static bool gyroDetectSensor(gyroSensor_t *gyroSensor, const gyroDeviceConfig_t *config)
{
#if defined(USE_GYRO_MPU6050) || defined(USE_GYRO_MPU3050) || defined(USE_GYRO_MPU6500) || defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_MPU6000) \
|| defined(USE_ACC_MPU6050) || defined(USE_GYRO_SPI_MPU9250) || defined(USE_GYRO_SPI_ICM20601) || defined(USE_GYRO_SPI_ICM20649) || defined(USE_GYRO_SPI_ICM20689) || defined(USE_GYRO_L3GD20)
if (!mpuDetect(&gyroSensor->gyroDev, config)) {
return false;
}
#else
UNUSED(config);
#endif
const gyroHardware_e gyroHardware = gyroDetect(&gyroSensor->gyroDev);
gyroSensor->gyroDev.gyroHardware = gyroHardware;
return gyroHardware != GYRO_NONE;
}
bool sensorsAutodetect(void)
{
int16_t deg, min;
mpu_params_t mpu_config;
bool haveMpu = false;
#ifndef CJMCU
drv_adxl345_config_t acc_params;
#endif
// mpu driver parameters
mpu_config.lpf = mcfg.gyro_lpf;
// Autodetect Invensense acc/gyro hardware
haveMpu = mpuDetect(&acc, &gyro, &mpu_config);
// MPU6500 on I2C bus
if (hse_value == 12000000 && mpu_config.deviceType == MPU_65xx_I2C)
hw_revision = NAZE32_REV6;
#ifndef CJMCU
if (!haveMpu) {
// Try some other gyros or bail out if fail
if (!l3g4200dDetect(&gyro, mcfg.gyro_lpf))
return false;
}
#endif
// 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
#ifndef CJMCU
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
#endif
case ACC_MPU6050: // MPU6050
if (haveMpu && mpu_config.deviceType == MPU_60x0) {
accHardware = ACC_MPU6050;
if (mcfg.acc_hardware == ACC_MPU6050)
break;
}
; // fallthrough
#ifdef NAZE
case ACC_MPU6500: // MPU6500
if (haveMpu && (mpu_config.deviceType >= MPU_65xx_I2C)) {
accHardware = ACC_MPU6500;
if (mcfg.acc_hardware == ACC_MPU6500)
break;
}
; // fallthrough
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 && mcfg.acc_hardware < ACC_NONE) {
// 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 (!bmp280Detect(&baro)) {
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
retryMag:
switch (mcfg.mag_hardware) {
case MAG_NONE: // disable MAG
sensorsClear(SENSOR_MAG);
break;
case MAG_DEFAULT: // autodetect
case MAG_HMC5883L:
if (hmc5883lDetect(&mag)) {
magHardware = MAG_HMC5883L;
if (mcfg.mag_hardware == MAG_HMC5883L)
break;
}
; // fallthrough
#ifdef NAZE
case MAG_AK8975:
if (ak8975detect(&mag)) {
magHardware = MAG_AK8975;
if (mcfg.mag_hardware == MAG_AK8975)
break;
}
#endif
}
// Found anything? Check if user f****d up or mag is really missing.
if (magHardware == MAG_DEFAULT) {
if (mcfg.mag_hardware > MAG_DEFAULT && mcfg.mag_hardware < MAG_NONE) {
// Nothing was found and we have a forced sensor type. Stupid user probably chose a sensor that isn't present.
