Add back sensor autodetection; Autodetection is used to update and save config

src/main/config/config.c

@@ -505,9 +505,24 @@ static void resetConf(void)
     gyroConfig()->gyroMovementCalibrationThreshold = 32;
 
     accelerometerConfig()->acc_hardware = ACC_AUTODETECT;     // default/autodetect
+
+#ifdef MAG
+    compassConfig()->mag_hardware = MAG_AUTODETECT;
+#else
     compassConfig()->mag_hardware = MAG_NONE;
+#endif
+
+#ifdef BARO
+    barometerConfig()->baro_hardware = BARO_AUTODETECT;
+#else
     barometerConfig()->baro_hardware = BARO_NONE;
+#endif
+
+#ifdef PITOT
+    pitotmeterConfig()->pitot_hardware = PITOT_AUTODETECT;
+#else
     pitotmeterConfig()->pitot_hardware = PITOT_NONE;
+#endif
 
     resetBatteryConfig(&masterConfig.batteryConfig);
 

src/main/io/serial_cli.c

@@ -234,13 +234,13 @@ static const char * const gyroNames[] = { "NONE", "AUTO", "MPU6050", "L3G4200D",
 // sync with accelerationSensor_e
 static const char * const accNames[] = { "NONE", "AUTO", "ADXL345", "MPU6050", "MMA845x", "BMA280", "LSM303DLHC", "MPU6000", "MPU6500", "MPU9250", "FAKE"};
 // sync with baroSensor_e
-static const char * const baroNames[] = { "NONE", "BMP085", "MS5611", "BMP280", "FAKE"};
+static const char * const baroNames[] = { "NONE", "AUTO", "BMP085", "MS5611", "BMP280", "FAKE"};
 // sync with magSensor_e
-static const char * const magNames[] = { "NONE", "HMC5883", "AK8975", "GPSMAG", "MAG3110", "AK8963", "IST8310", "FAKE"};
+static const char * const magNames[] = { "NONE", "AUTO", "HMC5883", "AK8975", "GPSMAG", "MAG3110", "AK8963", "IST8310", "FAKE"};
 // sycn with rangefinderType_e
 static const char * const rangefinderNames[] = { "NONE", "HCSR04", "SRF10"};
 // sync with pitotSensor_e
-static const char * const pitotmeterNames[] = { "NONE", "MS4525", "FAKE"};
+static const char * const pitotmeterNames[] = { "NONE", "AUTO", "MS4525", "FAKE"};
 
 #if (FLASH_SIZE > 64)
 // sync this with sensors_e

src/main/sensors/acceleration.c

@@ -102,7 +102,11 @@ retry:
             break;
         }
 #endif
-        ; // fallthrough
+        /* If we are asked for a specific sensor - break out, otherwise - fall through and continue */
+        if (accHardwareToUse != ACC_AUTODETECT) {
+            break;
+        }
+
     case ACC_LSM303DLHC:
 #ifdef USE_ACC_LSM303DLHC
         if (lsm303dlhcAccDetect(dev)) {
@@ -113,7 +117,11 @@ retry:
             break;
         }
 #endif
-        ; // fallthrough
+        /* If we are asked for a specific sensor - break out, otherwise - fall through and continue */
+        if (accHardwareToUse != ACC_AUTODETECT) {
+            break;
+        }
+
     case ACC_MPU6050: // MPU6050
 #ifdef USE_ACC_MPU6050
         if (mpu6050AccDetect(dev)) {
@@ -124,7 +132,11 @@ retry:
             break;
         }
 #endif
-        ; // fallthrough
+        /* If we are asked for a specific sensor - break out, otherwise - fall through and continue */
+        if (accHardwareToUse != ACC_AUTODETECT) {
+            break;
+        }
+
     case ACC_MMA8452: // MMA8452
 #ifdef USE_ACC_MMA8452
 #ifdef NAZE
@@ -140,7 +152,11 @@ retry:
             break;
         }
 #endif
-        ; // fallthrough
+        /* If we are asked for a specific sensor - break out, otherwise - fall through and continue */
+        if (accHardwareToUse != ACC_AUTODETECT) {
+            break;
+        }
+
     case ACC_BMA280: // BMA280
 #ifdef USE_ACC_BMA280
         if (bma280Detect(dev)) {
@@ -151,7 +167,11 @@ retry:
             break;
         }
 #endif
-        ; // fallthrough
+        /* If we are asked for a specific sensor - break out, otherwise - fall through and continue */
+        if (accHardwareToUse != ACC_AUTODETECT) {
+            break;
+        }
+
     case ACC_MPU6000:
 #ifdef USE_ACC_SPI_MPU6000
         if (mpu6000SpiAccDetect(dev)) {
@@ -162,7 +182,11 @@ retry:
             break;
         }
 #endif
-        ; // fallthrough
+        /* If we are asked for a specific sensor - break out, otherwise - fall through and continue */
+        if (accHardwareToUse != ACC_AUTODETECT) {
+            break;
+        }
+
     case ACC_MPU6500:
 #if defined(USE_ACC_MPU6500) || defined(USE_ACC_SPI_MPU6500)
 #ifdef USE_ACC_SPI_MPU6500
@@ -177,6 +201,11 @@ retry:
             break;
         }
 #endif
+        /* If we are asked for a specific sensor - break out, otherwise - fall through and continue */
+        if (accHardwareToUse != ACC_AUTODETECT) {
+            break;
+        }
+
     case ACC_MPU9250:
 #ifdef USE_ACC_SPI_MPU9250
         if (mpu9250SpiAccDetect(dev)) {
@@ -187,7 +216,11 @@ retry:
             break;
         }
 #endif
-        ; // fallthrough
+        /* If we are asked for a specific sensor - break out, otherwise - fall through and continue */
+        if (accHardwareToUse != ACC_AUTODETECT) {
+            break;
+        }
+
     case ACC_FAKE:
 #ifdef USE_FAKE_ACC
         if (fakeAccDetect(dev)) {
@@ -195,19 +228,16 @@ retry:
             break;
         }
 #endif
-        ; // fallthrough
+        /* If we are asked for a specific sensor - break out, otherwise - fall through and continue */
+        if (accHardwareToUse != ACC_AUTODETECT) {
+            break;
+        }
+
     case ACC_NONE: // disable ACC
         accHardware = ACC_NONE;
         break;
     }
 
