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Gryro configuration parameters cleanup

This commit is contained in:
MJ666 2018-10-25 16:29:10 +02:00
parent c222f692ea
commit 6aa3b78629
12 changed files with 42 additions and 131 deletions
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18
src/main/pg/bus_spi.c
View File

@ -77,24 +77,6 @@ ioTag_t preinitIPUList[SPI_PREINIT_IPU_COUNT] = {
#ifdef GYRO_2_CS_PIN
IO_TAG(GYRO_2_CS_PIN),
#endif
#ifdef MPU6000_CS_PIN
IO_TAG(MPU6000_CS_PIN),
#endif
#ifdef MPU6500_CS_PIN
IO_TAG(MPU6500_CS_PIN),
#endif
#ifdef MPU9250_CS_PIN
IO_TAG(MPU9250_CS_PIN),
#endif
#ifdef ICM20649_CS_PIN
IO_TAG(ICM20649_CS_PIN),
#endif
#ifdef ICM20689_CS_PIN
IO_TAG(ICM20689_CS_PIN),
#endif
#ifdef BMI160_CS_PIN
IO_TAG(BMI160_CS_PIN),
#endif
#ifdef L3GD20_CS_PIN
IO_TAG(L3GD20_CS_PIN),
#endif

33
src/main/sensors/acceleration.c
View File

@ -157,9 +157,6 @@ retry:
acc_params.useFifo = false;
acc_params.dataRate = 800; // unused currently
if (adxl345Detect(&acc_params, dev)) {
#ifdef ACC_ADXL345_ALIGN
dev->accAlign = ACC_ADXL345_ALIGN;
#endif
accHardware = ACC_ADXL345;
break;
}
@ -169,9 +166,6 @@ retry:
#ifdef USE_ACC_LSM303DLHC
case ACC_LSM303DLHC:
if (lsm303dlhcAccDetect(dev)) {
#ifdef ACC_LSM303DLHC_ALIGN
dev->accAlign = ACC_LSM303DLHC_ALIGN;
#endif
accHardware = ACC_LSM303DLHC;
break;
}
@ -181,9 +175,6 @@ retry:
#ifdef USE_ACC_MPU6050
case ACC_MPU6050: // MPU6050
if (mpu6050AccDetect(dev)) {
#ifdef ACC_MPU6050_ALIGN
dev->accAlign = ACC_MPU6050_ALIGN;
#endif
accHardware = ACC_MPU6050;
break;
}
@ -193,9 +184,6 @@ retry:
#ifdef USE_ACC_MMA8452
case ACC_MMA8452: // MMA8452
if (mma8452Detect(dev)) {
#ifdef ACC_MMA8452_ALIGN
dev->accAlign = ACC_MMA8452_ALIGN;
#endif
accHardware = ACC_MMA8452;
break;
}
@ -205,9 +193,6 @@ retry:
#ifdef USE_ACC_BMA280
case ACC_BMA280: // BMA280
if (bma280Detect(dev)) {
#ifdef ACC_BMA280_ALIGN
dev->accAlign = ACC_BMA280_ALIGN;
#endif
accHardware = ACC_BMA280;
break;
}
@ -217,9 +202,6 @@ retry:
#ifdef USE_ACC_SPI_MPU6000
case ACC_MPU6000:
if (mpu6000SpiAccDetect(dev)) {
#ifdef ACC_MPU6000_ALIGN
dev->accAlign = ACC_MPU6000_ALIGN;
#endif
accHardware = ACC_MPU6000;
break;
}
@ -229,9 +211,6 @@ retry:
#ifdef USE_ACC_SPI_MPU9250
case ACC_MPU9250:
if (mpu9250SpiAccDetect(dev)) {
#ifdef ACC_MPU9250_ALIGN
dev->accAlign = ACC_MPU9250_ALIGN;
#endif
accHardware = ACC_MPU9250;
break;
}
@ -247,9 +226,6 @@ retry:
if (mpu6500AccDetect(dev) || mpu6500SpiAccDetect(dev)) {
#else
if (mpu6500AccDetect(dev)) {
#endif
#ifdef ACC_MPU6500_ALIGN
dev->accAlign = ACC_MPU6500_ALIGN;
#endif
switch (dev->mpuDetectionResult.sensor) {
case MPU_9250_SPI:
@ -276,9 +252,6 @@ retry:
case ACC_ICM20649:
if (icm20649SpiAccDetect(dev)) {
accHardware = ACC_ICM20649;
#ifdef ACC_ICM20649_ALIGN
dev->accAlign = ACC_ICM20649_ALIGN;
#endif
break;
}
FALLTHROUGH;
@ -288,9 +261,6 @@ retry:
case ACC_ICM20689:
if (icm20689SpiAccDetect(dev)) {
accHardware = ACC_ICM20689;
#ifdef ACC_ICM20689_ALIGN
dev->accAlign = ACC_ICM20689_ALIGN;
#endif
break;
}
FALLTHROUGH;
@ -300,9 +270,6 @@ retry:
case ACC_BMI160:
if (bmi160SpiAccDetect(dev)) {
accHardware = ACC_BMI160;
#ifdef ACC_BMI160_ALIGN
dev->accAlign = ACC_BMI160_ALIGN;
#endif
break;
}
FALLTHROUGH;

