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https://github.com/betaflight/betaflight.git
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a3476cf59c
Conflicts: Makefile src/board.h src/drivers/adc_fy90q.c src/drivers/pwm_fy90q.c src/drv_adc.h src/sensors.c src/startup/startup_stm32f10x_md_fy90q.s
316 lines
8.2 KiB
C
Executable file
316 lines
8.2 KiB
C
Executable file
#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 "common/axis.h"
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#include "drivers/accgyro_common.h"
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#include "drivers/accgyro_adxl345.h"
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#include "drivers/accgyro_bma280.h"
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#include "drivers/accgyro_l3g4200d.h"
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#include "drivers/accgyro_mma845x.h"
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#include "drivers/accgyro_mpu3050.h"
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#include "drivers/accgyro_mpu6050.h"
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#ifdef STM32F3DISCOVERY
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#include "drivers/accgyro_l3gd20.h"
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#include "drivers/accgyro_lsm303dlhc.h"
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#endif
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#include "drivers/barometer_common.h"
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#include "drivers/barometer_bmp085.h"
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#include "drivers/barometer_ms5611.h"
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#include "drivers/compass_hmc5883l.h"
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#include "drivers/sonar_hcsr04.h"
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#include "drivers/system_common.h"
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#include "flight_common.h"
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#include "runtime_config.h"
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#include "sensors_common.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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// Use these to help with porting to new boards
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//#define USE_FAKE_GYRO
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#define USE_GYRO_L3G4200D
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#define USE_GYRO_L3GD20
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#define USE_GYRO_MPU6050
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#define USE_GYRO_MPU3050
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//#define USE_FAKE_ACC
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#define USE_ACC_ADXL345
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#define USE_ACC_BMA280
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#define USE_ACC_MMA8452
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#define USE_ACC_LSM303DLHC
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#define USE_ACC_MPU6050
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#ifdef NAZE
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#undef USE_ACC_LSM303DLHC
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#undef USE_GYRO_L3GD20
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#endif
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#if defined(OLIMEXINO)
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#undef USE_GYRO_L3GD20
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#undef USE_GYRO_L3G4200D
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#undef USE_GYRO_MPU3050
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#undef USE_ACC_LSM303DLHC
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#undef USE_ACC_BMA280
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#undef USE_ACC_MMA8452
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#undef USE_ACC_ADXL345
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#endif
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#ifdef CHEBUZZF3
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#undef USE_GYRO_L3G4200D
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#undef USE_GYRO_MPU6050
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#undef USE_GYRO_MPU3050
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#undef USE_ACC_ADXL345
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#undef USE_ACC_BMA280
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#undef USE_ACC_MPU6050
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#undef USE_ACC_MMA8452
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#endif
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extern uint16_t batteryWarningVoltage;
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extern uint8_t batteryCellCount;
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extern float magneticDeclination;
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extern gyro_t gyro;
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extern baro_t baro;
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extern acc_t acc;
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#ifdef USE_FAKE_GYRO
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static void fakeGyroInit(void) {}
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static void fakeGyroRead(int16_t *gyroData) {}
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static void fakeGyroReadTemp(int16_t *tempData) {}
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bool fakeGyroDetect(gyro_t *gyro, uint16_t lpf)
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{
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gyro->init = fakeGyroInit;
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gyro->read = fakeGyroRead;
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gyro->temperature = fakeGyroReadTemp;
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return true;
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}
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#endif
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#ifdef USE_FAKE_ACC
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static void fakeAccInit(void) {}
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static void fakeAccRead(int16_t *accData) {}
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bool fakeAccDetect(acc_t *acc)
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{
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acc->init = fakeAccInit;
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acc->read = fakeAccRead;
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acc->revisionCode = 0;
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return true;
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}
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#endif
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bool detectGyro(uint16_t gyroLpf)
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{
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gyroAlign = ALIGN_DEFAULT;
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#ifdef USE_FAKE_GYRO
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if (fakeGyroDetect(&gyro, gyroLpf)) {
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return true;
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#endif
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#ifdef USE_GYRO_MPU6050
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if (mpu6050GyroDetect(&gyro, gyroLpf)) {
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#ifdef NAZE
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gyroAlign = CW0_DEG;
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#endif
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return true;
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}
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#endif
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#ifdef USE_GYRO_L3G4200D
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if (l3g4200dDetect(&gyro, gyroLpf)) {
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#ifdef NAZE
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gyroAlign = CW0_DEG;
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#endif
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return true;
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}
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#endif
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#ifdef USE_GYRO_MPU3050
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if (mpu3050Detect(&gyro, gyroLpf)) {
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#ifdef NAZE
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gyroAlign = CW0_DEG;
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#endif
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return true;
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}
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#endif
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#ifdef USE_GYRO_L3GD20
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if (l3gd20Detect(&gyro, gyroLpf)) {
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return true;
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}
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#endif
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return false;
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}
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static void detectAcc(uint8_t accHardwareToUse)
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{
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#ifdef USE_ACC_ADXL345
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drv_adxl345_config_t acc_params;
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#endif
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retry:
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accAlign = ALIGN_DEFAULT;
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switch (accHardwareToUse) {
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#ifdef USE_FAKE_ACC
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default:
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if (fakeAccDetect(&acc)) {
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accHardware = ACC_FAKE;
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if (accHardwareToUse == ACC_FAKE)
