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Cleanup sensor detection. Less code required and a similar pattern is used for each type of sensor.

This commit is contained in:
Dominic Clifton 2015-02-19 16:15:14 +00:00
parent 77e5be5002
commit c45efac812
20 changed files with 70 additions and 78 deletions
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3
src/main/main.c
View File

@ -294,9 +294,6 @@ void init(void)
}
#endif
// We have these sensors; SENSORS_SET defined in board.h depending on hardware platform
sensorsSet(SENSORS_SET);
// drop out any sensors that don't seem to work, init all the others. halt if gyro is dead.
sensorsOK = sensorsAutodetect(&masterConfig.sensorAlignmentConfig, masterConfig.gyro_lpf, masterConfig.acc_hardware, masterConfig.mag_hardware, currentProfile->mag_declination);
// if gyro was not detected due to whatever reason, we give up now.

2
src/main/sensors/acceleration.c
View File

@ -37,7 +37,7 @@
int16_t accADC[XYZ_AXIS_COUNT];
acc_t acc; // acc access functions
uint8_t accHardware = ACC_DEFAULT; // which accel chip is used/detected
accelerationSensor_e accHardware = ACC_DEFAULT; // which accel chip is used/detected
sensor_align_e accAlign = 0;
uint16_t acc_1G = 256; // this is the 1G measured acceleration.

4
src/main/sensors/acceleration.h
View File

@ -18,7 +18,7 @@
#pragma once
// Type of accelerometer used/detected
typedef enum AccelSensors {
typedef enum {
ACC_DEFAULT = 0,
ACC_ADXL345 = 1,
ACC_MPU6050 = 2,
@ -29,7 +29,7 @@ typedef enum AccelSensors {
ACC_SPI_MPU6500 = 7,
ACC_FAKE = 8,
ACC_NONE = 9
} accelSensor_e;
} accelerationSensor_e;
extern uint8_t accHardware;
extern sensor_align_e accAlign;

1
src/main/sensors/barometer.c
View File

@ -41,6 +41,7 @@ static int32_t baroGroundPressure = 0;
static uint32_t baroPressureSum = 0;
barometerConfig_t *barometerConfig;
baroSensor_e baroHardware;
void useBarometerConfig(barometerConfig_t *barometerConfigToUse)
{

9
src/main/sensors/barometer.h
View File

@ -17,6 +17,15 @@
#pragma once
typedef enum {
BARO_NONE = 0,
BARO_DEFAULT = 1,
BARO_BMP085 = 2,
BARO_MS5611 = 3
} baroSensor_e;
extern baroSensor_e baroHardware;
#define BARO_SAMPLE_COUNT_MAX 48
typedef struct barometerConfig_s {

2
src/main/sensors/compass.c
View File

@ -40,7 +40,7 @@
#endif
mag_t mag; // mag access functions
uint8_t magHardware = MAG_DEFAULT;
magSensor_e magHardware = MAG_DEFAULT;
extern uint32_t currentTime; // FIXME dependency on global variable, pass it in instead.

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

@ -18,7 +18,7 @@
#pragma once
// Type of accelerometer used/detected
typedef enum MagSensors {
typedef enum {
MAG_DEFAULT = 0,
MAG_HMC5883 = 1,
MAG_AK8975 = 2,

