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Code Issues Wiki Activity

added driver for MMA8452QT accelerometer

Browse source 
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
Download patch file Download diff file Expand all files Collapse all files

163
baseflight.uvopt
View file

@ -73,7 +73,7 @@
<OPTFL> <OPTFL>
<tvExp>1</tvExp> <tvExp>1</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
<IsCurrentTarget>0</IsCurrentTarget> <IsCurrentTarget>1</IsCurrentTarget>
</OPTFL> </OPTFL>
<CpuCode>255</CpuCode> <CpuCode>255</CpuCode>
<Books> <Books>
@ -166,61 +166,18 @@
<Ww> <Ww>
<count>1</count> <count>1</count>
<WinNumber>1</WinNumber> <WinNumber>1</WinNumber>
<ItemText>Inputs <ItemText>smallAngle25</ItemText>
</ItemText>
</Ww> </Ww>
<Ww> <Ww>
<count>2</count> <count>2</count>
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<ItemText>Inputs <ItemText>accSmooth,0x0A</ItemText>
</ItemText>
</Ww> </Ww>
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<ItemText>dmpdata
</ItemText>
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<Ww>
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<ItemText>accSmooth,0x0A</ItemText>
</Ww>
<Ww>
<count>10</count>
<WinNumber>1</WinNumber>
<ItemText>accADC,0x0A</ItemText> <ItemText>accADC,0x0A</ItemText>
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<ItemText>acc_samples</ItemText>
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<Mm> <Mm>
@ -320,7 +277,7 @@
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@ -768,10 +725,10 @@
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@ -784,8 +741,8 @@
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@ -796,10 +753,10 @@
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@ -812,8 +769,8 @@
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@ -838,10 +795,10 @@
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@ -852,10 +809,10 @@
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<PathWithFileName>.\src\drv_adc.c</PathWithFileName> <PathWithFileName>.\src\drv_adc.c</PathWithFileName>
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@ -971,10 +928,10 @@
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<PathWithFileName>.\src\drv_adxl345.c</PathWithFileName> <PathWithFileName>.\src\drv_adxl345.c</PathWithFileName>
<FilenameWithoutPath>drv_adxl345.c</FilenameWithoutPath> <FilenameWithoutPath>drv_adxl345.c</FilenameWithoutPath>
@ -1013,10 +970,10 @@
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<PathWithFileName>.\src\drv_i2c.c</PathWithFileName> <PathWithFileName>.\src\drv_i2c.c</PathWithFileName>
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@ -1029,8 +986,8 @@
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<PathWithFileName>.\src\drv_mpu3050.c</PathWithFileName> <PathWithFileName>.\src\drv_mpu3050.c</PathWithFileName>
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@ -1043,8 +1000,8 @@
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<PathWithFileName>.\src\drv_pwm.c</PathWithFileName> <PathWithFileName>.\src\drv_pwm.c</PathWithFileName>
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<bDave2>0</bDave2> <bDave2>0</bDave2>
<PathWithFileName>.\src\drv_system.c</PathWithFileName> <PathWithFileName>.\src\drv_system.c</PathWithFileName>
<FilenameWithoutPath>drv_system.c</FilenameWithoutPath> <FilenameWithoutPath>drv_system.c</FilenameWithoutPath>
@ -1099,8 +1056,8 @@
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<bDave2>0</bDave2> <bDave2>0</bDave2>
<PathWithFileName>.\src\drv_mpu6050.c</PathWithFileName> <PathWithFileName>.\src\drv_mpu6050.c</PathWithFileName>
<FilenameWithoutPath>drv_mpu6050.c</FilenameWithoutPath> <FilenameWithoutPath>drv_mpu6050.c</FilenameWithoutPath>
@ -1133,6 +1090,20 @@
<PathWithFileName>.\src\drv_pwm_fy90q.c</PathWithFileName> <PathWithFileName>.\src\drv_pwm_fy90q.c</PathWithFileName>
<FilenameWithoutPath>drv_pwm_fy90q.c</FilenameWithoutPath> <FilenameWithoutPath>drv_pwm_fy90q.c</FilenameWithoutPath>
</File> </File>
<File>
<GroupNumber>2</GroupNumber>
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<FileType>1</FileType>
<tvExp>0</tvExp>
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<bDave2>0</bDave2>
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<FilenameWithoutPath>drv_mma845x.c</FilenameWithoutPath>
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@ -1316,8 +1287,8 @@
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<FilenameWithoutPath>startup_stm32f10x_md.s</FilenameWithoutPath> <FilenameWithoutPath>startup_stm32f10x_md.s</FilenameWithoutPath>

15
baseflight.uvproj
View file

@ -599,6 +599,11 @@
</FileArmAds> </FileArmAds>
</FileOption> </FileOption>
</File> </File>
<File>
<FileName>drv_mma845x.c</FileName>
<FileType>1</FileType>
<FilePath>.\src\drv_mma845x.c</FilePath>
</File>
</Files> </Files>
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@ -1359,6 +1364,11 @@
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</FileOption> </FileOption>
</File> </File>
<File>
<FileName>drv_mma845x.c</FileName>
<FileType>1</FileType>
<FilePath>.\src\drv_mma845x.c</FilePath>
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@ -2299,6 +2309,11 @@
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<FilePath>.\src\drv_pwm_fy90q.c</FilePath> <FilePath>.\src\drv_pwm_fy90q.c</FilePath>
</File> </File>
<File>
<FileName>drv_mma845x.c</FileName>
<FileType>1</FileType>
<FilePath>.\src\drv_mma845x.c</FilePath>
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<Group> <Group>

5229
obj/baseflight.hex
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File diff suppressed because it is too large Load diff

1
src/board.h
View file

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

11
src/cli.c
View file

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

4
src/config.c
View file

@ -13,7 +13,7 @@ config_t cfg;
const char rcChannelLetters[] = "AERT1234"; const char rcChannelLetters[] = "AERT1234";
static uint32_t enabledSensors = 0; static uint32_t enabledSensors = 0;
uint8_t checkNewConf = 16; uint8_t checkNewConf = 17;
void parseRcChannels(const char *input) void parseRcChannels(const char *input)
{ {
@ -127,7 +127,7 @@ void checkFirstTime(bool reset)
cfg.accZero[0] = 0; cfg.accZero[0] = 0;
cfg.accZero[1] = 0; cfg.accZero[1] = 0;
cfg.accZero[2] = 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.acc_lpf_factor = 100;
cfg.gyro_lpf = 42; cfg.gyro_lpf = 42;
cfg.gyro_smoothing_factor = 0x00141403; // default factors of 20, 20, 3 for R/P/Y cfg.gyro_smoothing_factor = 0x00141403; // default factors of 20, 20, 3 for R/P/Y

9
src/mw.h
View file

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

18
src/sensors.c
View file

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