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Code Issues Wiki Activity

Added direct support for MPU9250 gyro

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This commit is contained in:
Martin Budden 2017-01-29 07:13:29 +00:00
parent 8fab92f405
commit 74fe97dde6
11 changed files with 374 additions and 49 deletions
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52
src/main/sensors/acceleration.c
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@ -44,6 +44,7 @@
#include "drivers/accgyro_lsm303dlhc.h"
#include "drivers/accgyro_spi_mpu6000.h"
#include "drivers/accgyro_spi_mpu6500.h"
#include "drivers/accgyro_spi_mpu9250.h"
#include "drivers/logging.h"
#include "drivers/sensor.h"
@ -94,7 +95,6 @@ static bool accDetect(accDev_t *dev, accelerationSensor_e accHardwareToUse)
accelerationSensor_e accHardware = ACC_NONE;
#ifdef USE_ACC_ADXL345
drv_adxl345_config_t acc_params;
#endif
dev->accAlign = ALIGN_DEFAULT;
@ -104,8 +104,9 @@ static bool accDetect(accDev_t *dev, accelerationSensor_e accHardwareToUse)
switch (accHardwareToUse) {
case ACC_AUTODETECT:
; // fallthrough
case ACC_ADXL345: // ADXL345
#ifdef USE_ACC_ADXL345
case ACC_ADXL345: {
drv_adxl345_config_t acc_params;
acc_params.useFifo = false;
acc_params.dataRate = 800; // unused currently
#ifdef NAZE
@ -119,14 +120,15 @@ static bool accDetect(accDev_t *dev, accelerationSensor_e accHardwareToUse)
accHardware = ACC_ADXL345;
break;
}
#endif
/* If we are asked for a specific sensor - break out, otherwise - fall through and continue */
if (accHardwareToUse != ACC_AUTODETECT) {
break;
}
}
#endif
case ACC_LSM303DLHC:
#ifdef USE_ACC_LSM303DLHC
case ACC_LSM303DLHC:
if (lsm303dlhcAccDetect(dev)) {
#ifdef ACC_LSM303DLHC_ALIGN
dev->accAlign = ACC_LSM303DLHC_ALIGN;
@ -134,14 +136,14 @@ static bool accDetect(accDev_t *dev, accelerationSensor_e accHardwareToUse)
accHardware = ACC_LSM303DLHC;
break;
}
#endif
/* If we are asked for a specific sensor - break out, otherwise - fall through and continue */
if (accHardwareToUse != ACC_AUTODETECT) {
break;
}
#endif
case ACC_MPU6050: // MPU6050
#ifdef USE_ACC_MPU6050
case ACC_MPU6050: // MPU6050
if (mpu6050AccDetect(dev)) {
#ifdef ACC_MPU6050_ALIGN
dev->accAlign = ACC_MPU6050_ALIGN;
@ -149,14 +151,14 @@ static bool accDetect(accDev_t *dev, accelerationSensor_e accHardwareToUse)
accHardware = ACC_MPU6050;
break;
}
#endif
/* If we are asked for a specific sensor - break out, otherwise - fall through and continue */
if (accHardwareToUse != ACC_AUTODETECT) {
break;
}
#endif
case ACC_MMA8452: // MMA8452
#ifdef USE_ACC_MMA8452
case ACC_MMA8452: // MMA8452
#ifdef NAZE
// Not supported with this frequency
if (hardwareRevision < NAZE32_REV5 && mma8452Detect(dev)) {
@ -169,14 +171,14 @@ static bool accDetect(accDev_t *dev, accelerationSensor_e accHardwareToUse)
accHardware = ACC_MMA8452;
break;
}
#endif
/* If we are asked for a specific sensor - break out, otherwise - fall through and continue */
if (accHardwareToUse != ACC_AUTODETECT) {
break;
}
#endif
case ACC_BMA280: // BMA280
#ifdef USE_ACC_BMA280
case ACC_BMA280: // BMA280
if (bma280Detect(dev)) {
#ifdef ACC_BMA280_ALIGN
dev->accAlign = ACC_BMA280_ALIGN;
@ -184,14 +186,14 @@ static bool accDetect(accDev_t *dev, accelerationSensor_e accHardwareToUse)
accHardware = ACC_BMA280;
break;
}
#endif
/* If we are asked for a specific sensor - break out, otherwise - fall through and continue */
if (accHardwareToUse != ACC_AUTODETECT) {
break;
}
#endif
case ACC_MPU6000:
#ifdef USE_ACC_SPI_MPU6000
case ACC_MPU6000:
if (mpu6000SpiAccDetect(dev)) {
#ifdef ACC_MPU6000_ALIGN
dev->accAlign = ACC_MPU6000_ALIGN;
@ -199,14 +201,14 @@ static bool accDetect(accDev_t *dev, accelerationSensor_e accHardwareToUse)
accHardware = ACC_MPU6000;
break;
}
#endif
/* If we are asked for a specific sensor - break out, otherwise - fall through and continue */
if (accHardwareToUse != ACC_AUTODETECT) {
break;
}
#endif
case ACC_MPU6500:
#if defined(USE_ACC_MPU6500) || defined(USE_ACC_SPI_MPU6500)
case ACC_MPU6500:
#ifdef USE_ACC_SPI_MPU6500
if (mpu6500AccDetect(dev) || mpu6500SpiAccDetect(dev)) {
#else
@ -218,24 +220,40 @@ static bool accDetect(accDev_t *dev, accelerationSensor_e accHardwareToUse)
accHardware = ACC_MPU6500;
break;
}
#endif
/* If we are asked for a specific sensor - break out, otherwise - fall through and continue */
if (accHardwareToUse != ACC_AUTODETECT) {
break;
}
#endif
#if defined(USE_ACC_SPI_MPU9250)
case ACC_MPU9250:
if (mpu9250SpiAccDetect(dev)) {
#ifdef ACC_MPU9250_ALIGN
dev->accAlign = ACC_MPU9250_ALIGN;
#endif
accHardware = ACC_MPU9250;
break;
}
/* If we are asked for a specific sensor - break out, otherwise - fall through and continue */
if (accHardwareToUse != ACC_AUTODETECT) {
break;
}
#endif
case ACC_FAKE:
#ifdef USE_FAKE_ACC
case ACC_FAKE:
if (fakeAccDetect(dev)) {
accHardware = ACC_FAKE;
break;
}
#endif
/* If we are asked for a specific sensor - break out, otherwise - fall through and continue */
if (accHardwareToUse != ACC_AUTODETECT) {
break;
}
#endif
default:
case ACC_NONE: // disable ACC
accHardware = ACC_NONE;
break;