2
src/main/target/ALIENFLIGHTF3/target.h
View File

@ -49,14 +49,12 @@
#define USE_GYRO_MPU6050
#define USE_GYRO_SPI_MPU6500
#define GYRO_1_ALIGN CW270_DEG
#define GYRO_1_ALIGN CW270_DEG
#define USE_ACC
#define USE_ACC_MPU6050
#define USE_ACC_SPI_MPU6500
#define ACC_1_ALIGN CW270_DEG
#define ACC_1_ALIGN CW270_DEG
// No baro support.

26
src/main/target/DALRCF405/target.h
View File

@ -46,25 +46,19 @@
#define USE_GYRO
#define USE_ACC
//------ICM20689
#define ICM20689_CS_PIN PA4
#define ICM20689_SPI_INSTANCE SPI1
#define USE_GYRO_SPI_ICM20689
#define GYRO_ICM20689_ALIGN CW90_DEG
#define USE_ACC_SPI_ICM20689
#define ACC_ICM20689_ALIGN CW90_DEG
//------MPU6000
#define GYRO_1_CS_PIN PA4
#define GYRO_1_SPI_INSTANCE SPI1
#define USE_GYRO_SPI_MPU6000
#define GYRO_1_CS_PIN PA4
#define GYRO_1_SPI_INSTANCE SPI1
#define GYRO_1_ALIGN CW90_DEG
#define USE_ACC_SPI_MPU6000
#define ACC_1_ALIGN CW90_DEG
//------ICM20689
#define USE_GYRO_SPI_ICM20689
#define USE_ACC_SPI_ICM20689
//------MPU6000
#define USE_GYRO_SPI_MPU6000
#define USE_ACC_SPI_MPU6000
//Baro & MAG-------------------------------
#define USE_I2C
#define USE_I2C_DEVICE_1

12
src/main/target/DALRCF722DUAL/target.h
View File

@ -53,15 +53,11 @@
#define USE_ACC_SPI_MPU6000
#define USE_ACC_SPI_MPU6500
#define ACC_MPU6000_1_ALIGN CW180_DEG
#define GYRO_MPU6000_1_ALIGN CW180_DEG
#define GYRO_1_ALIGN GYRO_MPU6000_1_ALIGN
#define ACC_1_ALIGN ACC_MPU6000_1_ALIGN
#define GYRO_1_ALIGN CW180_DEG
#define ACC_1_ALIGN CW180_DEG
#define ACC_MPU6500_2_ALIGN CW0_DEG
#define GYRO_MPU6500_2_ALIGN CW0_DEG
#define GYRO_2_ALIGN GYRO_MPU6500_2_ALIGN
#define ACC_2_ALIGN ACC_MPU6500_2_ALIGN
#define GYRO_2_ALIGN CW0_DEG
#define ACC_2_ALIGN CW0_DEG
#define GYRO_CONFIG_USE_GYRO_DEFAULT GYRO_CONFIG_USE_GYRO_1

