detectGyro(uint16_t gyroLpf)
#ifdef USE_GYRO_L3G4200D #ifdef USE_GYRO_L3G4200D
if (l3g4200dDetect(&gyro, gyroLpf)) { if (l3g4200dDetect(&gyro, gyroLpf)) {
#ifdef NAZE #ifdef GYRO_L3G4200D_ALIGN
gyroAlign = CW0_DEG; gyroAlign = GYRO_L3G4200D_ALIGN;
#endif #endif
return true; return true;
} }
@ -155,8 +155,8 @@ bool detectGyro(uint16_t gyroLpf)
#ifdef USE_GYRO_MPU3050 #ifdef USE_GYRO_MPU3050
if (mpu3050Detect(&gyro, gyroLpf)) { if (mpu3050Detect(&gyro, gyroLpf)) {
#ifdef NAZE #ifdef GYRO_MPU3050_ALIGN
gyroAlign = CW0_DEG; gyroAlign = GYRO_MPU3050_ALIGN;
#endif #endif
return true; return true;
} }
@ -164,14 +164,17 @@ bool detectGyro(uint16_t gyroLpf)
#ifdef USE_GYRO_L3GD20 #ifdef USE_GYRO_L3GD20
if (l3gd20Detect(&gyro, gyroLpf)) { if (l3gd20Detect(&gyro, gyroLpf)) {
#ifdef GYRO_GYRO_L3GD20_ALIGN
gyroAlign = GYRO_GYRO_L3GD20_ALIGN;
#endif
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 GYRO_SPI_MPU6000_ALIGN
gyroAlign = CW270_DEG; gyroAlign = GYRO_SPI_MPU6000_ALIGN;
#endif #endif
return true; return true;
} }
@ -180,12 +183,16 @@ bool detectGyro(uint16_t gyroLpf)
#ifdef USE_GYRO_SPI_MPU6500 #ifdef USE_GYRO_SPI_MPU6500
#ifdef NAZE #ifdef NAZE
if (hardwareRevision == NAZE32_SP && mpu6500SpiGyroDetect(&gyro, gyroLpf)) { if (hardwareRevision == NAZE32_SP && mpu6500SpiGyroDetect(&gyro, gyroLpf)) {
gyroAlign = CW0_DEG; #ifdef GYRO_SPI_MPU6500_ALIGN
gyroAlign = GYRO_SPI_MPU6500_ALIGN;
#endif
return true; return true;
} }
#else #else
if (mpu6500SpiGyroDetect(&gyro, gyroLpf)) { if (mpu6500SpiGyroDetect(&gyro, gyroLpf)) {
gyroAlign = CW0_DEG; #ifdef GYRO_SPI_MPU6500_ALIGN
gyroAlign = GYRO_SPI_MPU6500_ALIGN;
#endif
return true; return true;
} }
#endif #endif
@ -227,11 +234,12 @@ retry:
acc_params.dataRate = 800; // unused currently acc_params.dataRate = 800; // unused currently
#ifdef NAZE #ifdef NAZE
if (hardwareRevision < NAZE32_REV5 && adxl345Detect(&acc_params, &acc)) { if (hardwareRevision < NAZE32_REV5 && adxl345Detect(&acc_params, &acc)) {
accAlign = CW270_DEG;
#else #else
if (adxl345Detect(&acc_params, &acc)) { if (adxl345Detect(&acc_params, &acc)) {
#endif #endif
accHardware = ACC_ADXL345; #ifdef ACC_ADXL345_ALIGN
accAlign = ACC_ADXL345_ALIGN;
#endif
accHardware = ACC_ADXL345; accHardware = ACC_ADXL345;
if (accHardwareToUse == ACC_ADXL345) if (accHardwareToUse == ACC_ADXL345)
break; break;
@ -241,10 +249,10 @@ retry:
#ifdef USE_ACC_MPU6050 #ifdef USE_ACC_MPU6050
case ACC_MPU6050: // MPU6050 case ACC_MPU6050: // MPU6050
if (mpu6050AccDetect(selectMPU6050Config(), &acc)) { if (mpu6050AccDetect(selectMPU6050Config(), &acc)) {
accHardware = ACC_MPU6050; #ifdef ACC_MPU6050_ALIGN
#ifdef NAZE accAlign = ACC_MPU6050_ALIGN;
accAlign = CW0_DEG;
#endif #endif
accHardware = ACC_MPU6050;
if (accHardwareToUse == ACC_MPU6050) if (accHardwareToUse == ACC_MPU6050)
break; break;
} }
@ -255,9 +263,11 @@ retry:
