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betaflight/src/main/sensors/initialisation.c
Dominic Clifton e3ea15f3dc Fix various minor IDE warnings.
2014-09-14 16:33:32 +01:00

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/*
* This file is part of Cleanflight.
*
* Cleanflight is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* Cleanflight is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
*/
#include <stdbool.h>
#include <stdint.h>
#include <string.h>
#include "platform.h"
#include "common/axis.h"
#include "drivers/accgyro.h"
#include "drivers/accgyro_adxl345.h"
#include "drivers/accgyro_bma280.h"
#include "drivers/accgyro_l3g4200d.h"
#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/barometer.h"
#include "drivers/barometer_bmp085.h"
#include "drivers/barometer_ms5611.h"
#include "drivers/compass_hmc5883l.h"
#include "drivers/sonar_hcsr04.h"
#include "drivers/system.h"
#include "flight/flight.h"
#include "config/runtime_config.h"
#include "sensors/sensors.h"
#include "sensors/acceleration.h"
#include "sensors/barometer.h"
#include "sensors/gyro.h"
#include "sensors/compass.h"
#include "sensors/sonar.h"
// Use these to help with porting to new boards
//#define USE_FAKE_GYRO
#define USE_GYRO_L3G4200D
#define USE_GYRO_L3GD20
#define USE_GYRO_MPU6050
#define USE_GYRO_SPI_MPU6000
#define USE_GYRO_MPU3050
//#define USE_FAKE_ACC
#define USE_ACC_ADXL345
#define USE_ACC_BMA280
#define USE_ACC_MMA8452
#define USE_ACC_LSM303DLHC
#define USE_ACC_MPU6050
#define USE_ACC_SPI_MPU6000
#define USE_BARO_MS5611
#define USE_BARO_BMP085
#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
#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;
extern baro_t baro;
extern acc_t acc;
#ifdef USE_FAKE_GYRO
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;
}
#endif
#ifdef USE_FAKE_ACC
static void fakeAccInit(void) {}
static void fakeAccRead(int16_t *accData) {}
bool fakeAccDetect(acc_t *acc)
{
acc->init = fakeAccInit;
acc->read = fakeAccRead;
acc->revisionCode = 0;
return true;
}
#endif
bool detectGyro(uint16_t gyroLpf)
{
gyroAlign = ALIGN_DEFAULT;
#ifdef USE_GYRO_MPU6050
if (mpu6050GyroDetect(&gyro, gyroLpf)) {
#ifdef NAZE
gyroAlign = CW0_DEG;
#endif
return true;
}
#endif
#ifdef USE_GYRO_L3G4200D
if (l3g4200dDetect(&gyro, gyroLpf)) {
#ifdef NAZE
gyroAlign = CW0_DEG;
#endif
return true;
}
#endif
#ifdef USE_GYRO_MPU3050
if (mpu3050Detect(&gyro, gyroLpf)) {
#ifdef NAZE
gyroAlign = CW0_DEG;
#endif
return true;
}
#endif
#ifdef USE_GYRO_L3GD20
if (l3gd20Detect(&gyro, gyroLpf)) {
return true;
}
#endif
#ifdef USE_GYRO_SPI_MPU6000
if (mpu6000SpiGyroDetect(&gyro, gyroLpf)) {
#ifdef CC3D
gyroAlign = CW270_DEG;
#endif
return true;
}
#endif
#ifdef USE_FAKE_GYRO
if (fakeGyroDetect(&gyro, gyroLpf)) {
return true;
}
#endif
return false;
}
static void detectAcc(uint8_t accHardwareToUse)
{
#ifdef USE_ACC_ADXL345
drv_adxl345_config_t acc_params;
#endif
retry:
accAlign = ALIGN_DEFAULT;
switch (accHardwareToUse) {
#ifdef USE_FAKE_ACC
default:
if (fakeAccDetect(&acc)) {
accHardware = ACC_FAKE;
if (accHardwareToUse == ACC_FAKE)
break;
}
#endif
case ACC_NONE: // disable ACC
sensorsClear(SENSOR_ACC);
break;
case ACC_DEFAULT: // autodetect
#ifdef USE_ACC_ADXL345
case ACC_ADXL345: // ADXL345
acc_params.useFifo = false;
acc_params.dataRate = 800; // unused currently
if (adxl345Detect(&acc_params, &acc)) {
accHardware = ACC_ADXL345;
#ifdef NAZE
accAlign = CW270_DEG;
#endif
}
