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added support for outputting FrSky telemetry by silpstream @ rcgroups

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feature TELEMETRY to enable it. when armed, telemetry is sent out the TX pin. It must be connected to 'Rx' pin of FrSky telemetry receiver via a level shifter. When disarmed, port goes back to 115200 bps for GUI.
fixed a typo in imu.c introduced by  GYRO_INTERLEAVE junk.
todo: just switch serial speed instead of reinitializing everything.

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@173 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop 2012-07-01 15:32:45 +00:00
parent 9c2204c179
commit c998f5ca67
12 changed files with 5031 additions and 4769 deletions
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8
src/drv_mpu3050.c
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@ -29,6 +29,7 @@ static uint8_t mpuLowPassFilter = MPU3050_DLPF_42HZ;
static void mpu3050Init(void);
static void mpu3050Read(int16_t *gyroData);
static void mpu3050Align(int16_t *gyroData);
static void mpu3050ReadTemp(int16_t *tempData);
bool mpu3050Detect(sensor_t *gyro)
{
@ -43,6 +44,7 @@ bool mpu3050Detect(sensor_t *gyro)
gyro->init = mpu3050Init;
gyro->read = mpu3050Read;
gyro->align = mpu3050Align;
gyro->temperature = mpu3050ReadTemp;
return true;
}
@ -107,10 +109,10 @@ static void mpu3050Read(int16_t *gyroData)
gyroData[2] = (buf[4] << 8) | buf[5];
}
static int16_t mpu3050ReadTemp(void)
static void mpu3050ReadTemp(int16_t *tempData)
{
uint8_t buf[2];
i2cRead(MPU3050_ADDRESS, MPU3050_TEMP_OUT, 2, buf);
return 35 + ((int32_t)(buf[0] << 8 | buf[1]) + 13200) / 280;
*tempData = 35 + ((int32_t)(buf[0] << 8 | buf[1]) + 13200) / 280;
}