void SensorDetectAndINI(void) // "enabledSensors" is "0" in config.c so all sensors disabled per default
{
int16_t deg, min;
uint8_t sig = 0;
bool ack = false;
bool haveMpu6k = false;
GyroScale16 = (16.0f / 16.4f) * RADX; // GYRO part. RAD per SECOND, take into account that gyrodata are div by X
if (mpu6050Detect(&acc, &gyro)) // Autodetect gyro hardware. We have MPU3050 or MPU6050.
{
haveMpu6k = true; // this filled up acc.* struct with init values
}
else if (l3g4200dDetect(&gyro))
{
havel3g4200d = true;
GyroScale16 = (16.0f / 14.2857f) * RADX; // GYRO part. RAD per SECOND, take into account that gyrodata are div by X
}
else if (!mpu3050Detect(&gyro))
{
failureMode(3); // if this fails, we get a beep + blink pattern. we're doomed, no gyro or i2c error.
}
sensorsSet(SENSOR_ACC); // ACC part. Will be cleared if not available
retry:
switch (cfg.acc_hdw)
{
case 0: // autodetect
case 1: // ADXL345
if (adxl345Detect(&acc)) accHardware = ACC_ADXL345;
if (cfg.acc_hdw == ACC_ADXL345) break;
case 2: // MPU6050
if (haveMpu6k)
{
mpu6050Detect(&acc, &gyro); // yes, i'm rerunning it again. re-fill acc struct
accHardware = ACC_MPU6050;
if (cfg.acc_hdw == ACC_MPU6050) break;
}
case 3: // MMA8452
if (mma8452Detect(&acc))
{
accHardware = ACC_MMA8452;
if (cfg.acc_hdw == ACC_MMA8452) break;
}
}
if (accHardware == ACC_DEFAULT) // Found anything? Check if user f****d up or ACC is really missing.
{
if (cfg.acc_hdw > ACC_DEFAULT)
{
cfg.acc_hdw = ACC_DEFAULT; // Nothing was found and we have a forced sensor type. User probably chose a sensor that isn't present.
goto retry;
}
else sensorsClear(SENSOR_ACC); // We're really screwed
}
if (sensors(SENSOR_ACC)) acc.init();
if (haveMpu6k && accHardware == ACC_MPU6050) MpuSpecial = true;
else MpuSpecial = false;
if (feature(FEATURE_PASS)) return; // Stop here we need just ACC for Vibrationmonitoring if present
if (feature(FEATURE_GPS) && !SerialRCRX) gpsInit(cfg.gps_baudrate);// SerialRX and GPS can not coexist.
gyro.init(); // this is safe because either mpu6050 or mpu3050 or lg3d20 sets it, and in case of fail, we never get here.
if (havel3g4200d) l3g4200dConfig();
else if (!haveMpu6k) mpu3050Config();
Gyro_Calibrate(); // Do Gyrocalibration here (is blocking), provides nice Warmuptime for the following rest!
#ifdef MAG
if (hmc5883lDetect())
{
sensorsSet(SENSOR_MAG);
hmc5883lInit(magCal); // Crashpilot: Calculate Gains / Scale
deg = cfg.mag_dec / 100; // calculate magnetic declination
min = cfg.mag_dec % 100;
magneticDeclination = ((float)deg + ((float)min / 60.0f));// heading is in decimaldeg units NO 0.1 deg shit here
}
#endif
#ifdef BARO // No delay necessary since Gyrocal blocked a lot already
ack = i2cRead(0x77, 0x77, 1, &sig); // Check Baroadr.(MS & BMP) BMP will say hello here, MS not
if ( ack) ack = bmp085Detect(&baro); // Are we really dealing with BMP?
if (!ack) ack = ms5611Detect(&baro); // No, Check for MS Baro
if (ack) sensorsSet(SENSOR_BARO);
if(cfg.esc_nfly) ESCnoFlyThrottle = constrain_int(cfg.esc_nfly, cfg.esc_min, cfg.esc_max); // Set the ESC PWM signal threshold for not flyable RPM
else ESCnoFlyThrottle = cfg.esc_min + (((cfg.esc_max - cfg.esc_min) * 5) / 100); // If not configured, take 5% above esc_min
#endif
#ifdef SONAR
if (feature(FEATURE_SONAR)) Sonar_init(); // Initialize Sonars here depending on Rc configuration.
