mirror of
https://bitbucket.org/librepilot/librepilot.git
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237 lines
7.8 KiB
C
237 lines
7.8 KiB
C
/**
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******************************************************************************
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*
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* @file pios_board_sensors.c
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* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2017.
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* @brief board sensors setup
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* --
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#include "pios_board_info.h"
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#include "pios_board_sensors.h"
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#include "pios_board_hw.h"
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#include "uavobjectmanager.h"
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#include "auxmagsettings.h"
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#include "hwsettings.h"
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#include <alarms.h>
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#ifdef PIOS_INCLUDE_MPU6000
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# include <pios_mpu6000.h>
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# include <pios_mpu6000_config.h>
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#endif
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#ifdef PIOS_INCLUDE_MS5611
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# include <pios_ms5611.h>
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#endif
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#ifdef PIOS_INCLUDE_BMP280
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# include <pios_bmp280.h>
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#endif
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#ifdef PIOS_INCLUDE_ADXL345
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# include <pios_adxl345.h>
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#endif
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#ifdef PIOS_INCLUDE_MPU9250
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# include <pios_mpu9250.h>
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# include <pios_mpu9250_config.h>
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#endif
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#ifdef PIOS_INCLUDE_HMC5X83
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# include "pios_hmc5x83.h"
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# ifdef PIOS_HMC5X83_HAS_GPIOS
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pios_hmc5x83_dev_t pios_hmc5x83_internal_id;
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# endif
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#endif
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#ifdef PIOS_INCLUDE_L3GD20
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# include "pios_l3gd20.h"
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#endif
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#ifdef PIOS_INCLUDE_BMA180
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# include "pios_bma180.h"
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#endif
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#ifdef PIOS_INCLUDE_ADC
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# include "pios_adc_priv.h"
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#endif
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void PIOS_BOARD_Sensors_Configure()
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{
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#ifdef PIOS_INCLUDE_MPU6000
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const struct pios_mpu6000_cfg *mpu6000_cfg = PIOS_BOARD_HW_DEFS_GetMPU6000Cfg(pios_board_info_blob.board_rev);
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if (mpu6000_cfg) {
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#ifdef PIOS_SPI_MPU6000_ADAPTER
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PIOS_MPU6000_Init(PIOS_SPI_MPU6000_ADAPTER, 0, mpu6000_cfg);
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#elif defined(PIOS_I2C_MPU6000_ADAPTER)
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PIOS_MPU6000_Init(PIOS_I2C_MPU6000_ADAPTER, 0, mpu6000_cfg);
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#else
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#error PIOS_INCLUDE_MPU6000 requires one of PIOS_SPI_MPU6000_ADAPTER or PIOS_I2C_MPU6000_ADAPTER
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#endif
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PIOS_MPU6000_CONFIG_Configure();
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#ifndef PIOS_EXCLUDE_ADVANCED_FEATURES
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PIOS_MPU6000_Register();
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#endif
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}
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#endif /* PIOS_INCLUDE_MPU6000 */
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#ifdef PIOS_INCLUDE_MPU9250
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const struct pios_mpu9250_cfg *mpu9250_cfg = PIOS_BOARD_HW_DEFS_GetMPU9250Cfg(pios_board_info_blob.board_rev);
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if (mpu9250_cfg) {
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PIOS_MPU9250_Init(PIOS_SPI_MPU9250_ADAPTER, 0, mpu9250_cfg);
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PIOS_MPU9250_CONFIG_Configure();
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PIOS_MPU9250_MainRegister();
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PIOS_MPU9250_MagRegister();
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}
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#endif /* PIOS_INCLUDE_MPU9250 */
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#ifdef PIOS_INCLUDE_ADXL345
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if (PIOS_BOARD_HW_DEFS_GetADXL345Cfg(pios_board_info_blob.board_rev)) {
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PIOS_ADXL345_Init(PIOS_SPI_ADXL345_ADAPTER, 0);
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}
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#endif
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#if defined(PIOS_INCLUDE_L3GD20)
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const struct pios_l3gd20_cfg *l3gd20_cfg = PIOS_BOARD_HW_DEFS_GetL3GD20Cfg(pios_board_info_blob.board_rev);
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if (l3gd20_cfg) {
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PIOS_Assert(0); // L3gd20 has not been ported to Sensor framework!!!
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PIOS_L3GD20_Init(PIOS_SPI_L3GD20_ADAPTER, 0, l3gd20_cfg);
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PIOS_Assert(PIOS_L3GD20_Test() == 0);
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}
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#endif
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#if defined(PIOS_INCLUDE_BMA180)
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const struct pios_bma180_cfg *bma180_cfg = PIOS_BOARD_HW_DEFS_GetBMA180Cfg(pios_board_info_blob.board_rev);
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if (bma180_cfg) {
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PIOS_Assert(0); // BMA180 has not been ported to Sensor framework!!!