-    // Found anything? Check if error or ACC is really missing.
-    if (accHardware == ACC_NONE && accHardwareToUse != ACC_AUTODETECT && accHardwareToUse != ACC_NONE) {
-        // Nothing was found and we have a forced sensor that isn't present.
-        accHardwareToUse = ACC_AUTODETECT;
-        goto retry;
-    }
-
     addBootlogEvent6(BOOT_EVENT_ACC_DETECTION, BOOT_EVENT_FLAGS_NONE, accHardware, 0, 0, 0);
 
     if (accHardware == ACC_NONE) {

src/main/sensors/barometer.c

@@ -79,37 +79,54 @@ bool baroDetect(baroDev_t *dev, baroSensor_e baroHardwareToUse)
 #endif
 
     switch (baroHardwareToUse) {
+    case BARO_AUTODETECT:
     case BARO_BMP085:
 #ifdef USE_BARO_BMP085
         if (bmp085Detect(bmp085Config, dev)) {
             baroHardware = BARO_BMP085;
+            break;
         }
 #endif
-        break;
+        /* If we are asked for a specific sensor - break out, otherwise - fall through and continue */
+        if (baroHardwareToUse != BARO_AUTODETECT) {
+            break;
+        }
 
     case BARO_MS5611:
 #ifdef USE_BARO_MS5611
         if (ms5611Detect(dev)) {
             baroHardware = BARO_MS5611;
+            break;
         }
 #endif
-        break;
+        /* If we are asked for a specific sensor - break out, otherwise - fall through and continue */
+        if (baroHardwareToUse != BARO_AUTODETECT) {
+            break;
+        }
 
     case BARO_BMP280:
 #if defined(USE_BARO_BMP280) || defined(USE_BARO_SPI_BMP280)
         if (bmp280Detect(dev)) {
             baroHardware = BARO_BMP280;
+            break;
         }
 #endif
-        break;
+        /* If we are asked for a specific sensor - break out, otherwise - fall through and continue */
+        if (baroHardwareToUse != BARO_AUTODETECT) {
+            break;
+        }
 
     case BARO_FAKE:
 #ifdef USE_FAKE_BARO
         if (fakeBaroDetect(dev)) {
             baroHardware = BARO_FAKE;
+            break;
         }
 #endif
-        break;
+        /* If we are asked for a specific sensor - break out, otherwise - fall through and continue */
+        if (baroHardwareToUse != BARO_AUTODETECT) {
+            break;
+        }
 
     case BARO_NONE:
         baroHardware = BARO_NONE;

src/main/sensors/barometer.h

@@ -21,10 +21,11 @@
 
 typedef enum {
     BARO_NONE = 0,
-    BARO_BMP085 = 1,
+    BARO_AUTODETECT = 1,
-    BARO_MS5611 = 2,
+    BARO_BMP085 = 2,
-    BARO_BMP280 = 3,
+    BARO_MS5611 = 3,
-    BARO_FAKE = 4,
+    BARO_BMP280 = 4,
+    BARO_FAKE = 5,
     BARO_MAX = BARO_FAKE
 } baroSensor_e;
 

