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Add MPU6500 SPI driver. Move sensor initialisation defines into target 

specific headers.
This commit is contained in:
Dominic Clifton 2014-10-14 00:22:54 +01:00
parent 79c2e5648f
commit da51b5c479
19 changed files with 451 additions and 190 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

10
Makefile
View File

@ -220,6 +220,7 @@ NAZE_SRC = startup_stm32f10x_md_gcc.S \
drivers/accgyro_mma845x.c \
drivers/accgyro_mpu3050.c \
drivers/accgyro_mpu6050.c \
drivers/accgyro_spi_mpu6500.c \
drivers/adc.c \
drivers/adc_stm32f10x.c \
drivers/barometer_bmp085.c \
@ -247,11 +248,18 @@ NAZE_SRC = startup_stm32f10x_md_gcc.S \
$(COMMON_SRC)
EUSTM32F103RC_SRC = startup_stm32f10x_hd_gcc.S \
drivers/accgyro_mpu6050.c \
drivers/accgyro_adxl345.c \
drivers/accgyro_bma280.c \
drivers/accgyro_l3g4200d.c \
drivers/accgyro_mma845x.c \
drivers/accgyro_mpu3050.c \
drivers/accgyro_mpu6050.c \
drivers/accgyro_spi_mpu6000.c \
drivers/accgyro_spi_mpu6500.c \
drivers/adc.c \
drivers/adc_stm32f10x.c \
drivers/barometer_bmp085.c \
drivers/barometer_ms5611.c \
drivers/bus_i2c_stm32f10x.c \
drivers/bus_spi.c \
drivers/compass_hmc5883l.c \

