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Reordered accgyro functions to avoid forward declarations

This commit is contained in:
Martin Budden 2016-12-11 09:45:21 +00:00
parent ccfb19edfe
commit f4e9ea40df
8 changed files with 147 additions and 166 deletions
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35
src/main/drivers/accgyro_adxl345.c
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@ -56,27 +56,8 @@
#define ADXL345_RANGE_16G 0x03
#define ADXL345_FIFO_STREAM 0x80
static void adxl345Init(accDev_t *acc);
static bool adxl345Read(int16_t *accelData);
static bool useFifo = false;
bool adxl345Detect(drv_adxl345_config_t *init, accDev_t *acc)
{
uint8_t sig = 0;
bool ack = i2cRead(MPU_I2C_INSTANCE, ADXL345_ADDRESS, 0x00, 1, &sig);
if (!ack || sig != 0xE5)
return false;
// use ADXL345's fifo to filter data or not
useFifo = init->useFifo;
acc->init = adxl345Init;
acc->read = adxl345Read;
return true;
}
static void adxl345Init(accDev_t *acc)
{
if (useFifo) {
@ -135,3 +116,19 @@ static bool adxl345Read(int16_t *accelData)
return true;
}
bool adxl345Detect(drv_adxl345_config_t *init, accDev_t *acc)
{
uint8_t sig = 0;
bool ack = i2cRead(MPU_I2C_INSTANCE, ADXL345_ADDRESS, 0x00, 1, &sig);
if (!ack || sig != 0xE5)
return false;
// use ADXL345's fifo to filter data or not
useFifo = init->useFifo;
acc->init = adxl345Init;
acc->read = adxl345Read;
return true;
}

29
src/main/drivers/accgyro_bma280.c
View File

@ -32,22 +32,6 @@
#define BMA280_PMU_BW 0x10
#define BMA280_PMU_RANGE 0x0F
static void bma280Init(accDev_t *acc);
static bool bma280Read(int16_t *accelData);
bool bma280Detect(accDev_t *acc)
{
uint8_t sig = 0;
bool ack = i2cRead(MPU_I2C_INSTANCE, BMA280_ADDRESS, 0x00, 1, &sig);
if (!ack || sig != 0xFB)
return false;
acc->init = bma280Init;
acc->read = bma280Read;
return true;
}
static void bma280Init(accDev_t *acc)
{
i2cWrite(MPU_I2C_INSTANCE, BMA280_ADDRESS, BMA280_PMU_RANGE, 0x08); // +-8g range
@ -71,3 +55,16 @@ static bool bma280Read(int16_t *accelData)
return true;
}
bool bma280Detect(accDev_t *acc)
{
uint8_t sig = 0;
bool ack = i2cRead(MPU_I2C_INSTANCE, BMA280_ADDRESS, 0x00, 1, &sig);
if (!ack || sig != 0xFB)
return false;
acc->init = bma280Init;
acc->read = bma280Read;
return true;
}

41
src/main/drivers/accgyro_l3g4200d.c
View File

@ -54,28 +54,6 @@
#define L3G4200D_DLPF_78HZ 0x80
#define L3G4200D_DLPF_93HZ 0xC0
static void l3g4200dInit(gyroDev_t *gyro);
static bool l3g4200dRead(gyroDev_t *gyro);
bool l3g4200dDetect(gyroDev_t *gyro)
{
uint8_t deviceid;
delay(25);
i2cRead(MPU_I2C_INSTANCE, L3G4200D_ADDRESS, L3G4200D_WHO_AM_I, 1, &deviceid);
if (deviceid != L3G4200D_ID)
return false;
gyro->init = l3g4200dInit;
gyro->read = l3g4200dRead;
// 14.2857dps/lsb scalefactor
gyro->scale = 1.0f / 14.2857f;
return true;
}
static void l3g4200dInit(gyroDev_t *gyro)
{
bool ack;
@ -123,3 +101,22 @@ static bool l3g4200dRead(gyroDev_t *gyro)
return true;
}
bool l3g4200dDetect(gyroDev_t *gyro)
{
uint8_t deviceid;
delay(25);
i2cRead(MPU_I2C_INSTANCE, L3G4200D_ADDRESS, L3G4200D_WHO_AM_I, 1, &deviceid);
if (deviceid != L3G4200D_ID)
return false;
gyro->init = l3g4200dInit;
gyro->read = l3g4200dRead;
// 14.2857dps/lsb scalefactor
gyro->scale = 1.0f / 14.2857f;
return true;
}

