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Better representation of actual sensor (when using 6500 compatible sensors).

This commit is contained in:
blckmn 2017-01-01 18:37:54 +11:00
parent df375ea4dd
commit 102114758c
9 changed files with 96 additions and 62 deletions
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5
src/main/drivers/accgyro_mpu.c
View File

@ -127,8 +127,9 @@ mpuDetectionResult_t *mpuDetect(gyroDev_t *gyro)
static bool detectSPISensorsAndUpdateDetectionResult(gyroDev_t *gyro)
{
#ifdef USE_GYRO_SPI_MPU6500
if (mpu6500SpiDetect()) {
gyro->mpuDetectionResult.sensor = MPU_65xx_SPI;
uint8_t mpu6500Sensor = mpu6500SpiDetect();
if (mpu6500Sensor != MPU_NONE) {
gyro->mpuDetectionResult.sensor = mpu6500Sensor;
gyro->mpuConfiguration.gyroReadXRegister = MPU_RA_GYRO_XOUT_H;
gyro->mpuConfiguration.read = mpu6500ReadRegister;
gyro->mpuConfiguration.write = mpu6500WriteRegister;

4
src/main/drivers/accgyro_mpu.h
View File

@ -168,7 +168,9 @@ typedef enum {
MPU_65xx_I2C,
MPU_65xx_SPI,
MPU_9250_SPI,
ICM_20689_SPI
ICM_20689_SPI,
ICM_20608_SPI,
ICM_20602_SPI
} detectedMPUSensor_e;
typedef enum {

32
src/main/drivers/accgyro_spi_mpu6500.c
View File

@ -76,7 +76,8 @@ static void mpu6500SpiInit(void)
hardwareInitialised = true;
}
bool mpu6500SpiDetect(void)
static uint8_t mpuDetected = MPU_NONE;
uint8_t mpu6500SpiDetect(void)
{
uint8_t tmp;
@ -84,14 +85,23 @@ bool mpu6500SpiDetect(void)
mpu6500ReadRegister(MPU_RA_WHO_AM_I, 1, &tmp);
if (tmp == MPU6500_WHO_AM_I_CONST ||
tmp == MPU9250_WHO_AM_I_CONST ||
tmp == ICM20608G_WHO_AM_I_CONST ||
tmp == ICM20602_WHO_AM_I_CONST) {
return true;
switch (tmp) {
case MPU6500_WHO_AM_I_CONST:
mpuDetected = MPU_65xx_SPI;
break;
case MPU9250_WHO_AM_I_CONST:
mpuDetected = MPU_9250_SPI;
break;
case ICM20608G_WHO_AM_I_CONST:
mpuDetected = ICM_20608_SPI;
break;
case ICM20602_WHO_AM_I_CONST:
mpuDetected = ICM_20602_SPI;
break;
default:
mpuDetected = MPU_NONE;
}
return false;
return mpuDetected;
}
void mpu6500SpiAccInit(accDev_t *acc)
@ -116,7 +126,7 @@ void mpu6500SpiGyroInit(gyroDev_t *gyro)
bool mpu6500SpiAccDetect(accDev_t *acc)
{
if (acc->mpuDetectionResult.sensor != MPU_65xx_SPI) {
if (acc->mpuDetectionResult.sensor != mpuDetected || !mpuDetected) {
return false;
}
@ -128,10 +138,10 @@ bool mpu6500SpiAccDetect(accDev_t *acc)
bool mpu6500SpiGyroDetect(gyroDev_t *gyro)
{
if (gyro->mpuDetectionResult.sensor != MPU_65xx_SPI) {
if (gyro->mpuDetectionResult.sensor != mpuDetected || !mpuDetected) {
return false;
}
gyro->init = mpu6500SpiGyroInit;
gyro->read = mpuGyroRead;
gyro->intStatus = mpuCheckDataReady;

2
src/main/drivers/accgyro_spi_mpu6500.h
View File

@ -17,7 +17,7 @@
#pragma once
bool mpu6500SpiDetect(void);
uint8_t mpu6500SpiDetect(void);
void mpu6500SpiAccInit(accDev_t *acc);
void mpu6500SpiGyroInit(gyroDev_t *gyro);