88
src/main/drivers/accgyro_mpu6050.c
View File

@ -127,16 +127,37 @@
#define MPU6050_SMPLRT_DIV 0 // 8000Hz
#define MPU6050_LPF_256HZ 0
#define MPU6050_LPF_188HZ 1
#define MPU6050_LPF_98HZ 2
#define MPU6050_LPF_42HZ 3
#define MPU6050_LPF_20HZ 4
#define MPU6050_LPF_10HZ 5
#define MPU6050_LPF_5HZ 6
static uint8_t mpuLowPassFilter = MPU6050_LPF_42HZ;
enum lpf_e {
INV_FILTER_256HZ_NOLPF2 = 0,
INV_FILTER_188HZ,
INV_FILTER_98HZ,
INV_FILTER_42HZ,
INV_FILTER_20HZ,
INV_FILTER_10HZ,
INV_FILTER_5HZ,
INV_FILTER_2100HZ_NOLPF,
NUM_FILTER
};
enum gyro_fsr_e {
INV_FSR_250DPS = 0,
INV_FSR_500DPS,
INV_FSR_1000DPS,
INV_FSR_2000DPS,
NUM_GYRO_FSR
};
enum clock_sel_e {
INV_CLK_INTERNAL = 0,
INV_CLK_PLL,
NUM_CLK
};
enum accel_fsr_e {
INV_FSR_2G = 0,
INV_FSR_4G,
INV_FSR_8G,
INV_FSR_16G,
NUM_ACCEL_FSR
};
static uint8_t mpuLowPassFilter = INV_FILTER_42HZ;
static void mpu6050AccInit(void);
static void mpu6050AccRead(int16_t *accData);
static void mpu6050GyroInit(void);
@ -161,8 +182,8 @@ static bool mpu6050Detect(void)
return false;
// So like, MPU6xxx has a "WHO_AM_I" register, that is used to verify the identity of the device.
// The contents of WHO_AM_I are the upper 6 bits of the MPU-60X0’s 7-bit I2C address.
// The least significant bit of the MPU-60X0’s I2C address is determined by the value of the AD0 pin. (we know that already).
// The contents of WHO_AM_I are the upper 6 bits of the MPU-60X0<EFBFBD>s 7-bit I2C address.
// The least significant bit of the MPU-60X0<EFBFBD>s I2C address is determined by the value of the AD0 pin. (we know that already).
// But here's the best part: The value of the AD0 pin is not reflected in this register.
if (sig != (MPU6050_ADDRESS & 0x7e))
@ -227,31 +248,18 @@ bool mpu6050GyroDetect(gyro_t *gyro, uint16_t lpf)
// 16.4 dps/lsb scalefactor
gyro->scale = 1.0f / 16.4f;
// default lpf is 42Hz
switch (lpf) {
case 256:
mpuLowPassFilter = MPU6050_LPF_256HZ;
break;
case 188:
mpuLowPassFilter = MPU6050_LPF_188HZ;
break;
case 98:
mpuLowPassFilter = MPU6050_LPF_98HZ;
break;
default:
case 42:
mpuLowPassFilter = MPU6050_LPF_42HZ;
break;
case 20:
mpuLowPassFilter = MPU6050_LPF_20HZ;
break;
case 10:
mpuLowPassFilter = MPU6050_LPF_10HZ;
break;
case 5:
mpuLowPassFilter = MPU6050_LPF_5HZ;
break;
}
if (lpf >= 188)
mpuLowPassFilter = INV_FILTER_188HZ;
else if (lpf >= 98)
mpuLowPassFilter = INV_FILTER_98HZ;
else if (lpf >= 42)
mpuLowPassFilter = INV_FILTER_42HZ;
else if (lpf >= 20)
mpuLowPassFilter = INV_FILTER_20HZ;
else if (lpf >= 10)
mpuLowPassFilter = INV_FILTER_10HZ;
else
mpuLowPassFilter = INV_FILTER_5HZ;
return true;
}
@ -292,17 +300,17 @@ static void mpu6050GyroInit(void)
gpioInit(GPIOC, &gpio);
i2cWrite(MPU6050_ADDRESS, MPU_RA_PWR_MGMT_1, 0x80); //PWR_MGMT_1 -- DEVICE_RESET 1
delay(5);
delay(100);
i2cWrite(MPU6050_ADDRESS, MPU_RA_SMPLRT_DIV, 0x00); //SMPLRT_DIV -- SMPLRT_DIV = 0 Sample Rate = Gyroscope Output Rate / (1 + SMPLRT_DIV)
i2cWrite(MPU6050_ADDRESS, MPU_RA_PWR_MGMT_1, 0x03); //PWR_MGMT_1 -- SLEEP 0; CYCLE 0; TEMP_DIS 0; CLKSEL 3 (PLL with Z Gyro reference)
i2cWrite(MPU6050_ADDRESS, MPU_RA_INT_PIN_CFG,
0 << 7 | 0 << 6 | 0 << 5 | 0 << 4 | 0 << 3 | 0 << 2 | 1 << 1 | 0 << 0); // INT_PIN_CFG -- INT_LEVEL_HIGH, INT_OPEN_DIS, LATCH_INT_DIS, INT_RD_CLEAR_DIS, FSYNC_INT_LEVEL_HIGH, FSYNC_INT_DIS, I2C_BYPASS_EN, CLOCK_DIS
i2cWrite(MPU6050_ADDRESS, MPU_RA_CONFIG, mpuLowPassFilter); //CONFIG -- EXT_SYNC_SET 0 (disable input pin for data sync) ; default DLPF_CFG = 0 => ACC bandwidth = 260Hz GYRO bandwidth = 256Hz)
i2cWrite(MPU6050_ADDRESS, MPU_RA_GYRO_CONFIG, 0x18); //GYRO_CONFIG -- FS_SEL = 3: Full scale set to 2000 deg/sec
i2cWrite(MPU6050_ADDRESS, MPU_RA_GYRO_CONFIG, INV_FSR_2000DPS << 3); //GYRO_CONFIG -- FS_SEL = 3: Full scale set to 2000 deg/sec
// ACC Init stuff. Moved into gyro init because the reset above would screw up accel config. Oops.
// Accel scale 8g (4096 LSB/g)
i2cWrite(MPU6050_ADDRESS, MPU_RA_ACCEL_CONFIG, 2 << 3);
i2cWrite(MPU6050_ADDRESS, MPU_RA_ACCEL_CONFIG, INV_FSR_8G << 3);
}
static void mpu6050GyroRead(int16_t *gyroData)