26
src/main/target/FOXEERF405/target.h
View File

@ -46,25 +46,19 @@
#define USE_GYRO
#define USE_ACC
//------ICM20689
#define ICM20689_CS_PIN PB2
#define ICM20689_SPI_INSTANCE SPI1
#define USE_GYRO_SPI_ICM20689
#define GYRO_ICM20689_ALIGN CW90_DEG
#define USE_ACC_SPI_ICM20689
#define ACC_ICM20689_ALIGN CW90_DEG
//------MPU6000
#define GYRO_1_CS_PIN PB2
#define GYRO_1_SPI_INSTANCE SPI1
#define USE_GYRO_SPI_MPU6000
#define GYRO_1_CS_PIN PB2
#define GYRO_1_SPI_INSTANCE SPI1
#define GYRO_1_ALIGN CW90_DEG
#define USE_ACC_SPI_MPU6000
#define ACC_1_ALIGN CW90_DEG
//------ICM20689
#define USE_GYRO_SPI_ICM20689
#define USE_ACC_SPI_ICM20689
//------MPU6000
#define USE_GYRO_SPI_MPU6000
#define USE_ACC_SPI_MPU6000
//Baro & MAG-------------------------------
#define USE_I2C
#define USE_I2C_DEVICE_1

12
src/main/target/FOXEERF722DUAL/target.h
View File

@ -52,15 +52,11 @@
#define USE_ACC_SPI_MPU6000
#define USE_ACC_SPI_MPU6500
#define ACC_MPU6000_1_ALIGN CW270_DEG
#define GYRO_MPU6000_1_ALIGN CW270_DEG
#define GYRO_1_ALIGN GYRO_MPU6000_1_ALIGN
#define ACC_1_ALIGN ACC_MPU6000_1_ALIGN
#define GYRO_1_ALIGN CW270_DEG
#define ACC_1_ALIGN CW270_DEG
#define ACC_MPU6500_2_ALIGN CW180_DEG
#define GYRO_MPU6500_2_ALIGN CW180_DEG
#define GYRO_2_ALIGN GYRO_MPU6500_2_ALIGN
#define ACC_2_ALIGN ACC_MPU6500_2_ALIGN
#define GYRO_2_ALIGN CW180_DEG
#define ACC_2_ALIGN CW180_DEG
#define GYRO_CONFIG_USE_GYRO_DEFAULT GYRO_CONFIG_USE_GYRO_1

8
src/main/target/KAKUTEF4/target.h
View File

@ -64,23 +64,19 @@
#define GYRO_1_CS_PIN PC4
#define GYRO_1_SPI_INSTANCE SPI1
#define ACC_1_ALIGN CW270_DEG
#define GYRO_1_ALIGN CW270_DEG
#define USE_ACC
#define USE_ACC_SPI_ICM20689
#define ACC_1_ALIGN CW270_DEG
#define USE_GYRO
#define USE_GYRO_SPI_ICM20689
#define GYRO_1_ALIGN CW270_DEG
#if defined(FLYWOOF405)
//------MPU6000
#define MPU6000_CS_PIN PC4
#define MPU6000_SPI_INSTANCE SPI1
#define USE_GYRO_SPI_MPU6000
#define GYRO_MPU6000_ALIGN CW270_DEG
#define USE_ACC_SPI_MPU6000
#define ACC_MPU6000_ALIGN CW270_DEG
#endif
#if defined(KAKUTEF4V2) || defined(FLYWOOF405) // There is invertor on RXD3(PB11), so PB10/PB11 can't be used as I2C2.