31
src/main/drivers/accgyro_mma845x.c
View File

@ -81,23 +81,6 @@
static uint8_t device_id;
static void mma8452Init(accDev_t *acc);
static bool mma8452Read(int16_t *accelData);
bool mma8452Detect(accDev_t *acc)
{
uint8_t sig = 0;
bool ack = i2cRead(MPU_I2C_INSTANCE, MMA8452_ADDRESS, MMA8452_WHO_AM_I, 1, &sig);
if (!ack || (sig != MMA8452_DEVICE_SIGNATURE && sig != MMA8451_DEVICE_SIGNATURE))
return false;
acc->init = mma8452Init;
acc->read = mma8452Read;
device_id = sig;
return true;
}
static inline void mma8451ConfigureInterrupt(void)
{
#ifdef NAZE
@ -142,3 +125,17 @@ static bool mma8452Read(int16_t *accelData)
return true;
}
bool mma8452Detect(accDev_t *acc)
{
uint8_t sig = 0;
bool ack = i2cRead(MPU_I2C_INSTANCE, MMA8452_ADDRESS, MMA8452_WHO_AM_I, 1, &sig);
if (!ack || (sig != MMA8452_DEVICE_SIGNATURE && sig != MMA8451_DEVICE_SIGNATURE))
return false;
acc->init = mma8452Init;
acc->read = mma8452Read;
device_id = sig;
return true;
}

37
src/main/drivers/accgyro_mpu3050.c
View File

@ -46,25 +46,6 @@
#define MPU3050_USER_RESET 0x01
#define MPU3050_CLK_SEL_PLL_GX 0x01
static void mpu3050Init(gyroDev_t *gyro);
static bool mpu3050ReadTemp(int16_t *tempData);
bool mpu3050Detect(gyroDev_t *gyro)
{
if (mpuDetectionResult.sensor != MPU_3050) {
return false;
}
gyro->init = mpu3050Init;
gyro->read = mpuGyroRead;
gyro->temperature = mpu3050ReadTemp;
gyro->intStatus = checkMPUDataReady;
// 16.4 dps/lsb scalefactor
gyro->scale = 1.0f / 16.4f;
return true;
}
static void mpu3050Init(gyroDev_t *gyro)
{
bool ack;
@ -81,7 +62,7 @@ static void mpu3050Init(gyroDev_t *gyro)
mpuConfiguration.write(MPU3050_PWR_MGM, MPU3050_CLK_SEL_PLL_GX);
}
static bool mpu3050ReadTemp(int16_t *tempData)
static bool mpu3050ReadTemperature(int16_t *tempData)
{
uint8_t buf[2];
if (!mpuConfiguration.read(MPU3050_TEMP_OUT, 2, buf)) {
@ -92,3 +73,19 @@ static bool mpu3050ReadTemp(int16_t *tempData)
return true;
}
bool mpu3050Detect(gyroDev_t *gyro)
{
if (mpuDetectionResult.sensor != MPU_3050) {
return false;
}
gyro->init = mpu3050Init;
gyro->read = mpuGyroRead;
gyro->temperature = mpu3050ReadTemperature;
gyro->intStatus = checkMPUDataReady;
// 16.4 dps/lsb scalefactor
gyro->scale = 1.0f / 16.4f;
return true;
}

55
src/main/drivers/accgyro_mpu6050.c
View File

@ -50,8 +50,17 @@
#define MPU6050_SMPLRT_DIV 0 // 8000Hz
static void mpu6050AccInit(accDev_t *acc);
static void mpu6050GyroInit(gyroDev_t *gyro);
static void mpu6050AccInit(accDev_t *acc)
{
switch (mpuDetectionResult.resolution) {
case MPU_HALF_RESOLUTION:
acc->acc_1G = 256 * 4;
break;
case MPU_FULL_RESOLUTION:
acc->acc_1G = 512 * 4;
break;
}
}
bool mpu6050AccDetect(accDev_t *acc)
{
@ -66,33 +75,6 @@ bool mpu6050AccDetect(accDev_t *acc)
return true;
}
bool mpu6050GyroDetect(gyroDev_t *gyro)
{
if (mpuDetectionResult.sensor != MPU_60x0) {
return false;
}
gyro->init = mpu6050GyroInit;
gyro->read = mpuGyroRead;
gyro->intStatus = checkMPUDataReady;
// 16.4 dps/lsb scalefactor
gyro->scale = 1.0f / 16.4f;
return true;
}
static void mpu6050AccInit(accDev_t *acc)
{
switch (mpuDetectionResult.resolution) {
case MPU_HALF_RESOLUTION:
acc->acc_1G = 256 * 4;
break;
case MPU_FULL_RESOLUTION:
acc->acc_1G = 512 * 4;
break;
}
}
static void mpu6050GyroInit(gyroDev_t *gyro)
{
mpuGyroInit(gyro);
@ -116,3 +98,18 @@ static void mpu6050GyroInit(gyroDev_t *gyro)
mpuConfiguration.write(MPU_RA_INT_ENABLE, MPU_RF_DATA_RDY_EN);
#endif
}
bool mpu6050GyroDetect(gyroDev_t *gyro)
{
if (mpuDetectionResult.sensor != MPU_60x0) {
return false;
}
gyro->init = mpu6050GyroInit;
gyro->read = mpuGyroRead;
gyro->intStatus = checkMPUDataReady;
// 16.4 dps/lsb scalefactor
gyro->scale = 1.0f / 16.4f;
return true;
}

