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added driver for MMA8452QT accelerometer

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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
This commit is contained in:
timecop 2012-05-18 16:01:10 +00:00
parent b929f79b54
commit 59ccf93dd3
8 changed files with 2746 additions and 2704 deletions
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18
src/sensors.c
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@ -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