#ifdef NAZE #ifdef NAZE
// Not supported with this frequency // Not supported with this frequency
if (hardwareRevision < NAZE32_REV5 && mma8452Detect(&acc)) { if (hardwareRevision < NAZE32_REV5 && mma8452Detect(&acc)) {
accAlign = CW90_DEG;
#else #else
if (mma8452Detect(&acc)) { if (mma8452Detect(&acc)) {
#endif
#ifdef ACC_MMA8452_ALIGN
accAlign = ACC_MMA8452_ALIGN;
#endif #endif
accHardware = ACC_MMA8452; accHardware = ACC_MMA8452;
if (accHardwareToUse == ACC_MMA8452) if (accHardwareToUse == ACC_MMA8452)
@ -268,10 +278,10 @@ retry:
#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; #ifdef ACC_BMA280_ALIGN
#ifdef NAZE accAlign = ACC_BMA280_ALIGN;
accAlign = CW0_DEG;
#endif #endif
accHardware = ACC_BMA280;
if (accHardwareToUse == ACC_BMA280) if (accHardwareToUse == ACC_BMA280)
break; break;
} }
@ -280,6 +290,9 @@ retry:
#ifdef USE_ACC_LSM303DLHC #ifdef USE_ACC_LSM303DLHC
case ACC_LSM303DLHC: case ACC_LSM303DLHC:
if (lsm303dlhcAccDetect(&acc)) { if (lsm303dlhcAccDetect(&acc)) {
#ifdef ACC_LSM303DLHC_ALIGN
accAlign = ACC_LSM303DLHC_ALIGN;
#endif
accHardware = ACC_LSM303DLHC; accHardware = ACC_LSM303DLHC;
if (accHardwareToUse == ACC_LSM303DLHC) if (accHardwareToUse == ACC_LSM303DLHC)
break; break;
@ -289,10 +302,10 @@ retry:
#ifdef USE_ACC_SPI_MPU6000 #ifdef USE_ACC_SPI_MPU6000
case ACC_SPI_MPU6000: case ACC_SPI_MPU6000:
if (mpu6000SpiAccDetect(&acc)) { if (mpu6000SpiAccDetect(&acc)) {
accHardware = ACC_SPI_MPU6000; #ifdef ACC_SPI_MPU6000_ALIGN
#ifdef CC3D accAlign = ACC_SPI_MPU6000_ALIGN;
accAlign = CW270_DEG;
#endif #endif
accHardware = ACC_SPI_MPU6000;
if (accHardwareToUse == ACC_SPI_MPU6000) if (accHardwareToUse == ACC_SPI_MPU6000)
break; break;
} }
@ -305,10 +318,10 @@ retry:
#else #else
if (mpu6500SpiAccDetect(&acc)) { if (mpu6500SpiAccDetect(&acc)) {
#endif #endif
accHardware = ACC_SPI_MPU6500; #ifdef ACC_SPI_MPU6500_ALIGN
#ifdef NAZE accAlign = ACC_SPI_MPU6500_ALIGN;
accAlign = CW0_DEG;
#endif #endif
accHardware = ACC_SPI_MPU6500;
if (accHardwareToUse == ACC_SPI_MPU6500) if (accHardwareToUse == ACC_SPI_MPU6500)
break; break;
} }
@ -408,8 +421,8 @@ retry:
#ifdef USE_MAG_HMC5883 #ifdef USE_MAG_HMC5883
case MAG_HMC5883: case MAG_HMC5883:
if (hmc5883lDetect(&mag, hmc5883Config)) { if (hmc5883lDetect(&mag, hmc5883Config)) {
#ifdef NAZE #ifdef MAG_HMC5883_ALIGN
magAlign = CW180_DEG; magAlign = MAG_HMC5883_ALIGN;
#endif #endif
magHardware = MAG_HMC5883; magHardware = MAG_HMC5883;
if (magHardwareToUse == MAG_HMC5883) if (magHardwareToUse == MAG_HMC5883)
@ -422,6 +435,10 @@ retry:
#ifdef USE_MAG_AK8975 #ifdef USE_MAG_AK8975
case MAG_AK8975: case MAG_AK8975:
if (ak8975detect(&mag)) { if (ak8975detect(&mag)) {
#ifdef MAG_AK8975_ALIGN
magAlign = MAG_AK8975_ALIGN;
#endif
magHardware = MAG_AK8975; magHardware = MAG_AK8975;
if (magHardwareToUse == MAG_AK8975) if (magHardwareToUse == MAG_AK8975)
break; break;