mcfg.mag_hardware = MAG_DEFAULT;
goto retryMag;
} else {
// No mag present
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;
}
static bool gyroDetect(gyroDev_t *dev, const extiConfig_t *extiConfig)
{
dev->mpuIntExtiConfig = extiConfig;
gyroSensor_e gyroHardware = GYRO_AUTODETECT;
dev->gyroAlign = ALIGN_DEFAULT;
switch(gyroHardware) {
case GYRO_AUTODETECT:
; // fallthrough
case GYRO_MPU6050:
#ifdef USE_GYRO_MPU6050
if (mpu6050GyroDetect(dev)) {
gyroHardware = GYRO_MPU6050;
#ifdef GYRO_MPU6050_ALIGN
dev->gyroAlign = GYRO_MPU6050_ALIGN;
#endif
break;
}
#endif
; // fallthrough
case GYRO_L3G4200D:
#ifdef USE_GYRO_L3G4200D
if (l3g4200dDetect(dev)) {
gyroHardware = GYRO_L3G4200D;
#ifdef GYRO_L3G4200D_ALIGN
dev->gyroAlign = GYRO_L3G4200D_ALIGN;
#endif
break;
}
#endif
; // fallthrough
case GYRO_MPU3050:
#ifdef USE_GYRO_MPU3050
if (mpu3050Detect(dev)) {
gyroHardware = GYRO_MPU3050;
#ifdef GYRO_MPU3050_ALIGN
dev->gyroAlign = GYRO_MPU3050_ALIGN;
#endif
break;
}
#endif
; // fallthrough
case GYRO_L3GD20:
#ifdef USE_GYRO_L3GD20
if (l3gd20Detect(dev)) {
gyroHardware = GYRO_L3GD20;
#ifdef GYRO_L3GD20_ALIGN
dev->gyroAlign = GYRO_L3GD20_ALIGN;
#endif
break;
}
#endif
; // fallthrough
case GYRO_MPU6000:
#ifdef USE_GYRO_SPI_MPU6000
if (mpu6000SpiGyroDetect(dev)) {
gyroHardware = GYRO_MPU6000;
#ifdef GYRO_MPU6000_ALIGN
dev->gyroAlign = GYRO_MPU6000_ALIGN;
#endif
break;
}
#endif
; // fallthrough
case GYRO_MPU6500:
#if defined(USE_GYRO_MPU6500) || defined(USE_GYRO_SPI_MPU6500)
#ifdef USE_GYRO_SPI_MPU6500
if (mpu6500GyroDetect(dev) || mpu6500SpiGyroDetect(dev)) {
#else
if (mpu6500GyroDetect(dev)) {
#endif
gyroHardware = GYRO_MPU6500;
#ifdef GYRO_MPU6500_ALIGN
dev->gyroAlign = GYRO_MPU6500_ALIGN;
#endif
break;
}
#endif
; // fallthrough
case GYRO_FAKE:
#ifdef USE_FAKE_GYRO
if (fakeGyroDetect(dev)) {
gyroHardware = GYRO_FAKE;
break;
}
#endif
; // fallthrough
case GYRO_NONE:
gyroHardware = GYRO_NONE;
}
addBootlogEvent6(BOOT_EVENT_GYRO_DETECTION, BOOT_EVENT_FLAGS_NONE, gyroHardware, 0, 0, 0);
if (gyroHardware == GYRO_NONE) {
return false;
}
detectedSensors[SENSOR_INDEX_GYRO] = gyroHardware;
sensorsSet(SENSOR_GYRO);
return true;
}
bool gyroInit(const gyroConfig_t *gyroConfigToUse)
{
gyroConfig = gyroConfigToUse;
memset(&gyro, 0, sizeof(gyro));
#if defined(USE_GYRO_MPU6050) || defined(USE_GYRO_MPU3050) || defined(USE_GYRO_MPU6500) || defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_MPU6000) || defined(USE_ACC_MPU6050)
const extiConfig_t *extiConfig = selectMPUIntExtiConfig();
mpuDetect(&gyro.dev);
mpuReset = gyro.dev.mpuConfiguration.reset;
#endif
if (!gyroDetect(&gyro.dev, extiConfig)) {
return false;
}
// After refactoring this function is always called after gyro sampling rate is known, so
// no additional condition is required
// Set gyro sample rate before driver initialisation
gyro.dev.lpf = gyroConfig->gyro_lpf;
gyro.targetLooptime = gyroSetSampleRate(gyroConfig->looptime, gyroConfig->gyro_lpf, gyroConfig->gyroSync, gyroConfig->gyroSyncDenominator);
// driver initialisation
gyro.dev.init(&gyro.dev);
if (gyroConfig->gyro_soft_lpf_hz) {
for (int axis = 0; axis < 3; axis++) {
#ifdef ASYNC_GYRO_PROCESSING
biquadFilterInitLPF(&gyroFilterLPF[axis], gyroConfig->gyro_soft_lpf_hz, getGyroUpdateRate());
#else
biquadFilterInitLPF(&gyroFilterLPF[axis], gyroConfig->gyro_soft_lpf_hz, gyro.targetLooptime);
#endif
}
}
return true;
}
