added driver for MMA8452QT accelerometer

added mag_declination set option to cli - oops
status in cli now prints which ACC hardware is used. work in proress to show difference between hardware with MPU6050 and MPU3050


git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@157 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61

src/board.h

@@ -123,6 +123,7 @@ typedef struct sensor_t
 #include "drv_hmc5883l.h"
 #include "drv_i2c.h"
 #include "drv_ledring.h"
+#include "drv_mma845x.h"
 #include "drv_mpu3050.h"
 #include "drv_mpu6050.h"
 #include "drv_pwm.h"

src/cli.c

@@ -16,6 +16,7 @@ static void cliVersion(char *cmdline);
 
 // from sensors.c
 extern uint8_t batteryCellCount;
+extern uint8_t accHardware;
 
 // from config.c RC Channel mapping
 extern const char rcChannelLetters[];
@@ -45,6 +46,11 @@ const char *sensorNames[] = {
     "ACC", "BARO", "MAG", "SONAR", "GPS", NULL
 };
 
+// 
+const char *accNames[] = {
+    "ADXL345", "MPU6050", "MMA845x", NULL
+};
+
 typedef struct {
     char *name;
     char *param;
@@ -117,6 +123,7 @@ const clivalue_t valueTable[] = {
     { "gimbal_roll_mid", VAR_UINT16, &cfg.gimbal_roll_mid, 100, 3000 },
     { "acc_lpf_factor", VAR_UINT8, &cfg.acc_lpf_factor, 0, 250 },
     { "gyro_lpf", VAR_UINT16, &cfg.gyro_lpf, 0, 256 },
+    { "mag_declination", VAR_INT16, &cfg.mag_declination, -18000, 18000 },
     { "gps_baudrate", VAR_UINT32, &cfg.gps_baudrate, 1200, 115200 },
     { "serial_baudrate", VAR_UINT32, &cfg.serial_baudrate, 1200, 115200 },
     { "p_pitch", VAR_UINT8, &cfg.P8[PITCH], 0, 200},
@@ -476,6 +483,10 @@ static void cliStatus(char *cmdline)
             uartPrint((char *)sensorNames[i]);
         uartWrite(' ');
     }
+    if (sensors(SENSOR_ACC)) {
+        uartPrint("ACCHW: ");
+        uartPrint((char *)accNames[accHardware]);
+    }
     uartPrint("\r\n");
 
     uartPrint("Cycle Time: ");

src/config.c

@@ -13,7 +13,7 @@ config_t cfg;
 const char rcChannelLetters[] = "AERT1234";
 
 static uint32_t enabledSensors = 0;
-uint8_t checkNewConf = 16;
+uint8_t checkNewConf = 17;
 
 void parseRcChannels(const char *input)
 {
@@ -127,7 +127,7 @@ void checkFirstTime(bool reset)
     cfg.accZero[0] = 0;
     cfg.accZero[1] = 0;
     cfg.accZero[2] = 0;
-    cfg.magDeclination = 0; // For example, -6deg 37min, = -637 Japan, format is [sign]dddmm (degreesminutes) default is zero.
+    cfg.mag_declination = 0; // For example, -6deg 37min, = -637 Japan, format is [sign]dddmm (degreesminutes) default is zero.
     cfg.acc_lpf_factor = 100;
     cfg.gyro_lpf = 42;
     cfg.gyro_smoothing_factor = 0x00141403; // default factors of 20, 20, 3 for R/P/Y

src/mw.h

@@ -53,6 +53,13 @@ typedef enum GimbalFlags {
     GIMBAL_DISABLEAUX34 = 1 << 2,
 } GimbalFlags;
 
+// Type of accelerometer used
+typedef enum AccelSensors {
+    ADXL345,
+    MPU6050,
+    MMA845x
+} AccelSensors;
+
 /*********** RC alias *****************/
 #define ROLL       0
 #define PITCH      1
@@ -109,7 +116,7 @@ typedef struct config_t {
     uint8_t dynThrPID;
     int16_t accZero[3];
     int16_t magZero[3];
-    int16_t magDeclination;                   // Get your magnetic decliniation from here : http://magnetic-declination.com/
+    int16_t mag_declination;                // Get your magnetic decliniation from here : http://magnetic-declination.com/
     int16_t accTrim[2];
 
     // sensor-related stuff

src/sensors.c

@@ -19,6 +19,7 @@ extern float magneticDeclination;
 
 sensor_t acc;                   // acc access functions
 sensor_t gyro;                  // gyro access functions
+uint8_t accHardware = 0;        // which accel chip is used.
 
 #ifdef FY90Q
 // FY90Q analog gyro/acc
@@ -47,8 +48,10 @@ void sensorsAutodetect(void)
         sensorsClear(SENSOR_MAG);
 
     // Init sensors
-    if (sensors(SENSOR_ACC))
+    if (sensors(SENSOR_ACC)) {
         acc.init();
+        accHardware = ADXL345;
+    }
     if (sensors(SENSOR_BARO))
         bmp085Init();
 
@@ -56,18 +59,27 @@ void sensorsAutodetect(void)
     if (mpu6050Detect(&acc, &gyro)) { // first, try MPU6050, and re-enable acc (if ADXL345 is missing) since this chip has it built in
         sensorsSet(SENSOR_ACC);
         acc.init();
+        accHardware = MPU6050;
     } else if (!mpu3050Detect(&gyro)) {
         // if this fails, we get a beep + blink pattern. we're doomed, no gyro or i2c error.
         failureMode(3);
     }
+
+    // Try to init MMA8452
+    if (mma8452Detect(&acc)) {
+        sensorsSet(SENSOR_ACC);
+        acc.init();
+        accHardware = MMA845x;
+    }
+
     // this is safe because either mpu6050 or mpu3050 sets it, and in case of fail, none do.
     gyro.init();
     // todo: this is driver specific :(
     mpu3050Config(cfg.gyro_lpf);
 
     // calculate magnetic declination
-    deg = cfg.magDeclination / 100;
-    min = cfg.magDeclination % 100;
+    deg = cfg.mag_declination / 100;
+    min = cfg.mag_declination % 100;
     magneticDeclination = deg + ((float)min * (1.0f / 60.0f));
 }
 #endif