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added support for l3g4200d i2c gyro, autodetected

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added motors off in hardfault handler, so we drop to the ground on hardfault.


git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@190 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop 2012-08-05 01:57:51 +00:00
parent 75adda0597
commit ecda218e8f
7 changed files with 2585 additions and 2400 deletions
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14
src/sensors.c
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@ -32,11 +32,14 @@ void sensorsAutodetect(void)
int16_t deg, min;
drv_adxl345_config_t acc_params;
bool haveMpu6k = false;
bool havel3g4200d = false;
// Autodetect gyro hardware. We have MPU3050 or MPU6050.
if (mpu6050Detect(&acc, &gyro)) {
// this filled up acc.* struct with init values
haveMpu6k = true;
} else if (l3g4200dDetect(&gyro)) {
havel3g4200d = true;
} else if (!mpu3050Detect(&gyro)) {
// if this fails, we get a beep + blink pattern. we're doomed, no gyro or i2c error.
failureMode(3);
@ -93,11 +96,16 @@ retry:
acc.init();
if (sensors(SENSOR_BARO))
bmp085Init();
// this is safe because either mpu6050 or mpu3050 sets it, and in case of fail, none do.
// this is safe because either mpu6050 or mpu3050 or lg3d20 sets it, and in case of fail, we never get here.
gyro.init();
// todo: this is driver specific :(
if (!haveMpu6k)
mpu3050Config(cfg.gyro_lpf);
if (havel3g4200d) {
l3g4200dConfig(cfg.gyro_lpf);
} else {
if (!haveMpu6k)
mpu3050Config(cfg.gyro_lpf);
}
// calculate magnetic declination
deg = cfg.mag_declination / 100;