src/main/sensors/compass.c

@@ -94,6 +94,7 @@ bool compassDetect(magDev_t *dev, magSensor_e magHardwareToUse)
     dev->magAlign = ALIGN_DEFAULT;
 
     switch(magHardwareToUse) {
+    case MAG_AUTODETECT:
     case MAG_HMC5883:
 #ifdef USE_MAG_HMC5883
         if (hmc5883lDetect(dev, hmc5883Config)) {
@@ -101,9 +102,13 @@ bool compassDetect(magDev_t *dev, magSensor_e magHardwareToUse)
             dev->magAlign = MAG_HMC5883_ALIGN;
 #endif
             magHardware = MAG_HMC5883;
+            break;
         }
 #endif
-        break;
+        /* If we are asked for a specific sensor - break out, otherwise - fall through and continue */
+        if (magHardwareToUse != MAG_AUTODETECT) {
+            break;
+        }
 
     case MAG_AK8975:
 #ifdef USE_MAG_AK8975
@@ -112,9 +117,13 @@ bool compassDetect(magDev_t *dev, magSensor_e magHardwareToUse)
             dev->magAlign = MAG_AK8975_ALIGN;
 #endif
             magHardware = MAG_AK8975;
+            break;
         }
 #endif
-        break;
+        /* If we are asked for a specific sensor - break out, otherwise - fall through and continue */
+        if (magHardwareToUse != MAG_AUTODETECT) {
+            break;
+        }
 
     case MAG_AK8963:
 #ifdef USE_MAG_AK8963
@@ -123,9 +132,13 @@ bool compassDetect(magDev_t *dev, magSensor_e magHardwareToUse)
             dev->magAlign = MAG_AK8963_ALIGN;
 #endif
             magHardware = MAG_AK8963;
+            break;
         }
 #endif
-        break;
+        /* If we are asked for a specific sensor - break out, otherwise - fall through and continue */
+        if (magHardwareToUse != MAG_AUTODETECT) {
+            break;
+        }
 
     case MAG_GPS:
 #ifdef GPS
@@ -134,9 +147,13 @@ bool compassDetect(magDev_t *dev, magSensor_e magHardwareToUse)
             dev->magAlign = MAG_GPS_ALIGN;
 #endif
             magHardware = MAG_GPS;
+            break;
         }
 #endif
-        break;
+        /* If we are asked for a specific sensor - break out, otherwise - fall through and continue */
+        if (magHardwareToUse != MAG_AUTODETECT) {
+            break;
+        }
 
     case MAG_MAG3110:
 #ifdef USE_MAG_MAG3110
@@ -145,9 +162,13 @@ bool compassDetect(magDev_t *dev, magSensor_e magHardwareToUse)
             dev->magAlign = MAG_MAG3110_ALIGN;
 #endif
             magHardware = MAG_MAG3110;
+            break;
         }
 #endif
-        break;
+        /* If we are asked for a specific sensor - break out, otherwise - fall through and continue */
+        if (magHardwareToUse != MAG_AUTODETECT) {
+            break;
+        }
 
     case MAG_IST8310:
 #ifdef USE_MAG_IST8310
@@ -156,17 +177,25 @@ bool compassDetect(magDev_t *dev, magSensor_e magHardwareToUse)
             dev->magAlign = MAG_IST8310_ALIGN;
 #endif
             magHardware = MAG_IST8310;
+            break;
         }
 #endif
-    break;
+        /* If we are asked for a specific sensor - break out, otherwise - fall through and continue */
+        if (magHardwareToUse != MAG_AUTODETECT) {
+            break;
+        }
 
     case MAG_FAKE:
 #ifdef USE_FAKE_MAG
         if (fakeMagDetect(dev)) {
             magHardware = MAG_FAKE;
+            break;
         }
 #endif
-        break;
+        /* If we are asked for a specific sensor - break out, otherwise - fall through and continue */
+        if (magHardwareToUse != MAG_AUTODETECT) {
+            break;
+        }
 
     case MAG_NONE:
         magHardware = MAG_NONE;

src/main/sensors/compass.h

@@ -26,13 +26,14 @@
 // Type of magnetometer used/detected
 typedef enum {
     MAG_NONE = 0,
-    MAG_HMC5883 = 1,
+    MAG_AUTODETECT = 1,
-    MAG_AK8975 = 2,
+    MAG_HMC5883 = 2,
-    MAG_GPS = 3,
+    MAG_AK8975 = 3,
-    MAG_MAG3110 = 4,
+    MAG_GPS = 4,
-    MAG_AK8963 = 5,
+    MAG_MAG3110 = 5,
-    MAG_IST8310 = 6,
+    MAG_AK8963 = 6,
-    MAG_FAKE = 7,
+    MAG_IST8310 = 7,
+    MAG_FAKE = 8,
     MAG_MAX = MAG_FAKE
 } magSensor_e;
 

src/main/sensors/initialisation.c

@@ -23,6 +23,7 @@
 #include "common/utils.h"
 
