mirror of
https://github.com/betaflight/betaflight.git
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144 lines
4 KiB
C
Executable file
144 lines
4 KiB
C
Executable file
/*
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* This file is part of Cleanflight.
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*
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* Cleanflight is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* Cleanflight is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <stdbool.h>
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#include <stdint.h>
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#include <string.h>
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#include "platform.h"
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#include "build/build_config.h"
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#include "common/axis.h"
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#include "config/feature.h"
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#include "drivers/accgyro_mpu.h"
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#include "drivers/io.h"
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#include "drivers/system.h"
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#include "drivers/exti.h"
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#include "drivers/sensor.h"
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#include "drivers/accgyro.h"
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#include "drivers/barometer.h"
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#include "drivers/compass.h"
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#include "drivers/sonar_hcsr04.h"
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#include "fc/config.h"
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#include "fc/runtime_config.h"
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#include "sensors/sensors.h"
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#include "sensors/acceleration.h"
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#include "sensors/barometer.h"
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#include "sensors/gyro.h"
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#include "sensors/compass.h"
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#include "sensors/sonar.h"
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#include "sensors/initialisation.h"
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#ifdef USE_HARDWARE_REVISION_DETECTION
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#include "hardware_revision.h"
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#endif
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uint8_t detectedSensors[SENSOR_INDEX_COUNT] = { GYRO_NONE, ACC_NONE, BARO_NONE, MAG_NONE };
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const extiConfig_t *selectMPUIntExtiConfig(void)
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{
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#if defined(MPU_INT_EXTI)
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static const extiConfig_t mpuIntExtiConfig = { .tag = IO_TAG(MPU_INT_EXTI) };
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return &mpuIntExtiConfig;
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#elif defined(USE_HARDWARE_REVISION_DETECTION)
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return selectMPUIntExtiConfigByHardwareRevision();
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#else
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return NULL;
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#endif
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}
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#ifdef SONAR
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static bool sonarDetect(void)
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{
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if (feature(FEATURE_SONAR)) {
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// the user has set the sonar feature, so assume they have an HC-SR04 plugged in,
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// since there is no way to detect it
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sensorsSet(SENSOR_SONAR);
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return true;
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}
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return false;
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}
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#endif
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bool sensorsAutodetect(const gyroConfig_t *gyroConfig,
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const accelerometerConfig_t *accelerometerConfig,
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const compassConfig_t *compassConfig,
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const barometerConfig_t *barometerConfig,
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const sonarConfig_t *sonarConfig)
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{
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#if defined(USE_GYRO_MPU6050) || defined(USE_GYRO_MPU3050) || defined(USE_GYRO_MPU6500) || defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_MPU6000) || defined(USE_ACC_MPU6050) || defined(USE_GYRO_SPI_MPU9250) || defined(USE_GYRO_SPI_ICM20689)
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const extiConfig_t *extiConfig = selectMPUIntExtiConfig();
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mpuDetectionResult_t *mpuDetectionResult = mpuDetect(extiConfig);
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UNUSED(mpuDetectionResult);
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#endif
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memset(&gyro, 0, sizeof(gyro));
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if (!gyroDetect(&gyro.dev)) {
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return false;
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}
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// gyro must be initialised before accelerometer
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gyroInit(gyroConfig);
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memset(&acc, 0, sizeof(acc));
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if (accDetect(&acc.dev, accelerometerConfig->acc_hardware)) {
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accInit(gyro.targetLooptime);
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}
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mag.magneticDeclination = 0.0f; // TODO investigate if this is actually needed if there is no mag sensor or if the value stored in the config should be used.
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#ifdef MAG
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if (compassDetect(&mag.dev, compassConfig->mag_hardware)) {
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compassInit(compassConfig);
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}
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#else
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UNUSED(compassConfig);
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#endif
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#ifdef BARO
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baroDetect(&baro.dev, barometerConfig->baro_hardware);
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#else
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UNUSED(barometerConfig);
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#endif
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#ifdef SONAR
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if (sonarDetect()) {
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sonarInit(sonarConfig);
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}
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#else
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UNUSED(sonarConfig);
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#endif
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if (gyroConfig->gyro_align != ALIGN_DEFAULT) {
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gyro.dev.gyroAlign = gyroConfig->gyro_align;
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}
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if (accelerometerConfig->acc_align != ALIGN_DEFAULT) {
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acc.dev.accAlign = accelerometerConfig->acc_align;
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}
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if (compassConfig->mag_align != ALIGN_DEFAULT) {
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mag.dev.magAlign = compassConfig->mag_align;
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}
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return true;
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}
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