8
src/main/io/serial_cli.c
View File

@ -253,9 +253,9 @@ static const char * const sensorTypeNames[] = {
#define SENSOR_NAMES_MASK (SENSOR_GYRO | SENSOR_ACC | SENSOR_BARO | SENSOR_MAG)
static const char * const sensorHardwareNames[4][12] = {
{ "", "None", "MPU6050", "L3G4200D", "MPU3050", "L3GD20", "MPU6000", "MPU6500", "MPU9250", "ICM20689", "FAKE", NULL },
{ "", "None", "ADXL345", "MPU6050", "MMA845x", "BMA280", "LSM303DLHC", "MPU6000", "MPU6500", "ICM20689", "FAKE", NULL },
static const char * const sensorHardwareNames[4][15] = {
{ "", "None", "MPU6050", "L3G4200D", "MPU3050", "L3GD20", "MPU6000", "MPU6500", "MPU9250", "ICM20689", "ICM20608G", "ICM20602", "FAKE", NULL },
{ "", "None", "ADXL345", "MPU6050", "MMA845x", "BMA280", "LSM303DLHC", "MPU6000", "MPU6500", "ICM20689", "MPU9250", "ICM20608G", "ICM20602", "FAKE", NULL },
{ "", "None", "BMP085", "MS5611", "BMP280", NULL },
{ "", "None", "HMC5883", "AK8975", "AK8963", NULL }
};
@ -3678,7 +3678,7 @@ static void cliVersion(char *cmdline)
{
UNUSED(cmdline);
cliPrintf("# %s/%s %s %s / %s (%s)\r\n",
cliPrintf("# %s / %s %s %s / %s (%s)\r\n",
FC_FIRMWARE_NAME,
targetName,
FC_VERSION_STRING,

17
src/main/sensors/acceleration.c
View File

@ -169,6 +169,9 @@ retry:
#endif
; // fallthrough
case ACC_MPU6500:
case ACC_ICM20608G:
case ACC_ICM20602:
case ACC_MPU9250:
#if defined(USE_ACC_MPU6500) || defined(USE_ACC_SPI_MPU6500)
#ifdef USE_ACC_SPI_MPU6500
if (mpu6500AccDetect(dev) || mpu6500SpiAccDetect(dev))
@ -179,7 +182,19 @@ retry:
#ifdef ACC_MPU6500_ALIGN
dev->accAlign = ACC_MPU6500_ALIGN;
#endif
accHardware = ACC_MPU6500;
switch(dev->mpuDetectionResult.sensor) {
case MPU_9250_SPI:
accHardware = ACC_MPU9250;
break;
case ICM_20608_SPI:
accHardware = ACC_ICM20608G;
break;
case ICM_20602_SPI:
accHardware = ACC_ICM20602;
break;
default:
accHardware = ACC_MPU6500;
}
break;
}
#endif

25
src/main/sensors/acceleration.h
View File

@ -22,17 +22,20 @@
// Type of accelerometer used/detected
typedef enum {
ACC_DEFAULT = 0,
ACC_NONE = 1,
ACC_ADXL345 = 2,
ACC_MPU6050 = 3,
ACC_MMA8452 = 4,
ACC_BMA280 = 5,
ACC_LSM303DLHC = 6,
ACC_MPU6000 = 7,
ACC_MPU6500 = 8,
ACC_ICM20689 = 9,
ACC_FAKE = 10
ACC_DEFAULT,
ACC_NONE,
ACC_ADXL345,
ACC_MPU6050,
ACC_MMA8452,
ACC_BMA280,
ACC_LSM303DLHC,
ACC_MPU6000,
ACC_MPU6500,
ACC_ICM20689,
ACC_MPU9250,
ACC_ICM20608G,
ACC_ICM20602,
ACC_FAKE
} accelerationSensor_e;
typedef struct acc_s {

