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Relocate some of the common MPU code from MPU6050 into accgyro_mpu.c.

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This commit is contained in:
Dominic Clifton 2015-09-18 20:23:50 +01:00
parent 9f95334347
commit b46d56a5bd
8 changed files with 441 additions and 300 deletions
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36
src/main/sensors/initialisation.c
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@ -24,6 +24,10 @@
#include "common/axis.h"
#include "drivers/gpio.h"
#include "drivers/system.h"
#include "drivers/exti.h"
#include "drivers/sensor.h"
#include "drivers/accgyro.h"
@ -31,6 +35,7 @@
#include "drivers/accgyro_bma280.h"
#include "drivers/accgyro_l3g4200d.h"
#include "drivers/accgyro_mma845x.h"
#include "drivers/accgyro_mpu.h"
#include "drivers/accgyro_mpu3050.h"
#include "drivers/accgyro_mpu6050.h"
#include "drivers/accgyro_l3gd20.h"
@ -50,9 +55,6 @@
#include "drivers/sonar_hcsr04.h"
#include "drivers/gpio.h"
#include "drivers/system.h"
#include "config/runtime_config.h"
#include "sensors/sensors.h"
@ -76,11 +78,11 @@ extern acc_t acc;
uint8_t detectedSensors[MAX_SENSORS_TO_DETECT] = { GYRO_NONE, ACC_NONE, BARO_NONE, MAG_NONE };
const mpu6050Config_t *selectMPU6050Config(void)
const extiConfig_t *selectMPUIntExtiConfig(void)
{
#ifdef NAZE
// MPU_INT output on rev4 PB13
static const mpu6050Config_t nazeRev4MPU6050Config = {
static const extiConfig_t nazeRev4MPUIntExtiConfig = {
.gpioAPB2Peripherals = RCC_APB2Periph_GPIOB,
.gpioPin = Pin_13,
.gpioPort = GPIOB,
@ -90,7 +92,7 @@ const mpu6050Config_t *selectMPU6050Config(void)
.exti_irqn = EXTI15_10_IRQn
};
// MPU_INT output on rev5 hardware PC13
static const mpu6050Config_t nazeRev5MPU6050Config = {
static const extiConfig_t nazeRev5MPUIntExtiConfig = {
.gpioAPB2Peripherals = RCC_APB2Periph_GPIOC,
.gpioPin = Pin_13,
.gpioPort = GPIOC,
@ -101,14 +103,14 @@ const mpu6050Config_t *selectMPU6050Config(void)
};
if (hardwareRevision < NAZE32_REV5) {
return &nazeRev4MPU6050Config;
return &nazeRev4MPUIntExtiConfig;
} else {
return &nazeRev5MPU6050Config;
return &nazeRev5MPUIntExtiConfig;
}
#endif
#ifdef SPRACINGF3
static const mpu6050Config_t spRacingF3MPU6050Config = {
static const extiConfig_t spRacingF3MPUIntExtiConfig = {
.gpioAHBPeripherals = RCC_AHBPeriph_GPIOC,
.gpioPort = GPIOC,
.gpioPin = Pin_13,
@ -117,7 +119,7 @@ const mpu6050Config_t *selectMPU6050Config(void)
.exti_line = EXTI_Line13,
.exti_irqn = EXTI15_10_IRQn
};
return &spRacingF3MPU6050Config;
return &spRacingF3MPUIntExtiConfig;
#endif
return NULL;
@ -171,7 +173,7 @@ bool detectGyro(uint16_t gyroLpf)
; // fallthrough
case GYRO_MPU6050:
#ifdef USE_GYRO_MPU6050
if (mpu6050GyroDetect(selectMPU6050Config(), &gyro, gyroLpf)) {
if (mpu6050GyroDetect(&gyro, gyroLpf)) {
#ifdef GYRO_MPU6050_ALIGN
gyroHardware = GYRO_MPU6050;
gyroAlign = GYRO_MPU6050_ALIGN;
@ -279,7 +281,7 @@ static void detectAcc(accelerationSensor_e accHardwareToUse)
{
accelerationSensor_e accHardware;
#ifdef USE_ACC_ADXL345
#ifdef USE_ACC_ADXL345
drv_adxl345_config_t acc_params;
#endif
@ -319,7 +321,7 @@ retry:
; // fallthrough
case ACC_MPU6050: // MPU6050
#ifdef USE_ACC_MPU6050
if (mpu6050AccDetect(selectMPU6050Config(), &acc)) {
if (mpu6050AccDetect(&acc)) {
#ifdef ACC_MPU6050_ALIGN
accAlign = ACC_MPU6050_ALIGN;
#endif
@ -597,6 +599,14 @@ bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint16_t
memset(&acc, 0, sizeof(acc));
memset(&gyro, 0, sizeof(gyro));
#if defined(USE_GYRO_MPU6050) || defined(USE_ACC_MPU6050)
const extiConfig_t *extiConfig = selectMPUIntExtiConfig();
mpuDetectionResult_t *mpuDetectionResult = detectMpu(extiConfig);
UNUSED(mpuDetectionResult);
#endif
if (!detectGyro(gyroLpf)) {
return false;
}