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Moved sensor detection into respective sensor modules
This commit is contained in:
Martin Budden
parent
4bee6193e8
commit
4bb6820c42
10 changed files with 535 additions and 508 deletions
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@ -26,9 +26,27 @@
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#include "common/axis.h"
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#include "common/filter.h"
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#include "drivers/accgyro.h"
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#include "drivers/accgyro_adxl345.h"
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#include "drivers/accgyro_bma280.h"
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#include "drivers/accgyro_fake.h"
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#include "drivers/accgyro_l3g4200d.h"
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#include "drivers/accgyro_mma845x.h"
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#include "drivers/accgyro_mpu.h"
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#include "drivers/accgyro_mpu3050.h"
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#include "drivers/accgyro_mpu6050.h"
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#include "drivers/accgyro_mpu6500.h"
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#include "drivers/accgyro_l3gd20.h"
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#include "drivers/accgyro_lsm303dlhc.h"
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#include "drivers/bus_spi.h"
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#include "drivers/accgyro_spi_icm20689.h"
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#include "drivers/accgyro_spi_mpu6000.h"
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#include "drivers/accgyro_spi_mpu6500.h"
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#include "drivers/accgyro_spi_mpu9250.h"
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#include "drivers/system.h"
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#include "fc/config.h"
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#include "fc/runtime_config.h"
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#include "io/beeper.h"
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@ -38,6 +56,10 @@
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#include "config/feature.h"
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#ifdef USE_HARDWARE_REVISION_DETECTION
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#include "hardware_revision.h"
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#endif
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acc_t acc; // acc access functions
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@ -53,8 +75,161 @@ static flightDynamicsTrims_t *accelerationTrims;
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static uint16_t accLpfCutHz = 0;
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static biquadFilter_t accFilter[XYZ_AXIS_COUNT];
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bool accDetect(accDev_t *dev, accelerationSensor_e accHardwareToUse)
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{
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accelerationSensor_e accHardware;
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#ifdef USE_ACC_ADXL345
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drv_adxl345_config_t acc_params;
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#endif
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retry:
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acc.dev.accAlign = ALIGN_DEFAULT;
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switch (accHardwareToUse) {
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case ACC_DEFAULT:
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; // fallthrough
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case ACC_ADXL345: // ADXL345
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#ifdef USE_ACC_ADXL345
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acc_params.useFifo = false;
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acc_params.dataRate = 800; // unused currently
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#ifdef NAZE
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if (hardwareRevision < NAZE32_REV5 && adxl345Detect(&acc_params, dev)) {
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#else
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if (adxl345Detect(&acc_params, dev)) {
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#endif
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#ifdef ACC_ADXL345_ALIGN
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acc.dev.accAlign = ACC_ADXL345_ALIGN;
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#endif
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accHardware = ACC_ADXL345;
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break;
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}
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#endif
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; // fallthrough
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case ACC_LSM303DLHC:
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#ifdef USE_ACC_LSM303DLHC
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if (lsm303dlhcAccDetect(dev)) {
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#ifdef ACC_LSM303DLHC_ALIGN
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acc.dev.accAlign = ACC_LSM303DLHC_ALIGN;
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#endif
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accHardware = ACC_LSM303DLHC;
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break;
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}
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#endif
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; // fallthrough
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case ACC_MPU6050: // MPU6050
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#ifdef USE_ACC_MPU6050
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if (mpu6050AccDetect(dev)) {
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#ifdef ACC_MPU6050_ALIGN
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acc.dev.accAlign = ACC_MPU6050_ALIGN;
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#endif
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accHardware = ACC_MPU6050;
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break;
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}
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#endif
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; // fallthrough
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case ACC_MMA8452: // MMA8452
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#ifdef USE_ACC_MMA8452
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#ifdef NAZE
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// Not supported with this frequency
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if (hardwareRevision < NAZE32_REV5 && mma8452Detect(dev)) {
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#else
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if (mma8452Detect(dev)) {
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#endif
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#ifdef ACC_MMA8452_ALIGN
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acc.dev.accAlign = ACC_MMA8452_ALIGN;
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#endif
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accHardware = ACC_MMA8452;
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break;
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}
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#endif
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; // fallthrough
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case ACC_BMA280: // BMA280
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#ifdef USE_ACC_BMA280
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if (bma280Detect(dev)) {
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#ifdef ACC_BMA280_ALIGN
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acc.dev.accAlign = ACC_BMA280_ALIGN;
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#endif
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accHardware = ACC_BMA280;
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break;
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}
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#endif
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; // fallthrough
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case ACC_MPU6000:
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#ifdef USE_ACC_SPI_MPU6000
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if (mpu6000SpiAccDetect(dev)) {
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#ifdef ACC_MPU6000_ALIGN
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acc.dev.accAlign = ACC_MPU6000_ALIGN;
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#endif
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accHardware = ACC_MPU6000;
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break;
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}
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#endif
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; // fallthrough
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case ACC_MPU6500:
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#if defined(USE_ACC_MPU6500) || defined(USE_ACC_SPI_MPU6500)
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#ifdef USE_ACC_SPI_MPU6500
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if (mpu6500AccDetect(dev) || mpu6500SpiAccDetect(dev))
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#else
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if (mpu6500AccDetect(dev))
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#endif
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{
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#ifdef ACC_MPU6500_ALIGN
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acc.dev.accAlign = ACC_MPU6500_ALIGN;
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#endif
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accHardware = ACC_MPU6500;
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break;
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}
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#endif
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; // fallthrough
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case ACC_ICM20689:
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#ifdef USE_ACC_SPI_ICM20689
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if (icm20689SpiAccDetect(dev))
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{
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#ifdef ACC_ICM20689_ALIGN
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acc.dev.accAlign = ACC_ICM20689_ALIGN;
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#endif
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accHardware = ACC_ICM20689;
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break;
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}
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#endif
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; // fallthrough
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case ACC_FAKE:
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#ifdef USE_FAKE_ACC
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if (fakeAccDetect(dev)) {
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accHardware = ACC_FAKE;
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break;
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}
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#endif
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; // fallthrough
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case ACC_NONE: // disable ACC
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accHardware = ACC_NONE;
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break;
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}
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// Found anything? Check if error or ACC is really missing.
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if (accHardware == ACC_NONE && accHardwareToUse != ACC_DEFAULT && accHardwareToUse != ACC_NONE) {
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// Nothing was found and we have a forced sensor that isn't present.
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accHardwareToUse = ACC_DEFAULT;
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goto retry;
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}
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if (accHardware == ACC_NONE) {
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return false;
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}
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detectedSensors[SENSOR_INDEX_ACC] = accHardware;
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sensorsSet(SENSOR_ACC);
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return true;
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}
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void accInit(uint32_t gyroSamplingInverval)
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{
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acc.dev.acc_1G = 256; // set default
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acc.dev.init(&acc.dev); // driver initialisation
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// set the acc sampling interval according to the gyro sampling interval
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switch (gyroSamplingInverval) { // Switch statement kept in place to change acc sampling interval in the future
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case 500:
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