SonarLandWanted = cfg.snr_land; // Variable may be overwritten by failsave
#endif
MainDptCut = RCconstPI / (float)cfg.maincuthz; // Initialize Cut off frequencies for mainpid D
}
// AfroFlight32 i2c sensors
void sensorsAutodetect(void)
{
int16_t deg, min;
drv_adxl345_config_t acc_params;
bool haveMpu6k = false;
bool havel3g4200d = false;
// Autodetect gyro hardware. We have MPU3050 or MPU6050.
if (mpu6050Detect(&acc, &gyro, cfg.mpu6050_scale)) {
// this filled up acc.* struct with init values
haveMpu6k = true;
} else if (l3g4200dDetect(&gyro)) {
havel3g4200d = true;
} else if (!mpu3050Detect(&gyro)) {
// if this fails, we get a beep + blink pattern. we're doomed, no gyro or i2c error.
failureMode(3);
}
// Accelerometer. F**k it. Let user break shit.
retry:
switch (cfg.acc_hardware) {
case 0: // autodetect
case 1: // ADXL345
acc_params.useFifo = false;
acc_params.dataRate = 800; // unused currently
if (adxl345Detect(&acc_params, &acc))
accHardware = ACC_ADXL345;
if (cfg.acc_hardware == ACC_ADXL345)
break;
; // fallthrough
case 2: // MPU6050
if (haveMpu6k) {
mpu6050Detect(&acc, &gyro, cfg.mpu6050_scale); // yes, i'm rerunning it again. re-fill acc struct
accHardware = ACC_MPU6050;
if (cfg.acc_hardware == ACC_MPU6050)
break;
}
; // fallthrough
case 3: // MMA8452
if (mma8452Detect(&acc)) {
accHardware = ACC_MMA8452;
if (cfg.acc_hardware == ACC_MMA8452)
break;
}
}
// Found anything? Check if user f****d up or ACC is really missing.
if (accHardware == ACC_DEFAULT) {
if (cfg.acc_hardware > ACC_DEFAULT) {
// Nothing was found and we have a forced sensor type. Stupid user probably chose a sensor that isn't present.
cfg.acc_hardware = ACC_DEFAULT;
goto retry;
} else {
// We're really screwed
sensorsClear(SENSOR_ACC);
}
}
#ifdef BARO
// Detect what pressure sensors are available. baro->update() is set to sensor-specific update function
if (!ms5611Detect(&baro)) {
// ms5611 disables BMP085, and tries to initialize + check PROM crc. if this works, we have a baro
if (!bmp085Detect(&baro)) {
// if both failed, we don't have anything
sensorsClear(SENSOR_BARO);
}
}
#endif
// Now time to init things, acc first
if (sensors(SENSOR_ACC))
acc.init();
// this is safe because either mpu6050 or mpu3050 or lg3d20 sets it, and in case of fail, we never get here.
gyro.init();
// todo: this is driver specific :(
if (havel3g4200d) {
l3g4200dConfig(cfg.gyro_lpf);
} else {
if (!haveMpu6k)
mpu3050Config(cfg.gyro_lpf);
}
#ifdef MAG
if (!hmc5883lDetect())
sensorsClear(SENSOR_MAG);
#endif
// calculate magnetic declination
deg = cfg.mag_declination / 100;
min = cfg.mag_declination % 100;
magneticDeclination = (deg + ((float)min * (1.0f / 60.0f))) * 10; // heading is in 0.1deg units
}