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Fix eeprom writing. Update some clocks. Add fake implementation of acc

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and gyro to allow the main loop to run.
This commit is contained in:
Dominic Clifton 2014-04-25 03:50:33 +01:00
parent f9ceb0c40f
commit cde26ac1a2
5 changed files with 47 additions and 7 deletions
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37
src/sensors_initialisation.c
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@ -43,6 +43,30 @@ extern gyro_t gyro;
extern baro_t baro;
extern acc_t acc;
static void fakeGyroInit(void) {}
static void fakeGyroRead(int16_t *gyroData) {}
static void fakeGyroReadTemp(int16_t *tempData) {}
bool fakeGyroDetect(gyro_t *gyro, uint16_t lpf)
{
gyro->init = fakeGyroInit;
gyro->read = fakeGyroRead;
gyro->temperature = fakeGyroReadTemp;
return true;
}
static void fakeAccInit(void) {}
static void fakeAccRead(int16_t *gyroData) {}
bool fakeAccDetect(acc_t *acc)
{
acc->init = fakeAccInit;
acc->read = fakeAccRead;
acc->revisionCode = 0;
return true;
}
#ifdef FY90Q
// FY90Q analog gyro/acc
void sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint16_t gyroLpf, uint8_t accHardwareToUse, int16_t magDeclinationFromConfig)
@ -69,6 +93,10 @@ void sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint16_t
gyroAlign = CW0_DEG;
} else if (mpu3050Detect(&gyro, gyroLpf)) {
gyroAlign = CW0_DEG;
#ifdef STM32F3DISCOVERY
} else if (fakeGyroDetect(&gyro, gyroLpf)) {
gyroAlign = ALIGN_DEFAULT;
#endif
} else {
// if this fails, we get a beep + blink pattern. we're doomed, no gyro or i2c error.
failureMode(3);
@ -116,6 +144,15 @@ retry:
if (accHardwareToUse == ACC_BMA280)
break;
}
#endif
#ifdef STM32F3DISCOVERY
default:
if (fakeAccDetect(&acc)) {
accHardware = ACC_BMA280;
accAlign = CW0_DEG; //
if (accHardwareToUse == ACC_FAKE)
break;
}
#endif
}