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Reorder accgyro_mpu.c functions for clarity and to avoid forward declarations

This commit is contained in:
Martin Budden 2017-01-25 18:16:05 +00:00 committed by borisbstyle
parent 18a65575e7
commit 5852e99998
1 changed files with 109 additions and 118 deletions
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227
src/main/drivers/accgyro_mpu.c
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@ -50,15 +50,6 @@
mpuResetFuncPtr mpuReset;
static bool mpuReadRegisterI2C(uint8_t reg, uint8_t length, uint8_t* data);
static bool mpuWriteRegisterI2C(uint8_t reg, uint8_t data);
static void mpu6050FindRevision(gyroDev_t *gyro);
#ifdef USE_SPI
static bool detectSPISensorsAndUpdateDetectionResult(gyroDev_t *gyro);
#endif
#ifndef MPU_I2C_INSTANCE
#define MPU_I2C_INSTANCE I2C_DEVICE
#endif
@ -71,110 +62,6 @@ static bool detectSPISensorsAndUpdateDetectionResult(gyroDev_t *gyro);
#define MPU_INQUIRY_MASK 0x7E
mpuDetectionResult_t *mpuDetect(gyroDev_t *gyro)
{
bool ack;
uint8_t sig;
uint8_t inquiryResult;
// MPU datasheet specifies 30ms.
delay(35);
#ifndef USE_I2C
ack = false;
sig = 0;
#else
ack = mpuReadRegisterI2C(MPU_RA_WHO_AM_I, 1, &sig);
#endif
if (ack) {
gyro->mpuConfiguration.read = mpuReadRegisterI2C;
gyro->mpuConfiguration.write = mpuWriteRegisterI2C;
} else {
#ifdef USE_SPI
bool detectedSpiSensor = detectSPISensorsAndUpdateDetectionResult(gyro);
UNUSED(detectedSpiSensor);
#endif
return &gyro->mpuDetectionResult;
}
gyro->mpuConfiguration.gyroReadXRegister = MPU_RA_GYRO_XOUT_H;
// If an MPU3050 is connected sig will contain 0.
ack = mpuReadRegisterI2C(MPU_RA_WHO_AM_I_LEGACY, 1, &inquiryResult);
inquiryResult &= MPU_INQUIRY_MASK;
if (ack && inquiryResult == MPUx0x0_WHO_AM_I_CONST) {
gyro->mpuDetectionResult.sensor = MPU_3050;
gyro->mpuConfiguration.gyroReadXRegister = MPU3050_GYRO_OUT;
return &gyro->mpuDetectionResult;
}
sig &= MPU_INQUIRY_MASK;
if (sig == MPUx0x0_WHO_AM_I_CONST) {
gyro->mpuDetectionResult.sensor = MPU_60x0;
mpu6050FindRevision(gyro);
} else if (sig == MPU6500_WHO_AM_I_CONST) {
gyro->mpuDetectionResult.sensor = MPU_65xx_I2C;
}
return &gyro->mpuDetectionResult;
}
#ifdef USE_SPI
static bool detectSPISensorsAndUpdateDetectionResult(gyroDev_t *gyro)
{
#ifdef USE_GYRO_SPI_MPU6500
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;
return true;
}
#endif
#ifdef USE_GYRO_SPI_ICM20689
if (icm20689SpiDetect()) {
gyro->mpuDetectionResult.sensor = ICM_20689_SPI;
gyro->mpuConfiguration.gyroReadXRegister = MPU_RA_GYRO_XOUT_H;
gyro->mpuConfiguration.read = icm20689ReadRegister;
gyro->mpuConfiguration.write = icm20689WriteRegister;
return true;
}
#endif
#ifdef USE_GYRO_SPI_MPU6000
if (mpu6000SpiDetect()) {
gyro->mpuDetectionResult.sensor = MPU_60x0_SPI;
gyro->mpuConfiguration.gyroReadXRegister = MPU_RA_GYRO_XOUT_H;
gyro->mpuConfiguration.read = mpu6000ReadRegister;
gyro->mpuConfiguration.write = mpu6000WriteRegister;
return true;
}
#endif
#ifdef USE_GYRO_SPI_MPU9250
if (mpu9250SpiDetect()) {
gyro->mpuDetectionResult.sensor = MPU_9250_SPI;
gyro->mpuConfiguration.gyroReadXRegister = MPU_RA_GYRO_XOUT_H;
gyro->mpuConfiguration.read = mpu9250ReadRegister;