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break;
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}
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#endif
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case ACC_NONE: // disable ACC
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sensorsClear(SENSOR_ACC);
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break;
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case ACC_DEFAULT: // autodetect
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#ifdef USE_ACC_ADXL345
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case ACC_ADXL345: // ADXL345
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acc_params.useFifo = false;
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acc_params.dataRate = 800; // unused currently
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if (adxl345Detect(&acc_params, &acc)) {
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accHardware = ACC_ADXL345;
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#ifdef NAZE
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accAlign = CW270_DEG;
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#endif
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}
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if (accHardwareToUse == ACC_ADXL345)
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break;
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; // fallthrough
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#endif
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#ifdef USE_ACC_MPU6050
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case ACC_MPU6050: // MPU6050
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if (mpu6050AccDetect(&acc)) {
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accHardware = ACC_MPU6050;
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#ifdef NAZE
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accAlign = CW0_DEG;
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#endif
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if (accHardwareToUse == ACC_MPU6050)
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break;
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}
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; // fallthrough
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#endif
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#ifdef USE_ACC_MMA8452
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case ACC_MMA8452: // MMA8452
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if (mma8452Detect(&acc)) {
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accHardware = ACC_MMA8452;
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#ifdef NAZE
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accAlign = CW90_DEG;
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#endif
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if (accHardwareToUse == ACC_MMA8452)
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break;
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}
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; // fallthrough
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#endif
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#ifdef USE_ACC_BMA280
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case ACC_BMA280: // BMA280
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if (bma280Detect(&acc)) {
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accHardware = ACC_BMA280;
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#ifdef NAZE
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accAlign = CW0_DEG;
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#endif
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if (accHardwareToUse == ACC_BMA280)
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break;
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}
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#endif
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#ifdef USE_ACC_LSM303DLHC
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case ACC_LSM303DLHC:
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if (lsm303dlhcAccDetect(&acc)) {
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accHardware = ACC_LSM303DLHC;
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if (accHardwareToUse == ACC_LSM303DLHC)
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break;
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}
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#endif
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}
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// Found anything? Check if user fucked up or ACC is really missing.
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if (accHardware == ACC_DEFAULT) {
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if (accHardwareToUse > ACC_DEFAULT) {
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// Nothing was found and we have a forced sensor type. Stupid user probably chose a sensor that isn't present.
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accHardwareToUse = ACC_DEFAULT;
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goto retry;
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} else {
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// No ACC was detected
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sensorsClear(SENSOR_ACC);
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}
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}
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}
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static void detectBaro()
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{
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#ifdef BARO
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// Detect what pressure sensors are available. baro->update() is set to sensor-specific update function
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if (!ms5611Detect(&baro)) {
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// ms5611 disables BMP085, and tries to initialize + check PROM crc. if this works, we have a baro
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if (!bmp085Detect(&baro)) {
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// if both failed, we don't have anything
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sensorsClear(SENSOR_BARO);
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}
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}
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#endif
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}
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void reconfigureAlignment(sensorAlignmentConfig_t *sensorAlignmentConfig)
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{
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if (sensorAlignmentConfig->gyro_align != ALIGN_DEFAULT) {
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gyroAlign = sensorAlignmentConfig->gyro_align;
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}
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if (sensorAlignmentConfig->acc_align != ALIGN_DEFAULT) {
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accAlign = sensorAlignmentConfig->acc_align;
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}
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if (sensorAlignmentConfig->mag_align != ALIGN_DEFAULT) {
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magAlign = sensorAlignmentConfig->mag_align;
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}
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}
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bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint16_t gyroLpf, uint8_t accHardwareToUse, int16_t magDeclinationFromConfig)
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{
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int16_t deg, min;
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memset(&acc, sizeof(acc), 0);
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memset(&gyro, sizeof(gyro), 0);
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if (!detectGyro(gyroLpf)) {
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return false;
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}
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detectAcc(accHardwareToUse);
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detectBaro();
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reconfigureAlignment(sensorAlignmentConfig);
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// Now time to init things, acc first
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if (sensors(SENSOR_ACC))
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acc.init();
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// this is safe because either mpu6050 or mpu3050 or lg3d20 sets it, and in case of fail, we never get here.
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gyro.init();
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#ifdef MAG
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if (hmc5883lDetect()) {
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magAlign = CW180_DEG; // default NAZE alignment
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} else {
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sensorsClear(SENSOR_MAG);
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}
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#endif
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// FIXME extract to a method to reduce dependencies, maybe move to sensors_compass.c
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if (sensors(SENSOR_MAG)) {
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// calculate magnetic declination
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deg = magDeclinationFromConfig / 100;
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min = magDeclinationFromConfig % 100;
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magneticDeclination = (deg + ((float)min * (1.0f / 60.0f))) * 10; // heading is in 0.1deg units
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} else {
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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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}
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return true;
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}
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