8
src/main/drivers/accgyro_spi_mpu6000.c
View File

@ -119,14 +119,6 @@
#define MPU6000_REV_D9 0x59
#define MPU6000_REV_D10 0x5A
#ifdef CC3D
#define MPU6000_CS_GPIO GPIOA
#define MPU6000_CS_PIN GPIO_Pin_4
#define MPU6000_SPI_INSTANCE SPI1
#endif
#define DISABLE_MPU6000 GPIO_SetBits(MPU6000_CS_GPIO, MPU6000_CS_PIN)
#define ENABLE_MPU6000 GPIO_ResetBits(MPU6000_CS_GPIO, MPU6000_CS_PIN)

215
src/main/drivers/accgyro_spi_mpu6500.c Normal file
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@ -0,0 +1,215 @@
/*
* This file is part of Cleanflight.
*
* Cleanflight is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* Cleanflight is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
*/
#include <stdbool.h>
#include <stdint.h>
#include <stdlib.h>
#include "platform.h"
#include "common/axis.h"
#include "common/maths.h"
#include "system.h"
#include "gpio.h"
#include "bus_spi.h"
#include "accgyro.h"
#include "accgyro_spi_mpu6500.h"
// MPU6500 (WHO_AM_I 0x70) on SPI bus
#define MPU6500_RA_WHOAMI (0x75)
#define MPU6500_RA_ACCEL_XOUT_H (0x3B)
#define MPU6500_RA_GYRO_XOUT_H (0x43)
#define MPU6500_RA_BANK_SEL (0x6D)
#define MPU6500_RA_MEM_RW (0x6F)
#define MPU6500_RA_GYRO_CFG (0x1B)
#define MPU6500_RA_PWR_MGMT_1 (0x6B)
#define MPU6500_RA_ACCEL_CFG (0x1C)
#define MPU6500_RA_LPF (0x1A)
#define MPU6500_RA_RATE_DIV (0x19)
#define MPU6500_WHO_AM_I_CONST (0x70)
#define BIT_RESET (0x80)
enum lpf_e {
INV_FILTER_256HZ_NOLPF2 = 0,
INV_FILTER_188HZ,
INV_FILTER_98HZ,
INV_FILTER_42HZ,
INV_FILTER_20HZ,
INV_FILTER_10HZ,
INV_FILTER_5HZ,
INV_FILTER_2100HZ_NOLPF,
NUM_FILTER
};
enum gyro_fsr_e {
INV_FSR_250DPS = 0,
INV_FSR_500DPS,
INV_FSR_1000DPS,
INV_FSR_2000DPS,
NUM_GYRO_FSR
};
enum clock_sel_e {
INV_CLK_INTERNAL = 0,
INV_CLK_PLL,
NUM_CLK
};
enum accel_fsr_e {
INV_FSR_2G = 0,
INV_FSR_4G,
INV_FSR_8G,
INV_FSR_16G,
NUM_ACCEL_FSR
};
#define DISABLE_MPU6500 GPIO_SetBits(MPU6500_CS_GPIO, MPU6500_CS_PIN)
#define ENABLE_MPU6500 GPIO_ResetBits(MPU6500_CS_GPIO, MPU6500_CS_PIN)
static uint8_t mpuLowPassFilter = INV_FILTER_42HZ;
static void mpu6500AccInit(void);
static void mpu6500AccRead(int16_t *accData);
static void mpu6500GyroInit(void);
static void mpu6500GyroRead(int16_t *gyroData);
extern uint16_t acc_1G;
static void mpu6500WriteRegister(uint8_t reg, uint8_t data)
{
ENABLE_MPU6500;
spiTransferByte(MPU6500_SPI_INSTANCE, reg);
spiTransferByte(MPU6500_SPI_INSTANCE, data);
DISABLE_MPU6500;
}
static void mpu6500ReadRegister(uint8_t reg, uint8_t *data, int length)
