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Code Issues Wiki Activity

busDevice migration (acc/gyro/baro/compass/rangefinder)

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This commit is contained in:
Konstantin Sharlaimov (DigitalEntity) 2017-11-23 01:25:48 +10:00
parent 6a2c876fa4
commit 8d9f68cd9e
177 changed files with 3632 additions and 4341 deletions
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49
src/main/sensors/acceleration.c
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@ -32,6 +32,12 @@
#include "config/parameter_group_ids.h"
#include "drivers/accgyro/accgyro.h"
#include "drivers/accgyro/accgyro_mpu.h"
#include "drivers/accgyro/accgyro_mpu6000.h"
#include "drivers/accgyro/accgyro_mpu6050.h"
#include "drivers/accgyro/accgyro_mpu6500.h"
#include "drivers/accgyro/accgyro_mpu9250.h"
#include "drivers/accgyro/accgyro_adxl345.h"
#include "drivers/accgyro/accgyro_bma280.h"
#include "drivers/accgyro/accgyro_fake.h"
@ -39,13 +45,7 @@
#include "drivers/accgyro/accgyro_l3gd20.h"
#include "drivers/accgyro/accgyro_lsm303dlhc.h"
#include "drivers/accgyro/accgyro_mma845x.h"
#include "drivers/accgyro/accgyro_mpu.h"
#include "drivers/accgyro/accgyro_mpu3050.h"
#include "drivers/accgyro/accgyro_mpu6050.h"
#include "drivers/accgyro/accgyro_mpu6500.h"
#include "drivers/accgyro/accgyro_spi_mpu6000.h"
#include "drivers/accgyro/accgyro_spi_mpu6500.h"
#include "drivers/accgyro/accgyro_spi_mpu9250.h"
#include "drivers/logging.h"
#include "drivers/sensor.h"
@ -115,14 +115,7 @@ static bool accDetect(accDev_t *dev, accelerationSensor_e accHardwareToUse)
FALLTHROUGH;
#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
if (hardwareRevision < NAZE32_REV5 && adxl345Detect(dev, &acc_params)) {
#else
if (adxl345Detect(dev, &acc_params)) {
#endif
if (adxl345Detect(dev)) {
#ifdef ACC_ADXL345_ALIGN
dev->accAlign = ACC_ADXL345_ALIGN;
#endif
@ -206,9 +199,9 @@ static bool accDetect(accDev_t *dev, accelerationSensor_e accHardwareToUse)
FALLTHROUGH;
#endif
#ifdef USE_ACC_SPI_MPU6000
#ifdef USE_ACC_MPU6000
case ACC_MPU6000:
if (mpu6000SpiAccDetect(dev)) {
if (mpu6000AccDetect(dev)) {
#ifdef ACC_MPU6000_ALIGN
dev->accAlign = ACC_MPU6000_ALIGN;
#endif
@ -222,13 +215,9 @@ static bool accDetect(accDev_t *dev, accelerationSensor_e accHardwareToUse)
FALLTHROUGH;
#endif
#if defined(USE_ACC_MPU6500) || defined(USE_ACC_SPI_MPU6500)
#if defined(USE_ACC_MPU6500)
case ACC_MPU6500:
#ifdef USE_ACC_SPI_MPU6500
if (mpu6500AccDetect(dev) || mpu6500SpiAccDetect(dev)) {
#else
if (mpu6500AccDetect(dev)) {
#endif
#ifdef ACC_MPU6500_ALIGN
dev->accAlign = ACC_MPU6500_ALIGN;
#endif
@ -242,9 +231,9 @@ static bool accDetect(accDev_t *dev, accelerationSensor_e accHardwareToUse)
FALLTHROUGH;
#endif
#if defined(USE_ACC_SPI_MPU9250)
#if defined(USE_ACC_MPU9250)
case ACC_MPU9250:
if (mpu9250SpiAccDetect(dev)) {
if (mpu9250AccDetect(dev)) {
#ifdef ACC_MPU9250_ALIGN
dev->accAlign = ACC_MPU9250_ALIGN;
#endif
@ -291,17 +280,23 @@ static bool accDetect(accDev_t *dev, accelerationSensor_e accHardwareToUse)
bool accInit(uint32_t targetLooptime)
{
memset(&acc, 0, sizeof(acc));
// copy over the common gyro mpu settings
acc.dev.bus = *gyroSensorBus();
acc.dev.mpuConfiguration = *gyroMpuConfiguration();
acc.dev.mpuDetectionResult = *gyroMpuDetectionResult();
// Set inertial sensor tag (for dual-gyro selection)
#ifdef USE_DUAL_GYRO
acc.dev.imuSensorToUse = gyroConfig()->gyro_to_use; // Use the same selection from gyroConfig()
#else
acc.dev.imuSensorToUse = 0;
#endif
if (!accDetect(&acc.dev, accelerometerConfig()->acc_hardware)) {
return false;
}
acc.dev.acc_1G = 256; // set default
acc.dev.initFn(&acc.dev);
acc.accTargetLooptime = targetLooptime;
accInitFilters();
if (accelerometerConfig()->acc_align != ALIGN_DEFAULT) {
acc.dev.accAlign = accelerometerConfig()->acc_align;
}