97
src/main/sensors/initialisation.c
View File

@ -233,11 +233,10 @@ retry:
}
#endif
case ACC_NONE: // disable ACC
sensorsClear(SENSOR_ACC);
break;
case ACC_DEFAULT: // autodetect
#ifdef USE_ACC_ADXL345
case ACC_ADXL345: // ADXL345
#ifdef USE_ACC_ADXL345
acc_params.useFifo = false;
acc_params.dataRate = 800; // unused currently
#ifdef NAZE
@ -252,10 +251,10 @@ retry:
if (accHardwareToUse == ACC_ADXL345)
break;
}
; // fallthrough
#endif
#ifdef USE_ACC_LSM303DLHC
; // fallthrough
case ACC_LSM303DLHC:
#ifdef USE_ACC_LSM303DLHC
if (lsm303dlhcAccDetect(&acc)) {
#ifdef ACC_LSM303DLHC_ALIGN
accAlign = ACC_LSM303DLHC_ALIGN;
@ -264,10 +263,10 @@ retry:
if (accHardwareToUse == ACC_LSM303DLHC)
break;
}
; // fallthrough
#endif
#ifdef USE_ACC_MPU6050
; // fallthrough
case ACC_MPU6050: // MPU6050
#ifdef USE_ACC_MPU6050
if (mpu6050AccDetect(selectMPU6050Config(), &acc)) {
#ifdef ACC_MPU6050_ALIGN
accAlign = ACC_MPU6050_ALIGN;
@ -276,10 +275,10 @@ retry:
if (accHardwareToUse == ACC_MPU6050)
break;
}
; // fallthrough
#endif
#ifdef USE_ACC_MMA8452
; // fallthrough
case ACC_MMA8452: // MMA8452
#ifdef USE_ACC_MMA8452
#ifdef NAZE
// Not supported with this frequency
if (hardwareRevision < NAZE32_REV5 && mma8452Detect(&acc)) {
@ -293,10 +292,10 @@ retry:
if (accHardwareToUse == ACC_MMA8452)
break;
}
; // fallthrough
#endif
#ifdef USE_ACC_BMA280
; // fallthrough
case ACC_BMA280: // BMA280
#ifdef USE_ACC_BMA280
if (bma280Detect(&acc)) {
#ifdef ACC_BMA280_ALIGN
accAlign = ACC_BMA280_ALIGN;
@ -305,10 +304,10 @@ retry:
if (accHardwareToUse == ACC_BMA280)
break;
}
; // fallthrough
#endif
#ifdef USE_ACC_SPI_MPU6000
; // fallthrough
case ACC_SPI_MPU6000:
#ifdef USE_ACC_SPI_MPU6000
if (mpu6000SpiAccDetect(&acc)) {
#ifdef ACC_SPI_MPU6000_ALIGN
accAlign = ACC_SPI_MPU6000_ALIGN;
@ -317,10 +316,10 @@ retry:
if (accHardwareToUse == ACC_SPI_MPU6000)
break;
}
; // fallthrough
#endif
#ifdef USE_ACC_SPI_MPU6500
; // fallthrough
case ACC_SPI_MPU6500:
#ifdef USE_ACC_SPI_MPU6500
#ifdef NAZE
if (hardwareRevision == NAZE32_SP && mpu6500SpiAccDetect(&acc)) {
#else
@ -333,9 +332,8 @@ retry:
if (accHardwareToUse == ACC_SPI_MPU6500)
break;
}
; // fallthrough
#endif
; // prevent compiler error
; // fallthrough
}
// Found anything? Check if error or ACC is really missing.
@ -344,18 +342,21 @@ retry:
// Nothing was found and we have a forced sensor that isn't present.
accHardwareToUse = ACC_DEFAULT;
goto retry;
} else {
// No ACC was detected
sensorsClear(SENSOR_ACC);
}
}
if (accHardware != ACC_NONE) {
sensorsSet(SENSOR_ACC);
}
}
static void detectBaro()
{
#ifdef BARO
// Detect what pressure sensors are available. baro->update() is set to sensor-specific update function
#ifdef BARO
baroHardware = BARO_DEFAULT;
#ifdef USE_BARO_BMP085
const bmp085Config_t *bmp085Config = NULL;
@ -379,24 +380,37 @@ static void detectBaro()
#endif
#ifdef USE_BARO_MS5611
if (ms5611Detect(&baro)) {
sensorsSet(SENSOR_BARO);
return;
}
#endif
switch (baroHardware) {
case BARO_DEFAULT:
; // fallthough
case BARO_MS5611:
#ifdef USE_BARO_MS5611
if (ms5611Detect(&baro)) {
baroHardware = BARO_MS5611;
break;
}
#endif
; // fallthough
case BARO_BMP085:
#ifdef USE_BARO_BMP085
if (bmp085Detect(bmp085Config, &baro)) {
sensorsSet(SENSOR_BARO);
return;
if (bmp085Detect(bmp085Config, &baro)) {
baroHardware = BARO_BMP085;
break;
}
#endif
baroHardware = BARO_NONE; // nothing detected or enabled.
case BARO_NONE:
break;
}
#endif
#endif
sensorsClear(SENSOR_BARO);
if (baroHardware != BARO_NONE) {
sensorsSet(SENSOR_BARO);
}
#endif
}
static void detectMag(uint8_t magHardwareToUse)
static void detectMag(magSensor_e magHardwareToUse)
{
#ifdef USE_MAG_HMC5883
static hmc5883Config_t *hmc5883Config = 0;
@ -435,12 +449,11 @@ retry:
switch(magHardwareToUse) {
case MAG_NONE: // disable MAG
sensorsClear(SENSOR_MAG);
break;
case MAG_DEFAULT: // autodetect
#ifdef USE_MAG_HMC5883
case MAG_HMC5883:
#ifdef USE_MAG_HMC5883
if (hmc5883lDetect(&mag, hmc5883Config)) {
sensorsSet(SENSOR_MAG);
#ifdef MAG_HMC5883_ALIGN
@ -451,11 +464,11 @@ retry:
break;
}
; // fallthrough
#endif
; // fallthrough
#ifdef USE_MAG_AK8975
case MAG_AK8975:
#ifdef USE_MAG_AK8975
if (ak8975detect(&mag)) {
sensorsSet(SENSOR_MAG);
@ -466,9 +479,8 @@ retry:
if (magHardwareToUse == MAG_AK8975)
break;
}
; // fallthrough
#endif
; // prevent compiler error.
; // fallthrough
}
if (magHardware == MAG_DEFAULT) {
@ -476,12 +488,13 @@ retry:
// Nothing was found and we have a forced sensor that isn't present.
magHardwareToUse = MAG_DEFAULT;
goto retry;
} else {
// No MAG was detected
sensorsClear(SENSOR_MAG);
}
}
if (magHardware != MAG_NONE) {
sensorsSet(SENSOR_MAG);
}
}
void reconfigureAlignment(sensorAlignmentConfig_t *sensorAlignmentConfig)