{
ENABLE_MPU6500;
spiTransferByte(MPU6500_SPI_INSTANCE, reg | 0x80); // read transaction
spiTransfer(MPU6500_SPI_INSTANCE, data, NULL, length);
DISABLE_MPU6500;
}
static bool mpu6500Detect(void)
{
uint8_t tmp;
mpu6500ReadRegister(MPU6500_RA_WHOAMI, &tmp, 1);
if (tmp != MPU6500_WHO_AM_I_CONST)
return false;
return true;
}
bool mpu6500SpiAccDetect(acc_t *acc)
{
if (!mpu6500Detect()) {
return false;
}
acc->init = mpu6500AccInit;
acc->read = mpu6500AccRead;
return true;
}
bool mpu6500SpiGyroDetect(gyro_t *gyro, uint16_t lpf)
{
if (!mpu6500Detect()) {
return false;
}
gyro->init = mpu6500GyroInit;
gyro->read = mpu6500GyroRead;
// 16.4 dps/lsb scalefactor
gyro->scale = 1.0f / 16.4f;
//gyro->scale = (4.0f / 16.4f) * (M_PI / 180.0f) * 0.000001f;
// default lpf is 42Hz
if (lpf >= 188)
mpuLowPassFilter = INV_FILTER_188HZ;
else if (lpf >= 98)
mpuLowPassFilter = INV_FILTER_98HZ;
else if (lpf >= 42)
mpuLowPassFilter = INV_FILTER_42HZ;
else if (lpf >= 20)
mpuLowPassFilter = INV_FILTER_20HZ;
else if (lpf >= 10)
mpuLowPassFilter = INV_FILTER_10HZ;
else
mpuLowPassFilter = INV_FILTER_5HZ;
return true;
}
static void mpu6500AccInit(void)
{
acc_1G = 512 * 8;
}
static void mpu6500AccRead(int16_t *accData)
{
uint8_t buf[6];
mpu6500ReadRegister(MPU6500_RA_ACCEL_XOUT_H, buf, 6);
accData[X] = (int16_t)((buf[0] << 8) | buf[1]);
accData[Y] = (int16_t)((buf[2] << 8) | buf[3]);
accData[Z] = (int16_t)((buf[4] << 8) | buf[5]);
}
static void mpu6500GyroInit(void)
{
#ifdef NAZE
gpio_config_t gpio;
// MPU_INT output on rev5 hardware (PC13). rev4 was on PB13, conflicts with SPI devices
if (hse_value == 12000000) {
gpio.pin = Pin_13;
gpio.speed = Speed_2MHz;
gpio.mode = Mode_IN_FLOATING;
gpioInit(GPIOC, &gpio);
}
#endif
mpu6500WriteRegister(MPU6500_RA_PWR_MGMT_1, BIT_RESET);
delay(100);
mpu6500WriteRegister(MPU6500_RA_PWR_MGMT_1, 0);
delay(100);
mpu6500WriteRegister(MPU6500_RA_PWR_MGMT_1, INV_CLK_PLL);
mpu6500WriteRegister(MPU6500_RA_GYRO_CFG, INV_FSR_2000DPS << 3);
mpu6500WriteRegister(MPU6500_RA_ACCEL_CFG, INV_FSR_8G << 3);
mpu6500WriteRegister(MPU6500_RA_LPF, mpuLowPassFilter);
mpu6500WriteRegister(MPU6500_RA_RATE_DIV, 0); // 1kHz S/R
}
static void mpu6500GyroRead(int16_t *gyroData)
{
uint8_t buf[6];
mpu6500ReadRegister(MPU6500_RA_GYRO_XOUT_H, buf, 6);
gyroData[X] = (int16_t)((buf[0] << 8) | buf[1]);
gyroData[Y] = (int16_t)((buf[2] << 8) | buf[3]);
gyroData[Z] = (int16_t)((buf[4] << 8) | buf[5]);
}

