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atbetaflight
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added driver for MMA8452QT accelerometer 

added mag_declination set option to cli - oops
status in cli now prints which ACC hardware is used. work in proress to show difference between hardware with MPU6050 and MPU3050


git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@157 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop 2012-05-18 16:01:10 +00:00
parent b929f79b54
commit 59ccf93dd3
8 changed files with 2746 additions and 2704 deletions
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163
baseflight.uvopt
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5229
obj/baseflight.hex
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File diff suppressed because it is too large Load Diff

1
src/board.h
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@ -123,6 +123,7 @@ typedef struct sensor_t
#include "drv_hmc5883l.h"
#include "drv_i2c.h"
#include "drv_ledring.h"
#include "drv_mma845x.h"
#include "drv_mpu3050.h"
#include "drv_mpu6050.h"
#include "drv_pwm.h"

11
src/cli.c
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@ -16,6 +16,7 @@ static void cliVersion(char *cmdline);
// from sensors.c
extern uint8_t batteryCellCount;
extern uint8_t accHardware;
// from config.c RC Channel mapping
extern const char rcChannelLetters[];
@ -45,6 +46,11 @@ const char *sensorNames[] = {
"ACC", "BARO", "MAG", "SONAR", "GPS", NULL
};
//
const char *accNames[] = {
"ADXL345", "MPU6050", "MMA845x", NULL
};
typedef struct {
char *name;
char *param;
@ -117,6 +123,7 @@ const clivalue_t valueTable[] = {
{ "gimbal_roll_mid", VAR_UINT16, &cfg.gimbal_roll_mid, 100, 3000 },
{ "acc_lpf_factor", VAR_UINT8, &cfg.acc_lpf_factor, 0, 250 },
{ "gyro_lpf", VAR_UINT16, &cfg.gyro_lpf, 0, 256 },
{ "mag_declination", VAR_INT16, &cfg.mag_declination, -18000, 18000 },
{ "gps_baudrate", VAR_UINT32, &cfg.gps_baudrate, 1200, 115200 },
{ "serial_baudrate", VAR_UINT32, &cfg.serial_baudrate, 1200, 115200 },
{ "p_pitch", VAR_UINT8, &cfg.P8[PITCH], 0, 200},
@ -476,6 +483,10 @@ static void cliStatus(char *cmdline)
uartPrint((char *)sensorNames[i]);
uartWrite(' ');
}
if (sensors(SENSOR_ACC)) {
uartPrint("ACCHW: ");
uartPrint((char *)accNames[accHardware]);
}
uartPrint("\r\n");
uartPrint("Cycle Time: ");

4
src/config.c
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@ -13,7 +13,7 @@ config_t cfg;
const char rcChannelLetters[] = "AERT1234";
static uint32_t enabledSensors = 0;
uint8_t checkNewConf = 16;
uint8_t checkNewConf = 17;
void parseRcChannels(const char *input)
{
@ -127,7 +127,7 @@ void checkFirstTime(bool reset)
cfg.accZero[0] = 0;
cfg.accZero[1] = 0;
cfg.accZero[2] = 0;
cfg.magDeclination = 0; // For example, -6deg 37min, = -637 Japan, format is [sign]dddmm (degreesminutes) default is zero.
cfg.mag_declination = 0; // For example, -6deg 37min, = -637 Japan, format is [sign]dddmm (degreesminutes) default is zero.
cfg.acc_lpf_factor = 100;
cfg.gyro_lpf = 42;
cfg.gyro_smoothing_factor = 0x00141403; // default factors of 20, 20, 3 for R/P/Y

9
src/mw.h
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@ -53,6 +53,13 @@ typedef enum GimbalFlags {
GIMBAL_DISABLEAUX34 = 1 << 2,
} GimbalFlags;
// Type of accelerometer used
typedef enum AccelSensors {
ADXL345,
MPU6050,
MMA845x
} AccelSensors;
/*********** RC alias *****************/
#define ROLL 0
#define PITCH 1
@ -109,7 +116,7 @@ typedef struct config_t {
uint8_t dynThrPID;
int16_t accZero[3];
int16_t magZero[3];
int16_t magDeclination; // Get your magnetic decliniation from here : http://magnetic-declination.com/
int16_t mag_declination; // Get your magnetic decliniation from here : http://magnetic-declination.com/
int16_t accTrim[2];
// sensor-related stuff

18
src/sensors.c
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@ -19,6 +19,7 @@ extern float magneticDeclination;
sensor_t acc; // acc access functions
sensor_t gyro; // gyro access functions
uint8_t accHardware = 0; // which accel chip is used.
#ifdef FY90Q
// FY90Q analog gyro/acc
@ -47,8 +48,10 @@ void sensorsAutodetect(void)
sensorsClear(SENSOR_MAG);
// Init sensors
if (sensors(SENSOR_ACC))
if (sensors(SENSOR_ACC)) {
acc.init();
accHardware = ADXL345;
}
if (sensors(SENSOR_BARO))
bmp085Init();
@ -56,18 +59,27 @@ void sensorsAutodetect(void)
if (mpu6050Detect(&acc, &gyro)) { // first, try MPU6050, and re-enable acc (if ADXL345 is missing) since this chip has it built in
sensorsSet(SENSOR_ACC);
acc.init();
accHardware = MPU6050;
} else if (!mpu3050Detect(&gyro)) {
// if this fails, we get a beep + blink pattern. we're doomed, no gyro or i2c error.
failureMode(3);
}
// Try to init MMA8452
if (mma8452Detect(&acc)) {
sensorsSet(SENSOR_ACC);
acc.init();
accHardware = MMA845x;
}
// this is safe because either mpu6050 or mpu3050 sets it, and in case of fail, none do.
gyro.init();
// todo: this is driver specific :(
mpu3050Config(cfg.gyro_lpf);
// calculate magnetic declination
deg = cfg.magDeclination / 100;
min = cfg.magDeclination % 100;
deg = cfg.mag_declination / 100;
min = cfg.mag_declination % 100;
magneticDeclination = deg + ((float)min * (1.0f / 60.0f));
}
#endif