 #include "config/config.h"
+#include "config/config_eeprom.h"
 
 #include "drivers/logging.h"
 
@@ -42,11 +43,13 @@ uint8_t detectedSensors[SENSOR_INDEX_COUNT] = { GYRO_NONE, ACC_NONE, BARO_NONE,
 
 
 bool sensorsAutodetect(const gyroConfig_t *gyroConfig,
-                const accelerometerConfig_t *accConfig,
+                accelerometerConfig_t *accConfig,
-                const compassConfig_t *compassConfig,
+                compassConfig_t *compassConfig,
-                const barometerConfig_t *baroConfig,
+                barometerConfig_t *baroConfig,
-                const pitotmeterConfig_t *pitotConfig)
+                pitotmeterConfig_t *pitotConfig)
 {
+    bool eepromUpdatePending = false;
+
     if (!gyroInit(gyroConfig)) {
         return false;
     }
@@ -99,5 +102,30 @@ bool sensorsAutodetect(const gyroConfig_t *gyroConfig,
         mag.dev.magAlign = compassConfig->mag_align;
     }
 
+    /* Check if sensor autodetection was requested for some sensors and */
+    if (accConfig->acc_hardware == ACC_AUTODETECT) {
+        accConfig->acc_hardware = detectedSensors[SENSOR_INDEX_ACC];
+        eepromUpdatePending = true;
+    }
+
+    if (baroConfig->baro_hardware == BARO_AUTODETECT) {
+        baroConfig->baro_hardware = detectedSensors[SENSOR_INDEX_BARO];
+        eepromUpdatePending = true;
+    }
+
+    if (compassConfig->mag_hardware == MAG_AUTODETECT) {
+        compassConfig->mag_hardware = detectedSensors[SENSOR_INDEX_MAG];
+        eepromUpdatePending = true;
+    }
+
+    if (pitotConfig->pitot_hardware == PITOT_AUTODETECT) {
+        pitotConfig->pitot_hardware = detectedSensors[SENSOR_INDEX_PITOT];
+        eepromUpdatePending = true;
+    }
+
+    if (eepromUpdatePending) {
+        writeEEPROM();
+    }
+
     return true;
 }

src/main/sensors/initialisation.h

@@ -18,7 +18,7 @@
 #pragma once
 
 bool sensorsAutodetect(const gyroConfig_t *gyroConfig,
-                const accelerometerConfig_t *accConfig,
+                accelerometerConfig_t *accConfig,
-                const compassConfig_t *compassConfig,
+                compassConfig_t *compassConfig,
-                const barometerConfig_t *baroConfig,
+                barometerConfig_t *baroConfig,
-                const pitotmeterConfig_t *pitotConfig);
+                pitotmeterConfig_t *pitotConfig);

src/main/sensors/pitotmeter.c

@@ -54,21 +54,30 @@ bool pitotDetect(pitotDev_t *dev, uint8_t pitotHardwareToUse)
     requestedSensors[SENSOR_INDEX_PITOT] = pitotHardwareToUse;
 
     switch (pitotHardwareToUse) {
+        case PITOT_AUTODETECT:
         case PITOT_MS4525:
 #ifdef USE_PITOT_MS4525
             if (ms4525Detect(dev)) {
                 pitotHardware = PITOT_MS4525;
+                break;
             }
 #endif
-            break;
+            /* If we are asked for a specific sensor - break out, otherwise - fall through and continue */
+            if (pitotHardwareToUse != PITOT_AUTODETECT) {
+                break;
+            }
 
         case PITOT_FAKE:
 #ifdef USE_PITOT_FAKE
             if (fakePitotDetect(&pitot)) {
                 pitotHardware = PITOT_FAKE;
+                break;
             }
 #endif
-            break;
+            /* If we are asked for a specific sensor - break out, otherwise - fall through and continue */
+            if (pitotHardwareToUse != PITOT_AUTODETECT) {
+                break;
+            }
 
         case PITOT_NONE:
             pitotHardware = PITOT_NONE;

src/main/sensors/pitotmeter.h

@@ -21,8 +21,9 @@
 
 typedef enum {
     PITOT_NONE = 0,
-    PITOT_MS4525 = 1,
+    PITOT_AUTODETECT = 1,
-    PITOT_FAKE = 2,
+    PITOT_MS4525 = 2,
+    PITOT_FAKE = 3,
 } pitotSensor_e;
 
 #define PITOT_MAX  PITOT_FAKE