22
src/main/drivers/accgyro_spi_mpu6500.h Normal file
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@ -0,0 +1,22 @@
/*
* This file is part of Cleanflight.
*
* Cleanflight is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* Cleanflight is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
bool mpu6500SpiAccDetect(acc_t *acc);
bool mpu6500SpiGyroDetect(gyro_t *gyro, uint16_t lpf);

9
src/main/drivers/bus_i2c_stm32f10x.c
View File

@ -17,6 +17,7 @@
#include <stdbool.h>
#include <stdint.h>
#include <stdlib.h>
#include <platform.h>
@ -56,7 +57,7 @@ static const i2cDevice_t i2cHardwareMap[] = {
};
// Copy of peripheral address for IRQ routines
static I2C_TypeDef *I2Cx;
static I2C_TypeDef *I2Cx = NULL;
// Copy of device index for reinit, etc purposes
static I2CDevice I2Cx_index;
@ -116,6 +117,9 @@ bool i2cWriteBuffer(uint8_t addr_, uint8_t reg_, uint8_t len_, uint8_t *data)
busy = 1;
error = false;
if (!I2Cx)
return false;
if (!(I2Cx->CR2 & I2C_IT_EVT)) { // if we are restarting the driver
if (!(I2Cx->CR1 & 0x0100)) { // ensure sending a start
while (I2Cx->CR1 & 0x0200 && --timeout > 0) { ; } // wait for any stop to finish sending
@ -155,6 +159,9 @@ bool i2cRead(uint8_t addr_, uint8_t reg_, uint8_t len, uint8_t* buf)
busy = 1;
error = false;
if (!I2Cx)
return false;
if (!(I2Cx->CR2 & I2C_IT_EVT)) { // if we are restarting the driver
if (!(I2Cx->CR1 & 0x0100)) { // ensure sending a start
while (I2Cx->CR1 & 0x0200 && --timeout > 0) { ; } // wait for any stop to finish sending

2
src/main/drivers/system.c
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@ -131,7 +131,7 @@ void systemInit(bool overclock)
// SysTick
SysTick_Config(SystemCoreClock / 1000);
#ifdef CC3D
#ifdef USE_SPI
spiInit(SPI1);
spiInit(SPI2);
#endif

2
src/main/io/serial_cli.c
View File

@ -129,7 +129,7 @@ static const char * const sensorNames[] = {
};
static const char * const accNames[] = {
"", "ADXL345", "MPU6050", "MMA845x", "BMA280", "LSM303DLHC", "MPU6000", "FAKE", "None", NULL
"", "ADXL345", "MPU6050", "MMA845x", "BMA280", "LSM303DLHC", "MPU6000", "MPU6500", "FAKE", "None", NULL
};
typedef struct {

2
src/main/io/serial_msp.c
View File

@ -88,7 +88,7 @@ extern int16_t debug[4]; // FIXME dependency on mw.c
#define MSP_MODE_RANGES 34 //out message Returns all mode ranges
#define MSP_SET_MODE_RANGE 35 //in message Sets a single mode range
// Multiwii MSP commands
//
#define MSP_IDENT 100 //out message multitype + multiwii version + protocol version + capability variable
#define MSP_STATUS 101 //out message cycletime & errors_count & sensor present & box activation & current setting number
#define MSP_RAW_IMU 102 //out message 9 DOF

5
src/main/sensors/acceleration.h
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@ -26,8 +26,9 @@ typedef enum AccelSensors {
ACC_BMA280 = 4,
ACC_LSM303DLHC = 5,
ACC_SPI_MPU6000 = 6,
ACC_FAKE = 7,
ACC_NONE = 8
ACC_SPI_MPU6500 = 7,
ACC_FAKE = 8,
ACC_NONE = 9
} AccelSensors;
extern uint8_t accHardware;