if (accHardwareToUse == ACC_ADXL345)
break;
; // fallthrough
#endif
#ifdef USE_ACC_MPU6050
case ACC_MPU6050: // MPU6050
if (mpu6050AccDetect(&acc)) {
accHardware = ACC_MPU6050;
#ifdef NAZE
accAlign = CW0_DEG;
#endif
if (accHardwareToUse == ACC_MPU6050)
break;
}
; // fallthrough
#endif
#ifdef USE_ACC_MMA8452
case ACC_MMA8452: // MMA8452
if (mma8452Detect(&acc)) {
accHardware = ACC_MMA8452;
#ifdef NAZE
accAlign = CW90_DEG;
#endif
if (accHardwareToUse == ACC_MMA8452)
break;
}
; // fallthrough
#endif
#ifdef USE_ACC_BMA280
case ACC_BMA280: // BMA280
if (bma280Detect(&acc)) {
accHardware = ACC_BMA280;
#ifdef NAZE
accAlign = CW0_DEG;
#endif
if (accHardwareToUse == ACC_BMA280)
break;
}
; // fallthrough
#endif
#ifdef USE_ACC_LSM303DLHC
case ACC_LSM303DLHC:
if (lsm303dlhcAccDetect(&acc)) {
accHardware = ACC_LSM303DLHC;
if (accHardwareToUse == ACC_LSM303DLHC)
break;
}
; // fallthrough
#endif
#ifdef USE_GYRO_SPI_MPU6000
case ACC_SPI_MPU6000:
if (mpu6000SpiAccDetect(&acc)) {
accHardware = ACC_SPI_MPU6000;
#ifdef CC3D
accAlign = CW270_DEG;
#endif
if (accHardwareToUse == ACC_SPI_MPU6000)
break;
}
; // fallthrough
#endif
; // prevent compiler error
}
// Found anything? Check if user fucked up or ACC is really missing.
if (accHardware == ACC_DEFAULT) {
if (accHardwareToUse > ACC_DEFAULT) {
// Nothing was found and we have a forced sensor type. Stupid user probably chose a sensor that isn't present.
accHardwareToUse = ACC_DEFAULT;
goto retry;
} else {
// No ACC was detected
sensorsClear(SENSOR_ACC);
}
}
}
static void detectBaro()
{
#ifdef BARO
#ifdef USE_BARO_MS5611
// Detect what pressure sensors are available. baro->update() is set to sensor-specific update function
if (ms5611Detect(&baro)) {
return;
}
#endif
#ifdef USE_BARO_BMP085
// ms5611 disables BMP085, and tries to initialize + check PROM crc. if this works, we have a baro
if (bmp085Detect(&baro)) {
return;
}
#endif
sensorsClear(SENSOR_BARO);
#endif
}
void reconfigureAlignment(sensorAlignmentConfig_t *sensorAlignmentConfig)
{
if (sensorAlignmentConfig->gyro_align != ALIGN_DEFAULT) {
gyroAlign = sensorAlignmentConfig->gyro_align;
}
if (sensorAlignmentConfig->acc_align != ALIGN_DEFAULT) {
accAlign = sensorAlignmentConfig->acc_align;
}
if (sensorAlignmentConfig->mag_align != ALIGN_DEFAULT) {
magAlign = sensorAlignmentConfig->mag_align;
}
}
bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint16_t gyroLpf, uint8_t accHardwareToUse, int16_t magDeclinationFromConfig)
{
int16_t deg, min;
memset(&acc, sizeof(acc), 0);
memset(&gyro, sizeof(gyro), 0);
if (!detectGyro(gyroLpf)) {
return false;
}
detectAcc(accHardwareToUse);
detectBaro();
reconfigureAlignment(sensorAlignmentConfig);
// Now time to init things, acc first
if (sensors(SENSOR_ACC))
acc.init();
// this is safe because either mpu6050 or mpu3050 or lg3d20 sets it, and in case of fail, we never get here.
gyro.init();
#ifdef MAG
if (hmc5883lDetect()) {
magAlign = CW180_DEG; // default NAZE alignment
} else {
sensorsClear(SENSOR_MAG);
}
#endif
// FIXME extract to a method to reduce dependencies, maybe move to sensors_compass.c
if (sensors(SENSOR_MAG)) {
// calculate magnetic declination
deg = magDeclinationFromConfig / 100;
min = magDeclinationFromConfig % 100;
magneticDeclination = (deg + ((float)min * (1.0f / 60.0f))) * 10; // heading is in 0.1deg units
} else {
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.
}
return true;
}
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