6
src/main/target/LUX_RACE/target.h
View File

@ -91,23 +91,21 @@
#define GYRO_1_SPI_INSTANCE SPI1
#define USE_GYRO
#define GYRO_1_ALIGN CW270_DEG
#ifdef LUXV2_RACE
#define USE_GYRO_SPI_MPU6000
#define GYRO_1_ALIGN CW270_DEG
#else
#define USE_GYRO_SPI_MPU6500
#define GYRO_1_ALIGN CW270_DEG
#endif
#define USE_ACC
#define ACC_1_ALIGN CW270_DEG
#ifdef LUXV2_RACE
#define USE_ACC_MPU6000
#define USE_ACC_SPI_MPU6000
#define ACC_1_ALIGN CW270_DEG
#else
#define USE_ACC_MPU6500
#define USE_ACC_SPI_MPU6500
#define ACC_1_ALIGN CW270_DEG
#endif
#define USE_VCP

7
src/main/target/MATEKF722/target.h
View File

@ -44,9 +44,6 @@
#define GYRO_1_CS_PIN PC2
#define GYRO_1_SPI_INSTANCE SPI1
#define ICM20689_CS_PIN PC2
#define ICM20689_SPI_INSTANCE SPI1
#define USE_EXTI
#define USE_GYRO_EXTI
#define GYRO_1_EXTI_PIN PC3
@ -56,13 +53,13 @@
#define USE_GYRO_SPI_MPU6500
#define USE_GYRO_SPI_ICM20689
#define GYRO_1_ALIGN CW180_DEG
//#define GYRO_ICM20689_ALIGN CW90_DEG // XXX has to be post-flash configured
//#define GYRO_1_ALIGN CW90_DEG // XXX has to be post-flash configured
#define USE_ACC
#define USE_ACC_SPI_MPU6500
#define USE_ACC_SPI_ICM20689
#define ACC_1_ALIGN CW180_DEG
//#define ACC_ICM20689_ALIGN CW90_DEG // XXX has to be post-flash configured
//#define ACC_1_ALIGN CW90_DEG // XXX has to be post-flash configured
// *************** Baro **************************
#define USE_I2C

21
src/main/target/SPRACINGF7DUAL/target.h
View File

@ -57,24 +57,19 @@
#define USE_ACC_SPI_MPU6500
#if (SPRACINGF7DUAL_REV >= 2)
#define ACC_MPU6500_1_ALIGN CW0_DEG
#define GYRO_MPU6500_1_ALIGN CW0_DEG
#define GYRO_1_ALIGN CW0_DEG
#define ACC_1_ALIGN CW0_DEG
#define ACC_MPU6500_2_ALIGN CW270_DEG
#define GYRO_MPU6500_2_ALIGN CW270_DEG
#define GYRO_2_ALIGN CW270_DEG
#define ACC_2_ALIGN CW270_DEG
#else
#define ACC_MPU6500_1_ALIGN CW180_DEG
#define GYRO_MPU6500_1_ALIGN CW180_DEG
#define GYRO_1_ALIGN CW180_DEG
#define ACC_1_ALIGN CW180_DEG
#define ACC_MPU6500_2_ALIGN CW270_DEG
#define GYRO_MPU6500_2_ALIGN CW270_DEG
#define GYRO_2_ALIGN CW270_DEG
#define ACC_2_ALIGN CW270_DEG
#endif
#define GYRO_1_ALIGN GYRO_MPU6500_1_ALIGN
#define GYRO_2_ALIGN GYRO_MPU6500_2_ALIGN
#define ACC_1_ALIGN ACC_MPU6500_1_ALIGN
#define ACC_2_ALIGN ACC_MPU6500_2_ALIGN
#define GYRO_CONFIG_USE_GYRO_DEFAULT GYRO_CONFIG_USE_GYRO_BOTH
#define USE_BARO

2
src/main/target/STM32F3DISCOVERY/target.h
View File

@ -122,8 +122,6 @@
#define GYRO_1_ALIGN CW0_DEG
#define USE_ACCGYRO_BMI160
#ifdef USE_ACCGYRO_BMI160
#define BMI160_CS_PIN SPI2_NSS_PIN
#define BMI160_SPI_INSTANCE SPI2
#define BMI160_SPI_DIVISOR 16
#define USE_EXTI
#define USE_GYRO_EXTI