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PIOS_BMA180_Init(PIOS_SPI_BMA180_ADAPTER, 0, bma180_cfg);
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PIOS_Assert(PIOS_BMA180_Test() == 0);
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}
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#endif
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// internal HMC5x83 mag
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# ifdef PIOS_INCLUDE_HMC5X83_INTERNAL
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const struct pios_hmc5x83_cfg *hmc5x83_internal_cfg = PIOS_BOARD_HW_DEFS_GetInternalHMC5x83Cfg(pios_board_info_blob.board_rev);
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if (hmc5x83_internal_cfg) {
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// attach the 5x83 mag to internal i2c bus
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pios_hmc5x83_dev_t internal_mag = PIOS_HMC5x83_Init(hmc5x83_internal_cfg, PIOS_I2C_HMC5X83_INTERNAL_ADAPTER, 0);
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# ifdef PIOS_INCLUDE_WDG
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// give HMC5x83 on I2C some extra time to allow for reset, etc. if needed
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// this is not in a loop, so it is safe
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PIOS_WDG_Clear();
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# endif /* PIOS_INCLUDE_WDG */
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#ifdef PIOS_HMC5X83_HAS_GPIOS
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pios_hmc5x83_internal_id = internal_mag;
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#endif
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// add this sensor to the sensor task's list
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PIOS_HMC5x83_Register(internal_mag, PIOS_SENSORS_TYPE_3AXIS_MAG);
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}
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# endif /* PIOS_INCLUDE_HMC5X83_INTERNAL */
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# ifdef PIOS_INCLUDE_HMC5X83
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AuxMagSettingsInitialize();
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AuxMagSettingsTypeOptions option;
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AuxMagSettingsTypeGet(&option);
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const struct pios_hmc5x83_cfg *hmc5x83_external_cfg = PIOS_BOARD_HW_DEFS_GetExternalHMC5x83Cfg(pios_board_info_blob.board_rev);
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if (hmc5x83_external_cfg) {
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uint32_t i2c_id = 0;
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if (option == AUXMAGSETTINGS_TYPE_FLEXI) {
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// i2c_external
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#ifdef PIOS_I2C_EXTERNAL_ADAPTER
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i2c_id = PIOS_I2C_EXTERNAL_ADAPTER;
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#endif
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} else if (option == AUXMAGSETTINGS_TYPE_I2C) {
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// i2c_internal (or Sparky2/F3 dedicated I2C port)
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#ifdef PIOS_I2C_FLEXI_ADAPTER
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i2c_id = PIOS_I2C_FLEXI_ADAPTER;
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#endif
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}
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if (i2c_id) {
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uint32_t external_mag = PIOS_HMC5x83_Init(hmc5x83_external_cfg, i2c_id, 0);
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# ifdef PIOS_INCLUDE_WDG
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// give HMC5x83 on I2C some extra time to allow for reset, etc. if needed
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// this is not in a loop, so it is safe
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PIOS_WDG_Clear();
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# endif /* PIOS_INCLUDE_WDG */
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// add this sensor to the sensor task's list
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// be careful that you don't register a slow, unimportant sensor after registering the fastest sensor
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// and before registering some other fast and important sensor
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// as that would cause delay and time jitter for the second fast sensor
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PIOS_HMC5x83_Register(external_mag, PIOS_SENSORS_TYPE_3AXIS_AUXMAG);
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// mag alarm is cleared later, so use I2C
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AlarmsSet(SYSTEMALARMS_ALARM_I2C, (external_mag) ? SYSTEMALARMS_ALARM_OK : SYSTEMALARMS_ALARM_WARNING);
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}
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}
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# endif /* PIOS_INCLUDE_HMC5X83 */
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// internal ms5611 baro
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#if defined(PIOS_INCLUDE_MS5611)
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const struct pios_ms5611_cfg *ms5611_cfg = PIOS_BOARD_HW_DEFS_GetMS5611Cfg(pios_board_info_blob.board_rev);
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if (ms5611_cfg) {
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PIOS_MS5611_Init(ms5611_cfg, PIOS_I2C_MS5611_INTERNAL_ADAPTER);
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PIOS_MS5611_Register();
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}
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#endif
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#ifdef PIOS_INCLUDE_BMP280
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const struct pios_bmp280_cfg *bmp280_cfg = PIOS_BOARD_HW_DEFS_GetBMP280Cfg(pios_board_info_blob.board_rev);
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if(bmp280_cfg) {
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PIOS_BMP280_Init(bmp280_cfg, PIOS_I2C_BMP280_INTERNAL_ADAPTER);
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}
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#endif
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#ifdef PIOS_INCLUDE_ADC
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const struct pios_adc_cfg *adc_cfg = PIOS_BOARD_HW_DEFS_GetAdcCfg(pios_board_info_blob.board_rev);
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if (adc_cfg) {
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PIOS_ADC_Init(adc_cfg);
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# ifndef PIOS_EXCLUDE_ADVANCED_FEATURES
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uint8_t adc_config[HWSETTINGS_ADCROUTING_NUMELEM];
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HwSettingsADCRoutingArrayGet(adc_config);
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for (uint32_t i = 0; i < HWSETTINGS_ADCROUTING_NUMELEM; i++) {
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if (adc_config[i] != HWSETTINGS_ADCROUTING_DISABLED) {
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PIOS_ADC_PinSetup(i);
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}
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}
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# endif
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}
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#endif /* PIOS_INCLUDE_ADC */
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// internal bmp280 baro
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// internal MPU6000 imu (i2c)
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// external ETASV3 Eagletree Airspeed v3
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// external MS4525D PixHawk Airpeed based on MS4525DO
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// BMA180 accelerometer?
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// bmp085/bmp180 baro
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// hmc5843 mag
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// i2c esc (?)
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// UBX DCC
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}
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