bool mpu6050GyroDetect(const mpu6050Config_t *configToUse, gyro_t *gyro, uint16_t lpf)
{
mpu6050Config = configToUse;
if (!mpu6050Detect()) {
return false;
}
gyro->init = mpu6050GyroInit;
gyro->read = mpu6050GyroRead;
gyro->intStatus = checkMPU6050Interrupt;
// 16.4 dps/lsb scalefactor
gyro->scale = 1.0f / 16.4f;
if (lpf == 256)
mpuLowPassFilter = INV_FILTER_256HZ_NOLPF2;
else 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 if (lpf > 0)
mpuLowPassFilter = INV_FILTER_5HZ;
else
mpuLowPassFilter = INV_FILTER_256HZ_NOLPF2;
return true;
}
void sensorsInit(void)
{
zeroSensorAccumulators();
// TODO allow user to select hardware if there are multiple choices
if(mpu6050Detect(&gyro, &accel, cfg.mpu6050Scale)) {
sensorsSet(SENSOR_ACC);
} else if(!mpu3050Detect(&gyro)) {
failureMode(3);
}
if(adxl345Detect(&accel)) {
sensorsSet(SENSOR_ACC);
}
// At the moment we will do this after mpu6050 and overrride mpu6050 accel if detected
if(mma8452Detect(&accel)) {
sensorsSet(SENSOR_ACC);
}
gyro.init();
if(sensorsGet(SENSOR_ACC))
accel.init();
if(hmc5883Detect(&mag)) {
mag.init();
sensorsSet(SENSOR_MAG);
}
#ifdef SONAR
if(feature(FEATURE_PPM);) {
bool mpu6050AccDetect(const mpu6050Config_t *configToUse, acc_t *acc)
{
uint8_t readBuffer[6];
uint8_t revision;
uint8_t productId;
mpu6050Config = configToUse;
if (!mpu6050Detect()) {
return false;
}
// There is a map of revision contained in the android source tree which is quite comprehensive and may help to understand this code
// See https://android.googlesource.com/kernel/msm.git/+/eaf36994a3992b8f918c18e4f7411e8b2320a35f/drivers/misc/mpu6050/mldl_cfg.c
// determine product ID and accel revision
i2cRead(MPU6050_ADDRESS, MPU_RA_XA_OFFS_H, 6, readBuffer);
revision = ((readBuffer[5] & 0x01) << 2) | ((readBuffer[3] & 0x01) << 1) | (readBuffer[1] & 0x01);
if (revision) {
/* Congrats, these parts are better. */
if (revision == 1) {
mpuAccelTrim = MPU_6050_HALF_RESOLUTION;
} else if (revision == 2) {
mpuAccelTrim = MPU_6050_FULL_RESOLUTION;
} else {
failureMode(FAILURE_ACC_INCOMPATIBLE);
}
} else {
i2cRead(MPU6050_ADDRESS, MPU_RA_PRODUCT_ID, 1, &productId);
revision = productId & 0x0F;
if (!revision) {
failureMode(FAILURE_ACC_INCOMPATIBLE);
} else if (revision == 4) {
mpuAccelTrim = MPU_6050_HALF_RESOLUTION;
} else {
mpuAccelTrim = MPU_6050_FULL_RESOLUTION;
}
}
acc->init = mpu6050AccInit;
acc->read = mpu6050AccRead;
acc->revisionCode = (mpuAccelTrim == MPU_6050_HALF_RESOLUTION ? 'o' : 'n'); // es/non-es variance between MPU6050 sensors, half of the naze boards are mpu6000ES.
return true;
}
bool mpu6050GyroDetect(gyro_t *gyro, uint16_t lpf)
{
if (!mpu6050Detect()) {
return false;
}
gyro->init = mpu6050GyroInit;
gyro->read = mpu6050GyroRead;
// 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;
}
return true;
}
bool sensorsAutodetect(void)
{
int16_t deg, min;
drv_adxl345_config_t acc_params;
bool haveMpu6k = false;
// Autodetect gyro hardware. We have MPU3050 or MPU6050.
if (mpu6050Detect(&acc, &gyro, mcfg.gyro_lpf, &core.mpu6050_scale)) {
// this filled up acc.* struct with init values
haveMpu6k = true;
} else if (l3g4200dDetect(&gyro, mcfg.gyro_lpf)) {
// well, we found our gyro
;
} else if (!mpu3050Detect(&gyro, mcfg.gyro_lpf)) {
// if this fails, we get a beep + blink pattern. we're doomed, no gyro or i2c error.
return false;
}
// Accelerometer. F**k it. Let user break shit.
