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Code Issues Wiki Activity

Cleanup Fake GYRO and Fake ACC support.

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This commit is contained in:
Dominic Clifton 2014-05-02 21:31:06 +01:00
parent 8be5e63faa
commit 9b672791f4
1 changed files with 25 additions and 11 deletions
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36
src/sensors_initialisation.c
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@ -39,6 +39,10 @@
#include "sensors_compass.h"
#include "sensors_sonar.h"
// Use these to help with porting to new boards
//#define USE_FAKE_ACC
//#define USE_FAKE_GYRO
extern uint16_t batteryWarningVoltage;
extern uint8_t batteryCellCount;
extern float magneticDeclination;
@ -47,6 +51,7 @@ extern gyro_t gyro;
extern baro_t baro;
extern acc_t acc;
#ifdef USE_FAKE_GYRO
static void fakeGyroInit(void) {}
static void fakeGyroRead(int16_t *gyroData) {}
static void fakeGyroReadTemp(int16_t *tempData) {}
@ -58,9 +63,11 @@ bool fakeGyroDetect(gyro_t *gyro, uint16_t lpf)
gyro->temperature = fakeGyroReadTemp;
return true;
}
#endif
#ifdef USE_FAKE_ACC
static void fakeAccInit(void) {}
static void fakeAccRead(int16_t *gyroData) {}
static void fakeAccRead(int16_t *accData) {}
bool fakeAccDetect(acc_t *acc)
{
@ -69,7 +76,7 @@ bool fakeAccDetect(acc_t *acc)
acc->revisionCode = 0;
return true;
}
#endif
#ifdef FY90Q
// FY90Q analog gyro/acc
@ -89,6 +96,11 @@ void sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint16_t
memset(&acc, sizeof(acc), 0);
memset(&gyro, sizeof(gyro), 0);
#ifdef USE_FAKE_GYRO
if (fakeGyroDetect(&gyro, gyroLpf)) {
gyroAlign = ALIGN_DEFAULT;
#else
// Autodetect gyro hardware. We have MPU3050 or MPU6050.
if (mpu6050Detect(&acc, &gyro, gyroLpf)) {
haveMpu6k = true;
@ -100,8 +112,7 @@ void sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint16_t
#ifdef STM32F3DISCOVERY
} else if (l3gd20Detect(&gyro, gyroLpf)) {
gyroAlign = ALIGN_DEFAULT;
} else if (fakeGyroDetect(&gyro, gyroLpf)) {
gyroAlign = ALIGN_DEFAULT;
#endif
#endif
} else {
// if this fails, we get a beep + blink pattern. we're doomed, no gyro or i2c error.
@ -111,6 +122,15 @@ void sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint16_t
// Accelerometer. Fuck it. Let user break shit.
retry:
switch (accHardwareToUse) {
#ifdef USE_FAKE_ACC
default:
if (fakeAccDetect(&acc)) {
accHardware = ACC_FAKE;
accAlign = CW0_DEG; //
if (accHardwareToUse == ACC_FAKE)
break;
}
#else
case ACC_NONE: // disable ACC
sensorsClear(SENSOR_ACC);
break;
@ -159,13 +179,7 @@ retry:
if (accHardwareToUse == ACC_LSM303DLHC)
break;
}
// default:
// if (fakeAccDetect(&acc)) {
// accHardware = ACC_FAKE;
// accAlign = CW0_DEG; //
// if (accHardwareToUse == ACC_FAKE)
// break;
// }
#endif
#endif
}