63
src/main/sensors/gyro.c
View File

@ -97,9 +97,8 @@ static bool gyroDetect(gyroDev_t *dev)
switch(gyroHardware) {
case GYRO_DEFAULT:
; // fallthrough
case GYRO_MPU6050:
#ifdef USE_GYRO_MPU6050
case GYRO_MPU6050:
if (mpu6050GyroDetect(dev)) {
gyroHardware = GYRO_MPU6050;
#ifdef GYRO_MPU6050_ALIGN
@ -108,9 +107,9 @@ static bool gyroDetect(gyroDev_t *dev)
break;
}
#endif
; // fallthrough
case GYRO_L3G4200D:
#ifdef USE_GYRO_L3G4200D
case GYRO_L3G4200D:
if (l3g4200dDetect(dev)) {
gyroHardware = GYRO_L3G4200D;
#ifdef GYRO_L3G4200D_ALIGN
@ -119,10 +118,9 @@ static bool gyroDetect(gyroDev_t *dev)
break;
}
#endif
; // fallthrough
case GYRO_MPU3050:
#ifdef USE_GYRO_MPU3050
case GYRO_MPU3050:
if (mpu3050Detect(dev)) {
gyroHardware = GYRO_MPU3050;
#ifdef GYRO_MPU3050_ALIGN
@ -131,10 +129,9 @@ static bool gyroDetect(gyroDev_t *dev)
break;
}
#endif
; // fallthrough
case GYRO_L3GD20:
#ifdef USE_GYRO_L3GD20
case GYRO_L3GD20:
if (l3gd20Detect(dev)) {
gyroHardware = GYRO_L3GD20;
#ifdef GYRO_L3GD20_ALIGN
@ -143,10 +140,9 @@ static bool gyroDetect(gyroDev_t *dev)
break;
}
#endif
; // fallthrough
case GYRO_MPU6000:
#ifdef USE_GYRO_SPI_MPU6000
case GYRO_MPU6000:
if (mpu6000SpiGyroDetect(dev)) {
gyroHardware = GYRO_MPU6000;
#ifdef GYRO_MPU6000_ALIGN
@ -155,64 +151,69 @@ static bool gyroDetect(gyroDev_t *dev)
break;
}
#endif
; // fallthrough
case GYRO_MPU6500:
#if defined(USE_GYRO_MPU6500) || defined(USE_GYRO_SPI_MPU6500)
case GYRO_MPU6500:
case GYRO_ICM20608G:
case GYRO_ICM20602:
#ifdef USE_GYRO_SPI_MPU6500
if (mpu6500GyroDetect(dev) || mpu6500SpiGyroDetect(dev))
if (mpu6500GyroDetect(dev) || mpu6500SpiGyroDetect(dev)) {
#else
if (mpu6500GyroDetect(dev))
if (mpu6500GyroDetect(dev)) {
#endif
{
gyroHardware = GYRO_MPU6500;
switch(dev->mpuDetectionResult.sensor) {
case MPU_9250_SPI:
gyroHardware = GYRO_MPU9250;
break;
case ICM_20608_SPI:
gyroHardware = GYRO_ICM20608G;
break;
case ICM_20602_SPI:
gyroHardware = GYRO_ICM20602;
break;
default:
gyroHardware = GYRO_MPU6500;
}
#ifdef GYRO_MPU6500_ALIGN
dev->gyroAlign = GYRO_MPU6500_ALIGN;
#endif
break;
}
#endif
; // fallthrough
case GYRO_MPU9250:
#ifdef USE_GYRO_SPI_MPU9250
case GYRO_MPU9250:
if (mpu9250SpiGyroDetect(dev))
{
gyroHardware = GYRO_MPU9250;
if (mpu9250SpiGyroDetect(dev))
{
gyroHardware = GYRO_MPU9250;
#ifdef GYRO_MPU9250_ALIGN
dev->gyroAlign = GYRO_MPU9250_ALIGN;
dev->gyroAlign = GYRO_MPU9250_ALIGN;
#endif
break;
}
#endif
; // fallthrough
case GYRO_ICM20689:
#ifdef USE_GYRO_SPI_ICM20689
case GYRO_ICM20689:
if (icm20689SpiGyroDetect(dev))
{
gyroHardware = GYRO_ICM20689;
#ifdef GYRO_ICM20689_ALIGN
dev->gyroAlign = GYRO_ICM20689_ALIGN;
#endif
break;
}
#endif
; // fallthrough
case GYRO_FAKE:
#ifdef USE_FAKE_GYRO
case GYRO_FAKE:
if (fakeGyroDetect(dev)) {
gyroHardware = GYRO_FAKE;
break;
}
#endif
; // fallthrough
case GYRO_NONE:
default:
gyroHardware = GYRO_NONE;
}

2
src/main/sensors/gyro.h
View File

@ -31,6 +31,8 @@ typedef enum {
GYRO_MPU6500,
GYRO_MPU9250,
GYRO_ICM20689,
GYRO_ICM20608G,
GYRO_ICM20602,
GYRO_FAKE
} gyroSensor_e;