Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-16 04:45:24 +03:00
Code Issues Wiki Activity

Add MPU6500 SPI driver. Move sensor initialisation defines into target

Browse source 
specific headers.
This commit is contained in:
Dominic Clifton 2014-10-14 00:22:54 +01:00
parent 79c2e5648f
commit da51b5c479
19 changed files with 451 additions and 190 deletions
Download patch file Download diff file Expand all files Collapse all files

168
src/main/sensors/initialisation.c
View file

@ -32,13 +32,12 @@
#include "drivers/accgyro_mma845x.h"
#include "drivers/accgyro_mpu3050.h"
#include "drivers/accgyro_mpu6050.h"
#ifdef STM32F3DISCOVERY
#include "drivers/accgyro_l3gd20.h"
#include "drivers/accgyro_lsm303dlhc.h"
#endif
#ifdef CC3D
#include "drivers/accgyro_spi_mpu6000.h"
#endif
#include "drivers/accgyro_spi_mpu6500.h"
#include "drivers/barometer.h"
#include "drivers/barometer_bmp085.h"
@ -57,133 +56,6 @@
#include "sensors/compass.h"
#include "sensors/sonar.h"
// Use these to help with porting to new boards
//#define USE_FAKE_GYRO
#ifdef USE_I2C
#define USE_GYRO_L3G4200D
#define USE_GYRO_L3GD20
#define USE_GYRO_MPU6050
#define USE_GYRO_MPU3050
#endif
#define USE_GYRO_SPI_MPU6000
//#define USE_FAKE_ACC
#ifdef USE_I2C
#define USE_ACC_ADXL345
#define USE_ACC_BMA280
#define USE_ACC_MMA8452
#define USE_ACC_LSM303DLHC
#define USE_ACC_MPU6050
#endif
#define USE_ACC_SPI_MPU6000
#ifdef USE_I2C
#define USE_BARO_MS5611
#define USE_BARO_BMP085
#endif
#ifdef MASSIVEF3
#define USE_FAKE_GYRO
#define USE_FAKE_ACC
#undef USE_GYRO_MPU6050
#undef USE_ACC_MPU6050
#undef USE_ACC_ADXL345
#undef USE_ACC_BMA280
#undef USE_ACC_MMA8452
#undef USE_ACC_LSM303DLHC
#undef USE_ACC_SPI_MPU6000
#undef USE_GYRO_L3G4200D
#undef USE_GYRO_MPU3050
#undef USE_GYRO_SPI_MPU6000
#undef USE_GYRO_L3GD20
#undef USE_BARO_BMP085
#endif
#ifdef NAZE
#undef USE_ACC_LSM303DLHC
#undef USE_ACC_SPI_MPU6000
#undef USE_GYRO_SPI_MPU6000
#undef USE_GYRO_L3GD20
#endif
#ifdef NAZE32PRO
#define USE_FAKE_ACC
#define USE_FAKE_GYRO
#undef USE_ACC_LSM303DLHC
#undef USE_ACC_ADXL345
#undef USE_ACC_BMA280
#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) || defined(EUSTM32F103RC)
#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
#ifdef EUSTM32F103RC
#define USE_FAKE_GYRO
#define USE_FAKE_ACC
#define USE_GYRO_L3G4200D
#endif
#ifdef STM32F3DISCOVERY
#undef USE_ACC_SPI_MPU6000
#undef USE_GYRO_SPI_MPU6000
#endif
#ifdef CHEBUZZF3
#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
#undef USE_GYRO_L3GD20
#undef USE_GYRO_L3G4200D
#undef USE_GYRO_MPU6050
#undef USE_GYRO_MPU3050
#undef USE_ACC_LSM303DLHC
#undef USE_ACC_ADXL345
#undef USE_ACC_BMA280
#undef USE_ACC_MPU6050
#undef USE_ACC_MMA8452
#endif
#ifdef CJMCU
#undef USE_GYRO_SPI_MPU6000
#undef USE_GYRO_L3GD20
#undef USE_GYRO_L3G4200D
#undef USE_GYRO_MPU3050
#undef USE_ACC_LSM303DLHC
#undef USE_ACC_SPI_MPU6000
#undef USE_ACC_ADXL345
#undef USE_ACC_BMA280
#undef USE_ACC_MMA8452
#endif
extern float magneticDeclination;
extern gyro_t gyro;
@ -270,6 +142,21 @@ bool detectGyro(uint16_t gyroLpf)
}
#endif
#ifdef USE_GYRO_SPI_MPU6500
#ifdef NAZE
// TODO only enable if NAZE32_SP is detected
if (false && mpu6500SpiGyroDetect(&gyro, gyroLpf)) {
gyroAlign = CW0_DEG;
return true;
}
#else
if (mpu6500SpiGyroDetect(&gyro, gyroLpf)) {
gyroAlign = CW0_DEG;
return true;
}
#endif
#endif
#ifdef USE_FAKE_GYRO
if (fakeGyroDetect(&gyro, gyroLpf)) {
return true;
@ -359,7 +246,7 @@ retry:
}
; // fallthrough
#endif
#ifdef USE_GYRO_SPI_MPU6000
#ifdef USE_ACC_SPI_MPU6000
case ACC_SPI_MPU6000:
if (mpu6000SpiAccDetect(&acc)) {
accHardware = ACC_SPI_MPU6000;
@ -370,6 +257,23 @@ retry:
break;
}
; // fallthrough
#endif
#ifdef USE_ACC_SPI_MPU6500
case ACC_SPI_MPU6500:
#ifdef NAZE
// TODO only enable if NAZE32_SP is detected
if (false && mpu6500SpiAccDetect(&acc)) {
#else
if (mpu6500SpiAccDetect(&acc)) {
#endif
accHardware = ACC_SPI_MPU6500;
#ifdef NAZE
accAlign = CW0_DEG;
#endif
if (accHardwareToUse == ACC_SPI_MPU6500)
break;
}
; // fallthrough
#endif
; // prevent compiler error
}