8
src/main/target/CC3D/target.h
View file

@ -35,11 +35,15 @@
#define MPU6000_CS_PIN GPIO_Pin_4 #define MPU6000_CS_PIN GPIO_Pin_4
#define MPU6000_SPI_INSTANCE SPI1 #define MPU6000_SPI_INSTANCE SPI1
#define GYRO
#define USE_GYRO_SPI_MPU6000
#define GYRO_SPI_MPU6000_ALIGN CW270_DEG
#define ACC #define ACC
#define USE_ACC_SPI_MPU6000 #define USE_ACC_SPI_MPU6000
#define GYRO #define ACC_SPI_MPU6000_ALIGN CW270_DEG
#define USE_GYRO_SPI_MPU6000
#define INVERTER #define INVERTER
#define BEEPER #define BEEPER

6
src/main/target/CHEBUZZF3/target.h
View file

@ -37,16 +37,22 @@
#define USE_GYRO_L3GD20 #define USE_GYRO_L3GD20
#define USE_GYRO_MPU6050 #define USE_GYRO_MPU6050
#define GYRO_MPU6050_ALIGN CW0_DEG
#define ACC #define ACC
#define USE_ACC_MPU6050 #define USE_ACC_MPU6050
#define USE_ACC_LSM303DLHC #define USE_ACC_LSM303DLHC
#define ACC_MPU6050_ALIGN CW0_DEG
#define BARO #define BARO
#define USE_BARO_MS5611 #define USE_BARO_MS5611
#define MAG #define MAG
#define USE_MAG_AK8975 #define USE_MAG_AK8975
#define MAG_AK8975_ALIGN CW90_DEG_FLIP
#define BEEPER #define BEEPER
#define LED0 #define LED0
#define LED1 #define LED1

19
src/main/target/EUSTM32F103RC/target.h
View file

@ -39,16 +39,6 @@
#define MPU6500_CS_PIN GPIO_Pin_12 #define MPU6500_CS_PIN GPIO_Pin_12
#define MPU6500_SPI_INSTANCE SPI2 #define MPU6500_SPI_INSTANCE SPI2
#define ACC
#define USE_FAKE_ACC
#define USE_ACC_ADXL345
#define USE_ACC_BMA280
#define USE_ACC_MMA8452
#define USE_ACC_MPU3050
#define USE_ACC_MPU6050
//#define USE_ACC_SPI_MPU6000
#define USE_ACC_SPI_MPU6500
#define GYRO #define GYRO
#define USE_FAKE_GYRO #define USE_FAKE_GYRO
#define USE_GYRO_L3G4200D #define USE_GYRO_L3G4200D
@ -58,6 +48,15 @@
#define USE_GYRO_SPI_MPU6000 #define USE_GYRO_SPI_MPU6000
#define USE_GYRO_SPI_MPU6500 #define USE_GYRO_SPI_MPU6500
#define ACC
#define USE_FAKE_ACC
#define USE_ACC_ADXL345
#define USE_ACC_BMA280
#define USE_ACC_MMA8452
#define USE_ACC_MPU6050
//#define USE_ACC_SPI_MPU6000
#define USE_ACC_SPI_MPU6500
#define BARO #define BARO
#define USE_BARO_MS5611 #define USE_BARO_MS5611
#define USE_BARO_BMP085 #define USE_BARO_BMP085

13
src/main/target/NAZE/target.h
View file

@ -63,11 +63,22 @@
#define USE_GYRO_MPU3050 #define USE_GYRO_MPU3050
#define USE_GYRO_MPU6050 #define USE_GYRO_MPU6050
#define GYRO_MPU3050_ALIGN CW0_DEG
#define GYRO_MPU6050_ALIGN CW0_DEG
#define GYRO_SPI_MPU6500_ALIGN CW0_DEG
#define ACC #define 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_MPU6050 #define USE_ACC_MPU6050
//#define ACC_SPI_MPU6500
#define ACC_ADXL345_ALIGN CW270_DEG
#define ACC_MPU6050_ALIGN CW0_DEG
#define ACC_MMA8452_ALIGN CW90_DEG
#define ACC_BMA280_ALIGN CW0_DEG
//#define ACC_SPI_MPU6500_ALIGN CW0_DEG
#define BARO #define BARO
#define USE_BARO_MS5611 #define USE_BARO_MS5611
@ -76,6 +87,8 @@
#define MAG #define MAG
#define USE_MAG_HMC5883 #define USE_MAG_HMC5883
#define MAG_HMC5883_ALIGN CW180_DEG
#define SONAR #define SONAR
#define BEEPER #define BEEPER
#define LED0 #define LED0