gyro->mpuConfiguration.slowread = mpu9250SlowReadRegister;
gyro->mpuConfiguration.verifywrite = verifympu9250WriteRegister;
gyro->mpuConfiguration.write = mpu9250WriteRegister;
gyro->mpuConfiguration.reset = mpu9250ResetGyro;
return true;
}
#endif
UNUSED(gyro);
return false;
}
#endif
static void mpu6050FindRevision(gyroDev_t *gyro)
{
bool ack;
@ -324,11 +211,6 @@ bool mpuGyroRead(gyroDev_t *gyro)
return true;
}
void mpuGyroInit(gyroDev_t *gyro)
{
mpuIntExtiInit(gyro);
}
bool mpuCheckDataReady(gyroDev_t* gyro)
{
bool ret;
@ -340,3 +222,112 @@ bool mpuCheckDataReady(gyroDev_t* gyro)
}
return ret;
}
#ifdef USE_SPI
static bool detectSPISensorsAndUpdateDetectionResult(gyroDev_t *gyro)
{
#ifdef USE_GYRO_SPI_MPU6000
if (mpu6000SpiDetect()) {
gyro->mpuDetectionResult.sensor = MPU_60x0_SPI;
gyro->mpuConfiguration.gyroReadXRegister = MPU_RA_GYRO_XOUT_H;
gyro->mpuConfiguration.read = mpu6000ReadRegister;
gyro->mpuConfiguration.write = mpu6000WriteRegister;
return true;
}
#endif
#ifdef USE_GYRO_SPI_MPU6500
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;
return true;
}
#endif
#ifdef USE_GYRO_SPI_MPU9250
if (mpu9250SpiDetect()) {
gyro->mpuDetectionResult.sensor = MPU_9250_SPI;
gyro->mpuConfiguration.gyroReadXRegister = MPU_RA_GYRO_XOUT_H;
gyro->mpuConfiguration.read = mpu9250ReadRegister;
gyro->mpuConfiguration.slowread = mpu9250SlowReadRegister;
gyro->mpuConfiguration.verifywrite = verifympu9250WriteRegister;
gyro->mpuConfiguration.write = mpu9250WriteRegister;
gyro->mpuConfiguration.reset = mpu9250ResetGyro;
return true;
}
#endif
#ifdef USE_GYRO_SPI_ICM20689
if (icm20689SpiDetect()) {
gyro->mpuDetectionResult.sensor = ICM_20689_SPI;
gyro->mpuConfiguration.gyroReadXRegister = MPU_RA_GYRO_XOUT_H;
gyro->mpuConfiguration.read = icm20689ReadRegister;
gyro->mpuConfiguration.write = icm20689WriteRegister;
return true;
}
#endif
UNUSED(gyro);
return false;
}
#endif
mpuDetectionResult_t *mpuDetect(gyroDev_t *gyro)
{
bool ack;
uint8_t sig;
uint8_t inquiryResult;
// MPU datasheet specifies 30ms.
delay(35);
#ifndef USE_I2C
ack = false;
sig = 0;
#else
ack = mpuReadRegisterI2C(MPU_RA_WHO_AM_I, 1, &sig);
#endif
if (ack) {
gyro->mpuConfiguration.read = mpuReadRegisterI2C;
gyro->mpuConfiguration.write = mpuWriteRegisterI2C;
} else {
#ifdef USE_SPI
bool detectedSpiSensor = detectSPISensorsAndUpdateDetectionResult(gyro);
UNUSED(detectedSpiSensor);
#endif
return &gyro->mpuDetectionResult;
}
gyro->mpuConfiguration.gyroReadXRegister = MPU_RA_GYRO_XOUT_H;
// If an MPU3050 is connected sig will contain 0.
ack = mpuReadRegisterI2C(MPU_RA_WHO_AM_I_LEGACY, 1, &inquiryResult);
inquiryResult &= MPU_INQUIRY_MASK;
if (ack && inquiryResult == MPUx0x0_WHO_AM_I_CONST) {
gyro->mpuDetectionResult.sensor = MPU_3050;
gyro->mpuConfiguration.gyroReadXRegister = MPU3050_GYRO_OUT;
return &gyro->mpuDetectionResult;
}
sig &= MPU_INQUIRY_MASK;
if (sig == MPUx0x0_WHO_AM_I_CONST) {
gyro->mpuDetectionResult.sensor = MPU_60x0;
mpu6050FindRevision(gyro);
} else if (sig == MPU6500_WHO_AM_I_CONST) {
gyro->mpuDetectionResult.sensor = MPU_65xx_I2C;
}
return &gyro->mpuDetectionResult;
}
void mpuGyroInit(gyroDev_t *gyro)
{
mpuIntExtiInit(gyro);
}