42
src/main/drivers/accgyro_mpu6500.c
View File

@ -34,6 +34,11 @@
#include "accgyro_mpu.h"
#include "accgyro_mpu6500.h"
void mpu6500AccInit(accDev_t *acc)
{
acc->acc_1G = 512 * 4;
}
bool mpu6500AccDetect(accDev_t *acc)
{
if (mpuDetectionResult.sensor != MPU_65xx_I2C) {
@ -46,27 +51,6 @@ bool mpu6500AccDetect(accDev_t *acc)
return true;
}
bool mpu6500GyroDetect(gyroDev_t *gyro)
{
if (mpuDetectionResult.sensor != MPU_65xx_I2C) {
return false;
}
gyro->init = mpu6500GyroInit;
gyro->read = mpuGyroRead;
gyro->intStatus = checkMPUDataReady;
// 16.4 dps/lsb scalefactor
gyro->scale = 1.0f / 16.4f;
return true;
}
void mpu6500AccInit(accDev_t *acc)
{
acc->acc_1G = 512 * 4;
}
void mpu6500GyroInit(gyroDev_t *gyro)
{
mpuGyroInit(gyro);
@ -101,3 +85,19 @@ void mpu6500GyroInit(gyroDev_t *gyro)
#endif
delay(15);
}
bool mpu6500GyroDetect(gyroDev_t *gyro)
{
if (mpuDetectionResult.sensor != MPU_65xx_I2C) {
return false;
}
gyro->init = mpu6500GyroInit;
gyro->read = mpuGyroRead;
gyro->intStatus = checkMPUDataReady;
// 16.4 dps/lsb scalefactor
gyro->scale = 1.0f / 16.4f;
return true;
}

43
src/main/drivers/accgyro_spi_icm20689.c
View File

@ -107,6 +107,11 @@ bool icm20689SpiDetect(void)
}
void icm20689AccInit(accDev_t *acc)
{
acc->acc_1G = 512 * 4;
}
bool icm20689SpiAccDetect(accDev_t *acc)
{
if (mpuDetectionResult.sensor != ICM_20689_SPI) {
@ -119,27 +124,6 @@ bool icm20689SpiAccDetect(accDev_t *acc)
return true;
}
bool icm20689SpiGyroDetect(gyroDev_t *gyro)
{
if (mpuDetectionResult.sensor != ICM_20689_SPI) {
return false;
}
gyro->init = icm20689GyroInit;
gyro->read = mpuGyroRead;
gyro->intStatus = checkMPUDataReady;
// 16.4 dps/lsb scalefactor
gyro->scale = 1.0f / 16.4f;
return true;
}
void icm20689AccInit(accDev_t *acc)
{
acc->acc_1G = 512 * 4;
}
void icm20689GyroInit(gyroDev_t *gyro)
{
mpuGyroInit(gyro);
@ -174,5 +158,20 @@ void icm20689GyroInit(gyroDev_t *gyro)
#endif
spiSetDivisor(ICM20689_SPI_INSTANCE, SPI_CLOCK_STANDARD);
}
bool icm20689SpiGyroDetect(gyroDev_t *gyro)
{
if (mpuDetectionResult.sensor != ICM_20689_SPI) {
return false;
}
gyro->init = icm20689GyroInit;
gyro->read = mpuGyroRead;
gyro->intStatus = checkMPUDataReady;
// 16.4 dps/lsb scalefactor
gyro->scale = 1.0f / 16.4f;
return true;
}