retry:
switch (mcfg.acc_hardware) {
case ACC_NONE: // disable ACC
sensorsClear(SENSOR_ACC);
break;
case ACC_DEFAULT: // autodetect
case ACC_ADXL345: // ADXL345
acc_params.useFifo = false;
acc_params.dataRate = 800; // unused currently
if (adxl345Detect(&acc_params, &acc))
accHardware = ACC_ADXL345;
if (mcfg.acc_hardware == ACC_ADXL345)
break;
; // fallthrough
case ACC_MPU6050: // MPU6050
if (haveMpu6k) {
mpu6050Detect(&acc, &gyro, mcfg.gyro_lpf, &core.mpu6050_scale); // yes, i'm rerunning it again. re-fill acc struct
accHardware = ACC_MPU6050;
if (mcfg.acc_hardware == ACC_MPU6050)
break;
}
; // fallthrough
#ifndef OLIMEXINO
case ACC_MMA8452: // MMA8452
if (mma8452Detect(&acc)) {
accHardware = ACC_MMA8452;
if (mcfg.acc_hardware == ACC_MMA8452)
break;
}
; // fallthrough
case ACC_BMA280: // BMA280
if (bma280Detect(&acc)) {
accHardware = ACC_BMA280;
if (mcfg.acc_hardware == ACC_BMA280)
break;
}
#endif
}
// Found anything? Check if user f****d up or ACC is really missing.
if (accHardware == ACC_DEFAULT) {
if (mcfg.acc_hardware > ACC_DEFAULT) {
// Nothing was found and we have a forced sensor type. Stupid user probably chose a sensor that isn't present.
mcfg.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 (!bmp085Detect(&baro)) {
// ms5611 disables BMP085, and tries to initialize + check PROM crc.
// moved 5611 init here because there have been some reports that calibration data in BMP180
// has been "passing" ms5611 PROM crc check
if (!ms5611Detect(&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(mcfg.acc_align);
// this is safe because either mpu6050 or mpu3050 or lg3d20 sets it, and in case of fail, we never get here.
gyro.init(mcfg.gyro_align);
#ifdef MAG
if (!hmc5883lDetect(mcfg.mag_align))
sensorsClear(SENSOR_MAG);
#endif
// calculate magnetic declination
deg = cfg.mag_declination / 100;
min = cfg.mag_declination % 100;
if (sensors(SENSOR_MAG))
magneticDeclination = (deg + ((float)min * (1.0f / 60.0f))) * 10; // heading is in 0.1deg units
else
magneticDeclination = 0.0f;
return true;
}
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 nazeDriversInit( uint8_t accHardware ) {
// int16_t deg, min;
drv_adxl345_config_t acc_params;
bool haveMpu6k = false;
uint16_t gyro_lpf = 28;
uint8_t gyro_scale = 1;
//Assume we always have a gyro
sensorMask |= BOARD_SENSOR_GYRO;
// Autodetect gyro hardware. We have MPU3050 or MPU6050.
if (mpu6050Detect(&acc, &gyro, gyro_lpf, &gyro_scale)) {
// this filled up acc.* struct with init values
haveMpu6k = true;
} else if (l3g4200dDetect(&gyro, gyro_lpf)) {
// well, we found our gyro
;
} else if (!mpu3050Detect(&gyro, gyro_lpf)) {
// if this fails, we get a beep + blink pattern. we're doomed, no gyro or i2c error.
boardFault( BOARD_FAULT_FATAL );
}
// Accelerometer. F**k it. Let user break shit.
retryAcc:
switch (accHardware) {
case 0: // autodetect
case 1: // MPU6050
if (haveMpu6k) {
//acc struct already filled from previous gyro detection
// PB13 - MPU_INT output on rev4 hardware
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_13;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
GPIO_Init(GPIOB, &GPIO_InitStructure);
goto validAcc;
}
case 2: // ADXL345
acc_params.useFifo = false;
acc_params.dataRate = 800; // unused currently
if (adxl345Detect(&acc_params, &acc) )
goto validAcc;
//Fallthrough to the next one
case 3: // MMA8452
if (mma8452Detect(&acc)) {
//Some gpio magic to trigger an init
GPIO_InitTypeDef GPIO_InitStructure;
// PA5 - ACC_INT2 output on rev3/4 hardware
// OLIMEXINO - The PA5 pin is wired up to LED1, if you need to use an mma8452 on an Olimexino use a different pin and provide support in code.
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
GPIO_Init(GPIOA, &GPIO_InitStructure);
goto validAcc;
}
default:
//nothing found, seems there's no ACC
goto skipAcc;
}
accHardware++;
goto retryAcc;
validAcc:
sensorMask |= BOARD_SENSOR_ACC;
//Found a valid acc, init it
acc.init();
skipAcc:
#ifdef BARO
GPIO_InitTypeDef GPIO_InitStructure;
// PC13 (BMP085's XCLR reset input, which we use to disable it)
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_13;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_Init(GPIOC, &GPIO_InitStructure);
BMP085_OFF;
// Detect what pressure sensors are available. baro->update() is set to sensor-specific update function
// ms5611 disables BMP085, and tries to initialize + check PROM crc. if this works, we have a baro
if ( ms5611Detect(&baro) || bmp085Detect(&baro) ) {
sensorMask |= BOARD_SENSOR_BARO;
}
#endif
// this is safe because either mpu6050 or mpu3050 or lg3d20 sets it, and in case of fail, we never get here.
gyro.init();
if ( hmc5883lDetect() ) {
sensorMask |= BOARD_SENSOR_MAG;
}
// 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
}