3
src/main/target/ALIENWIIF3/target.h
View File

@ -86,9 +86,6 @@
#define I2C2_SDA_PIN_SOURCE GPIO_PinSource10
#define I2C2_SDA_CLK_SOURCE RCC_AHBPeriph_GPIOA
#define SENSORS_SET (SENSOR_ACC | SENSOR_BARO | SENSOR_MAG)
#define BLACKBOX
#define SERIAL_RX
#define GPS

2
src/main/target/CC3D/target.h
View File

@ -98,8 +98,6 @@
#define RSSI_ADC_CHANNEL ADC_Channel_1
#define SENSORS_SET (SENSOR_ACC)
#define GPS
#define LED_STRIP
#define LED_STRIP_TIMER TIM3

3
src/main/target/CHEBUZZF3/target.h
View File

@ -90,9 +90,6 @@
#define EXTERNAL1_ADC_GPIO_PIN GPIO_Pin_3
#define EXTERNAL1_ADC_CHANNEL ADC_Channel_9
#define SENSORS_SET (SENSOR_ACC | SENSOR_BARO | SENSOR_MAG)
#define GPS
#define LED_STRIP
#if 1

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

@ -60,8 +60,6 @@
// #define SOFT_I2C_PB1011 // If SOFT_I2C is enabled above, need to define pinout as well (I2C1 = PB67, I2C2 = PB1011)
// #define SOFT_I2C_PB67
#define SENSORS_SET (SENSOR_ACC | SENSOR_MAG)
#define SERIAL_RX
#define SPEKTRUM_BIND

2
src/main/target/EUSTM32F103RC/target.h
View File

@ -116,8 +116,6 @@
#define EXTERNAL1_ADC_GPIO_PIN GPIO_Pin_5
#define EXTERNAL1_ADC_CHANNEL ADC_Channel_5
#define SENSORS_SET (SENSOR_ACC | SENSOR_BARO | SENSOR_MAG)
#define GPS
#define LED_STRIP
#define LED_STRIP_TIMER TIM3

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

@ -135,8 +135,6 @@
#define EXTERNAL1_ADC_GPIO_PIN GPIO_Pin_5
#define EXTERNAL1_ADC_CHANNEL ADC_Channel_5
#define SENSORS_SET (SENSOR_ACC | SENSOR_BARO | SENSOR_MAG)
#define GPS
#define LED_STRIP

2
src/main/target/NAZE32PRO/target.h
View File

@ -40,8 +40,6 @@
#define USE_I2C
#define I2C_DEVICE (I2CDEV_1)
#define SENSORS_SET (SENSOR_ACC)
#define GPS
#define BLACKBOX
#define TELEMETRY

3
src/main/target/OLIMEXINO/target.h
View File

@ -103,9 +103,6 @@
#define EXTERNAL1_ADC_GPIO_PIN GPIO_Pin_5
#define EXTERNAL1_ADC_CHANNEL ADC_Channel_5
#define SENSORS_SET (SENSOR_ACC | SENSOR_BARO | SENSOR_MAG)
#define GPS
#define LED_STRIP
#define LED_STRIP_TIMER TIM3

2
src/main/target/PORT103R/target.h
View File

@ -126,8 +126,6 @@
#define EXTERNAL1_ADC_GPIO_PIN GPIO_Pin_5
#define EXTERNAL1_ADC_CHANNEL ADC_Channel_5
#define SENSORS_SET (SENSOR_ACC | SENSOR_BARO | SENSOR_MAG)
#define LED0
#define GPS
#define LED_STRIP

3
src/main/target/SPARKY/target.h
View File

@ -86,9 +86,6 @@
#define I2C2_SDA_PIN_SOURCE GPIO_PinSource10
#define I2C2_SDA_CLK_SOURCE RCC_AHBPeriph_GPIOA
#define SENSORS_SET (SENSOR_ACC | SENSOR_BARO | SENSOR_MAG)
#define BLACKBOX
#define SERIAL_RX
#define GPS

2
src/main/target/SPRACINGF3/target.h
View File

@ -120,8 +120,6 @@
#define WS2811_DMA_CHANNEL DMA1_Channel2
#define WS2811_IRQ DMA1_Channel2_IRQn
#define SENSORS_SET (SENSOR_ACC | SENSOR_BARO | SENSOR_MAG)
#define GPS
#define BLACKBOX
#define TELEMETRY

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

@ -81,8 +81,6 @@
#define EXTERNAL1_ADC_GPIO_PIN GPIO_Pin_3
#define EXTERNAL1_ADC_CHANNEL ADC_Channel_9
#define SENSORS_SET (SENSOR_ACC | SENSOR_MAG)
#define BLACKBOX
#define GPS
#define LED_STRIP