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Code Issues Wiki Activity

CC3D - Support MPU6000 Gyro/Acc and SPI 1/2.

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This commit is contained in:
Dominic Clifton 2014-07-17 22:12:21 +01:00
parent 1fb75890d5
commit 5f16cfb72a
12 changed files with 647 additions and 48 deletions
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35
src/main/sensors/initialisation.c
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@ -33,6 +33,9 @@
#include "drivers/accgyro_l3gd20.h"
#include "drivers/accgyro_lsm303dlhc.h"
#endif
#ifdef CC3D
#include "drivers/accgyro_spi_mpu6000.h"
#endif
#include "drivers/barometer.h"
#include "drivers/barometer_bmp085.h"
@ -51,11 +54,13 @@
#include "sensors/compass.h"
#include "sensors/sonar.h"
// Use these to help with porting to new boards
//#define USE_FAKE_GYRO
#define USE_GYRO_L3G4200D
#define USE_GYRO_L3GD20
#define USE_GYRO_MPU6050
#define USE_GYRO_SPI_MPU6000
#define USE_GYRO_MPU3050
//#define USE_FAKE_ACC
#define USE_ACC_ADXL345
@ -63,11 +68,14 @@
#define USE_ACC_MMA8452
#define USE_ACC_LSM303DLHC
#define USE_ACC_MPU6050
#define USE_ACC_SPI_MPU6000
#define USE_BARO_MS5611
#define USE_BARO_BMP085
#ifdef NAZE
#undef USE_ACC_LSM303DLHC
#undef USE_ACC_SPI_MPU6000
#undef USE_GYRO_SPI_MPU6000
#undef USE_GYRO_L3GD20
#endif
@ -80,20 +88,24 @@
#undef USE_ACC_MMA8452
#undef USE_ACC_LSM303DLHC
#undef USE_ACC_MPU6050
#undef USE_ACC_SPI_MPU6000
#undef USE_GYRO_L3G4200D
#undef USE_GYRO_L3GD20
#undef USE_GYRO_MPU3050
#undef USE_GYRO_MPU6050
#undef USE_GYRO_SPI_MPU6000
#endif
#if defined(OLIMEXINO)
#undef USE_GYRO_L3GD20
#undef USE_GYRO_L3G4200D
#undef USE_GYRO_MPU3050
#undef USE_GYRO_SPI_MPU6000
#undef USE_ACC_LSM303DLHC
#undef USE_ACC_BMA280
#undef USE_ACC_MMA8452
#undef USE_ACC_ADXL345
#undef USE_ACC_SPI_MPU6000
#undef USE_BARO_MS5611
#endif
@ -101,15 +113,15 @@
#undef USE_GYRO_L3G4200D
#undef USE_GYRO_MPU6050
#undef USE_GYRO_MPU3050
#undef USE_GYRO_SPI_MPU6000
#undef USE_ACC_ADXL345
#undef USE_ACC_BMA280
#undef USE_ACC_MPU6050
#undef USE_ACC_MMA8452
#undef USE_ACC_SPI_MPU6000
#endif
#ifdef CC3D
#define USE_FAKE_GYRO
#define USE_FAKE_ACC
#undef USE_GYRO_L3GD20
#undef USE_GYRO_L3G4200D
#undef USE_GYRO_MPU6050
@ -197,6 +209,12 @@ bool detectGyro(uint16_t gyroLpf)
return true;
}
#endif
#ifdef USE_GYRO_SPI_MPU6000
if (mpu6000SpiGyroDetect(&gyro, gyroLpf)) {
return true;
}
#endif
return false;
}
@ -270,6 +288,7 @@ retry:
if (accHardwareToUse == ACC_BMA280)
break;
}
; // fallthrough
#endif
#ifdef USE_ACC_LSM303DLHC
case ACC_LSM303DLHC:
@ -278,8 +297,18 @@ retry:
if (accHardwareToUse == ACC_LSM303DLHC)
break;
}
; // fallthrough
#endif
;
#ifdef USE_GYRO_SPI_MPU6000
case ACC_SPI_MPU6000:
if (mpu6000SpiAccDetect(&acc)) {
accHardware = ACC_SPI_MPU6000;
if (accHardwareToUse == ACC_SPI_MPU6000)
break;
}
; // fallthrough
#endif
; // prevent compiler error
}
// Found anything? Check if user fucked up or ACC is really missing.