168
src/main/sensors/initialisation.c
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@ -32,13 +32,12 @@
#include "drivers/accgyro_mma845x.h"
#include "drivers/accgyro_mpu3050.h"
#include "drivers/accgyro_mpu6050.h"
#ifdef STM32F3DISCOVERY
#include "drivers/accgyro_l3gd20.h"
#include "drivers/accgyro_lsm303dlhc.h"
#endif
#ifdef CC3D
#include "drivers/accgyro_spi_mpu6000.h"
#endif
#include "drivers/accgyro_spi_mpu6500.h"
#include "drivers/barometer.h"
#include "drivers/barometer_bmp085.h"
@ -57,133 +56,6 @@
#include "sensors/compass.h"
#include "sensors/sonar.h"
// Use these to help with porting to new boards
//#define USE_FAKE_GYRO
#ifdef USE_I2C
#define USE_GYRO_L3G4200D
#define USE_GYRO_L3GD20
#define USE_GYRO_MPU6050
#define USE_GYRO_MPU3050
#endif
#define USE_GYRO_SPI_MPU6000
//#define USE_FAKE_ACC
#ifdef USE_I2C
#define USE_ACC_ADXL345
#define USE_ACC_BMA280
#define USE_ACC_MMA8452
#define USE_ACC_LSM303DLHC
#define USE_ACC_MPU6050
#endif
#define USE_ACC_SPI_MPU6000
#ifdef USE_I2C
#define USE_BARO_MS5611
#define USE_BARO_BMP085
#endif
#ifdef MASSIVEF3
#define USE_FAKE_GYRO
#define USE_FAKE_ACC
#undef USE_GYRO_MPU6050
#undef USE_ACC_MPU6050
#undef USE_ACC_ADXL345
#undef USE_ACC_BMA280
#undef USE_ACC_MMA8452
#undef USE_ACC_LSM303DLHC
#undef USE_ACC_SPI_MPU6000
#undef USE_GYRO_L3G4200D
#undef USE_GYRO_MPU3050
#undef USE_GYRO_SPI_MPU6000
#undef USE_GYRO_L3GD20
#undef USE_BARO_BMP085
#endif
#ifdef NAZE
#undef USE_ACC_LSM303DLHC
#undef USE_ACC_SPI_MPU6000
#undef USE_GYRO_SPI_MPU6000
#undef USE_GYRO_L3GD20
#endif
#ifdef NAZE32PRO
#define USE_FAKE_ACC
#define USE_FAKE_GYRO
#undef USE_ACC_LSM303DLHC
#undef USE_ACC_ADXL345
#undef USE_ACC_BMA280
#undef USE_ACC_MMA8452
#undef USE_ACC_LSM303DLHC
#undef USE_ACC_MPU6050
#undef USE_ACC_SPI_MPU6000
#undef USE_GYRO_L3G4200D
#undef USE_GYRO_L3GD20
#undef USE_GYRO_MPU3050
#undef USE_GYRO_MPU6050
#undef USE_GYRO_SPI_MPU6000
#endif
#if defined(OLIMEXINO) || defined(EUSTM32F103RC)
#undef USE_GYRO_L3GD20
#undef USE_GYRO_L3G4200D
#undef USE_GYRO_MPU3050
#undef USE_GYRO_SPI_MPU6000
#undef USE_ACC_LSM303DLHC
#undef USE_ACC_BMA280
#undef USE_ACC_MMA8452
#undef USE_ACC_ADXL345
#undef USE_ACC_SPI_MPU6000
#undef USE_BARO_MS5611
#endif
#ifdef EUSTM32F103RC
#define USE_FAKE_GYRO
#define USE_FAKE_ACC
#define USE_GYRO_L3G4200D
#endif
#ifdef STM32F3DISCOVERY
#undef USE_ACC_SPI_MPU6000
#undef USE_GYRO_SPI_MPU6000
#endif
#ifdef CHEBUZZF3
#undef USE_GYRO_L3G4200D
#undef USE_GYRO_MPU6050
#undef USE_GYRO_MPU3050
#undef USE_GYRO_SPI_MPU6000
#undef USE_ACC_ADXL345
#undef USE_ACC_BMA280
#undef USE_ACC_MPU6050
#undef USE_ACC_MMA8452
#undef USE_ACC_SPI_MPU6000
#endif
#ifdef CC3D
#undef USE_GYRO_L3GD20
#undef USE_GYRO_L3G4200D
#undef USE_GYRO_MPU6050
#undef USE_GYRO_MPU3050
#undef USE_ACC_LSM303DLHC
#undef USE_ACC_ADXL345
#undef USE_ACC_BMA280
#undef USE_ACC_MPU6050
#undef USE_ACC_MMA8452
#endif
#ifdef CJMCU
#undef USE_GYRO_SPI_MPU6000
#undef USE_GYRO_L3GD20
#undef USE_GYRO_L3G4200D
#undef USE_GYRO_MPU3050
#undef USE_ACC_LSM303DLHC
#undef USE_ACC_SPI_MPU6000
#undef USE_ACC_ADXL345
#undef USE_ACC_BMA280
#undef USE_ACC_MMA8452
#endif
extern float magneticDeclination;
extern gyro_t gyro;
@ -270,6 +142,21 @@ bool detectGyro(uint16_t gyroLpf)
}
#endif
#ifdef USE_GYRO_SPI_MPU6500
#ifdef NAZE
// TODO only enable if NAZE32_SP is detected
if (false && mpu6500SpiGyroDetect(&gyro, gyroLpf)) {
gyroAlign = CW0_DEG;
return true;
}
#else
if (mpu6500SpiGyroDetect(&gyro, gyroLpf)) {
gyroAlign = CW0_DEG;
return true;
}
#endif
#endif
#ifdef USE_FAKE_GYRO
if (fakeGyroDetect(&gyro, gyroLpf)) {
return true;
@ -359,7 +246,7 @@ retry:
}
; // fallthrough
#endif
#ifdef USE_GYRO_SPI_MPU6000
#ifdef USE_ACC_SPI_MPU6000
case ACC_SPI_MPU6000:
if (mpu6000SpiAccDetect(&acc)) {
accHardware = ACC_SPI_MPU6000;
@ -370,6 +257,23 @@ retry:
break;
}
; // fallthrough
#endif
#ifdef USE_ACC_SPI_MPU6500
case ACC_SPI_MPU6500:
#ifdef NAZE
// TODO only enable if NAZE32_SP is detected
if (false && mpu6500SpiAccDetect(&acc)) {
#else
if (mpu6500SpiAccDetect(&acc)) {
#endif
accHardware = ACC_SPI_MPU6500;
#ifdef NAZE
accAlign = CW0_DEG;
#endif
if (accHardwareToUse == ACC_SPI_MPU6500)
break;
}
; // fallthrough
#endif
; // prevent compiler error
}