22
src/main/target/OLIMEXINO/target.h
View file

@ -37,18 +37,6 @@
#define LED1 #define LED1
#endif #endif
#define ACC
#define USE_FAKE_ACC
//#define USE_ACC_ADXL345
//#define USE_ACC_BMA280
//#define USE_ACC_MMA8452
//#define USE_ACC_LSM303DLHC
//#define USE_ACC_MPU3050
#define USE_ACC_MPU6050
//#define USE_ACC_SPI_MPU6000
//#define USE_ACC_SPI_MPU6500
#define GYRO #define GYRO
#define USE_FAKE_GYRO #define USE_FAKE_GYRO
//#define USE_GYRO_L3G4200D //#define USE_GYRO_L3G4200D
@ -58,6 +46,16 @@
//#define USE_GYRO_SPI_MPU6000 //#define USE_GYRO_SPI_MPU6000
//#define USE_GYRO_SPI_MPU6500 //#define USE_GYRO_SPI_MPU6500
#define ACC
#define USE_FAKE_ACC
//#define USE_ACC_ADXL345
//#define USE_ACC_BMA280
//#define USE_ACC_MMA8452
//#define USE_ACC_LSM303DLHC
#define USE_ACC_MPU6050
//#define USE_ACC_SPI_MPU6000
//#define USE_ACC_SPI_MPU6500
#define BARO #define BARO
//#define USE_BARO_MS5611 //#define USE_BARO_MS5611
#define USE_BARO_BMP085 #define USE_BARO_BMP085

19
src/main/target/PORT103R/target.h
View file

@ -46,16 +46,6 @@
#define MPU6500_CS_PIN GPIO_Pin_12 #define MPU6500_CS_PIN GPIO_Pin_12
#define MPU6500_SPI_INSTANCE SPI2 #define MPU6500_SPI_INSTANCE SPI2
#define ACC
#define USE_FAKE_ACC
//#define USE_ACC_ADXL345
//#define USE_ACC_BMA280
//#define USE_ACC_MMA8452
//#define USE_ACC_MPU3050
#define USE_ACC_MPU6050
//#define USE_ACC_SPI_MPU6000
//#define USE_ACC_SPI_MPU6500
#define GYRO #define GYRO
#define USE_FAKE_GYRO #define USE_FAKE_GYRO
//#define USE_GYRO_L3G4200D //#define USE_GYRO_L3G4200D
@ -65,6 +55,15 @@
//#define USE_GYRO_SPI_MPU6000 //#define USE_GYRO_SPI_MPU6000
//#define USE_GYRO_SPI_MPU6500 //#define USE_GYRO_SPI_MPU6500
#define ACC
#define USE_FAKE_ACC
//#define USE_ACC_ADXL345
//#define USE_ACC_BMA280
//#define USE_ACC_MMA8452
#define USE_ACC_MPU6050
//#define USE_ACC_SPI_MPU6000
//#define USE_ACC_SPI_MPU6500
#define BARO #define BARO
#define USE_BARO_MS5611 #define USE_BARO_MS5611
//#define USE_BARO_BMP085 //#define USE_BARO_BMP085

6
src/main/target/SPARKY/target.h
View file

@ -30,15 +30,21 @@
#define GYRO #define GYRO
#define USE_GYRO_MPU6050 #define USE_GYRO_MPU6050
#define GYRO_MPU6050_ALIGN CW270_DEG
#define ACC #define ACC
#define USE_ACC_MPU6050 #define USE_ACC_MPU6050
#define ACC_MPU6050_ALIGN CW270_DEG
//#define BARO //#define BARO
//#define USE_BARO_MS5611 //#define USE_BARO_MS5611
#define MAG #define MAG
#define USE_MAG_AK8975 #define USE_MAG_AK8975
#define MAG_AK8975_ALIGN CW0_DEG_FLIP
#define LED0 #define LED0
#define LED1 #define LED1