10
src/main/target/CC3D/target.h
View File

@ -29,8 +29,16 @@
#define BEEP_PIN Pin_15 // PA15 (Beeper)
#define BEEP_PERIPHERAL RCC_APB2Periph_GPIOA
#define MPU6000_CS_GPIO GPIOA
#define MPU6000_CS_PIN GPIO_Pin_4
#define MPU6000_SPI_INSTANCE SPI1
#define ACC
#define USE_ACC_SPI_MPU6000
#define GYRO
#define USE_GYRO_SPI_MPU6000
#define INVERTER
#define BEEPER
@ -45,6 +53,8 @@
#define SERIAL_PORT_COUNT 2
#define USE_SPI
#define SENSORS_SET (SENSOR_ACC)
#define GPS

4
src/main/target/CHEBUZZF3/target.h
View File

@ -35,7 +35,11 @@
#define BARO_PIN Pin_13
#define GYRO
#define USE_GYRO_L3GD20
#define ACC
#define USE_ACC_LSM303DLHC
#define BEEPER
#define LED0
#define LED1

5
src/main/target/CJMCU/target.h
View File

@ -33,8 +33,13 @@
#define LED2
#define LED2_PERIPHERAL RCC_APB2Periph_GPIOC
#define ACC
#define USE_ACC_MPU6050
#define GYRO
#define USE_GYRO_MPU6050
#define MAG
#define BRUSHED_MOTORS

30
src/main/target/EUSTM32F103RC/target.h
View File

@ -20,9 +20,37 @@
#define BARO_GPIO GPIOC
#define BARO_PIN Pin_13
#define MPU6000_CS_GPIO GPIOB
#define MPU6000_CS_PIN GPIO_Pin_12
#define MPU6000_SPI_INSTANCE SPI2
#define MPU6500_CS_GPIO GPIOB
#define MPU6500_CS_PIN GPIO_Pin_12
#define MPU6500_SPI_INSTANCE SPI2
#define ACC
#define BARO
#define USE_FAKE_ACC
#define USE_ACC_ADXL345
#define USE_ACC_BMA280
#define USE_ACC_MMA8452
#define USE_ACC_MPU3050
#define USE_ACC_MPU6050
#define USE_ACC_SPI_MPU6000
#define USE_ACC_SPI_MPU6500
#define GYRO
#define USE_FAKE_GYRO
#define USE_GYRO_L3G4200D
//#define USE_GYRO_L3GD20
//#define USE_GYRO_MPU3050
#define USE_GYRO_MPU6050
#define USE_GYRO_SPI_MPU6000
#define USE_GYRO_SPI_MPU6500
#define BARO
#define USE_BARO_MS5611
#define USE_BARO_BMP085
#define MAG
#define SONAR
#define DISPLAY

5
src/main/target/MASSIVEF3/target.h
View File

@ -38,6 +38,11 @@
#define GYRO
#define ACC
#define BARO
#define USE_BARO_MS5611
#define USE_BARO_BMP085
#define BEEPER
#define LED0
#define LED1

28
src/main/target/NAZE/target.h
View File

@ -37,10 +37,30 @@
#define INVERTER_PERIPHERAL RCC_APB2Periph_GPIOB
#define INVERTER_USART USART2
// SPI2
// PB15 28 SPI2_MOSI
// PB14 27 SPI2_MISO
// PB13 26 SPI2_SCK
// PB12 25 SPI2_NSS
#define MPU6500_CS_GPIO GPIOB
#define MPU6500_CS_PIN GPIO_Pin_12
#define MPU6500_SPI_INSTANCE SPI2
#define GYRO
#define USE_GYRO_MPU6050
#define ACC
#define MAG
#define USE_ACC_ADXL345
#define USE_ACC_BMA280
#define USE_ACC_MMA8452
#define USE_ACC_MPU6050
#define BARO
#define USE_BARO_MS5611
#define USE_BARO_BMP085
#define MAG
#define SONAR
#define BEEPER
#define LED0
@ -56,6 +76,12 @@
#define USE_I2C
#define I2C_DEVICE (I2CDEV_2)
#define USE_SPI
// #define SOFT_I2C // enable to test software i2c
// #define SOFT_I2C_PB1011 // If SOFT_I2C is enabled above, need to define pinout as well (I2C1 = PB67, I2C2 = PB1011)
// #define SOFT_I2C_PB67

24
src/main/target/OLIMEXINO/target.h
View File

@ -35,9 +35,31 @@
#define LED1
#endif
#define ACC
#define BARO
#define USE_FAKE_ACC
//#define USE_ACC_ADXL345
//#define USE_ACC_BMA280
//#define USE_ACC_MMA8452
//#define USE_ACC_LSM303DLHC
#define USE_ACC_MPU3050
#define USE_ACC_MPU6050
//#define USE_ACC_SPI_MPU6000
//#define USE_ACC_SPI_MPU6500
#define GYRO
#define USE_FAKE_GYRO
//#define USE_GYRO_L3G4200D
//#define USE_GYRO_L3GD20
//#define USE_GYRO_MPU3050
#define USE_GYRO_MPU6050
//#define USE_GYRO_SPI_MPU6000
//#define USE_GYRO_SPI_MPU6500
#define BARO
//#define USE_BARO_MS5611
#define USE_BARO_BMP085
#define MAG
#define SONAR

4
src/main/target/STM32F3DISCOVERY/target.h
View File

@ -37,7 +37,11 @@
#define BARO_PIN Pin_13
#define GYRO
#define USE_GYRO_L3GD20
#define ACC
#define USE_ACC_LSM303DLHC
#define BEEPER
#define LED0
#define LED1