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Enable selection between compass sensors on different buses #2522

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Merged
digitalentity merged 2 commits into from
Dec 4, 2017
Merged

Enable selection between compass sensors on different buses #2522

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74516a2
Enable selection between compass sensors on different buses
digitalentity Nov 28, 2017
5ac3023
Merge branch 'development' into de_dual_compass
digitalentity Dec 4, 2017
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5 changes: 1 addition & 4 deletions src/main/drivers/compass/compass.h
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Original file line number Diff line number Diff line change
Expand Up @@ -24,9 +24,6 @@ typedef struct magDev_s {
sensorMagInitFuncPtr init; // initialize function
sensorMagReadFuncPtr read; // read 3 axis data function
sensor_align_e magAlign;
uint8_t magSensorToUse;
int16_t magADCRaw[XYZ_AXIS_COUNT];
} magDev_t;

#ifndef MAG_I2C_INSTANCE
#define MAG_I2C_INSTANCE I2C_DEVICE
#endif
2 changes: 1 addition & 1 deletion src/main/drivers/compass/compass_ak8963.c
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Expand Up @@ -164,7 +164,7 @@ static bool deviceDetect(magDev_t * mag)

bool ak8963Detect(magDev_t * mag)
{
mag->busDev = busDeviceInit(BUSTYPE_ANY, DEVHW_AK8963, 0, OWNER_COMPASS);
mag->busDev = busDeviceInit(BUSTYPE_I2C, DEVHW_AK8963, mag->magSensorToUse, OWNER_COMPASS);
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@MJ666 MJ666 Dec 4, 2017

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If "BUSTYPE_I2C" instead of "BUSTYPE_ANY" is set here the AK8963 SPI compass will not be detected?

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@digitalentity digitalentity Dec 4, 2017

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@MJ666 oops, sorry. Will fix ASAP

if (mag->busDev == NULL) {
return false;
}
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2 changes: 1 addition & 1 deletion src/main/drivers/compass/compass_ak8975.c
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Expand Up @@ -145,7 +145,7 @@ static bool deviceDetect(magDev_t * mag)

bool ak8975Detect(magDev_t * mag)
{
mag->busDev = busDeviceInit(BUSTYPE_I2C, DEVHW_AK8975, 0, OWNER_COMPASS);
mag->busDev = busDeviceInit(BUSTYPE_I2C, DEVHW_AK8975, mag->magSensorToUse, OWNER_COMPASS);
if (mag->busDev == NULL) {
return false;
}
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2 changes: 1 addition & 1 deletion src/main/drivers/compass/compass_hmc5883l.c
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Expand Up @@ -260,7 +260,7 @@ static bool deviceDetect(magDev_t * mag)

bool hmc5883lDetect(magDev_t * mag)
{
mag->busDev = busDeviceInit(BUSTYPE_ANY, DEVHW_HMC5883, 0, OWNER_COMPASS);
mag->busDev = busDeviceInit(BUSTYPE_ANY, DEVHW_HMC5883, mag->magSensorToUse, OWNER_COMPASS);
if (mag->busDev == NULL) {
return false;
}
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2 changes: 1 addition & 1 deletion src/main/drivers/compass/compass_ist8310.c
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Expand Up @@ -162,7 +162,7 @@ static bool deviceDetect(magDev_t * mag)

bool ist8310Detect(magDev_t * mag)
{
mag->busDev = busDeviceInit(BUSTYPE_ANY, DEVHW_IST8310, 0, OWNER_COMPASS);
mag->busDev = busDeviceInit(BUSTYPE_ANY, DEVHW_IST8310, mag->magSensorToUse, OWNER_COMPASS);
if (mag->busDev == NULL) {
return false;
}
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2 changes: 1 addition & 1 deletion src/main/drivers/compass/compass_mag3110.c
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Expand Up @@ -122,7 +122,7 @@ static bool deviceDetect(magDev_t * mag)

bool mag3110detect(magDev_t * mag)
{
mag->busDev = busDeviceInit(BUSTYPE_ANY, DEVHW_MAG3110, 0, OWNER_COMPASS);
mag->busDev = busDeviceInit(BUSTYPE_ANY, DEVHW_MAG3110, mag->magSensorToUse, OWNER_COMPASS);
if (mag->busDev == NULL) {
return false;
}
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3 changes: 2 additions & 1 deletion src/main/drivers/compass/compass_mpu9250.c
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Expand Up @@ -284,7 +284,8 @@ static bool mpu9250CompassRead(magDev_t * mag)
bool mpu9250CompassDetect(magDev_t * mag)
{
// Compass on MPU9250 is only supported if MPU9250 is connected to SPI bus
mag->busDev = busDeviceOpen(BUSTYPE_SPI, DEVHW_MPU9250, 0);
// FIXME: We need to use gyro_to_use here, not mag_to_use
mag->busDev = busDeviceOpen(BUSTYPE_SPI, DEVHW_MPU9250, mag->magSensorToUse);
if (mag->busDev == NULL) {
return false;
}
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2 changes: 1 addition & 1 deletion src/main/drivers/compass/compass_qmc5883l.c
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Expand Up @@ -143,7 +143,7 @@ static bool deviceDetect(magDev_t * mag)

bool qmc5883Detect(magDev_t * mag)
{
mag->busDev = busDeviceInit(BUSTYPE_ANY, DEVHW_QMC5883, 0, OWNER_COMPASS);
mag->busDev = busDeviceInit(BUSTYPE_ANY, DEVHW_QMC5883, mag->magSensorToUse, OWNER_COMPASS);
if (mag->busDev == NULL) {
return false;
}
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4 changes: 4 additions & 0 deletions src/main/fc/settings.yaml
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Expand Up @@ -248,6 +248,10 @@ groups:
field: magCalibrationTimeLimit
min: 30
max: 120
- name: mag_to_use
condition: USE_DUAL_MAG
min: 0
max: 1

- name: PG_BAROMETER_CONFIG
type: barometerConfig_t
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9 changes: 8 additions & 1 deletion src/main/sensors/compass.c
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Expand Up @@ -60,7 +60,7 @@

mag_t mag; // mag access functions

PG_REGISTER_WITH_RESET_TEMPLATE(compassConfig_t, compassConfig, PG_COMPASS_CONFIG, 1);
PG_REGISTER_WITH_RESET_TEMPLATE(compassConfig_t, compassConfig, PG_COMPASS_CONFIG, 2);

#ifdef MAG
#define MAG_HARDWARE_DEFAULT MAG_AUTODETECT
Expand All @@ -71,6 +71,7 @@ PG_RESET_TEMPLATE(compassConfig_t, compassConfig,
.mag_align = ALIGN_DEFAULT,
.mag_hardware = MAG_HARDWARE_DEFAULT,
.mag_declination = 0,
.mag_to_use = 0,
.magCalibrationTimeLimit = 30
);

Expand Down Expand Up @@ -248,6 +249,12 @@ bool compassDetect(magDev_t *dev, magSensor_e magHardwareToUse)

bool compassInit(void)
{
#ifdef USE_DUAL_MAG
mag.dev.magSensorToUse = compassConfig()->mag_to_use;
#else
mag.dev.magSensorToUse = 0;
#endif

if (!compassDetect(&mag.dev, compassConfig()->mag_hardware)) {
return false;
}
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2 changes: 1 addition & 1 deletion src/main/sensors/compass.h
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Expand Up @@ -57,7 +57,7 @@ typedef struct compassConfig_s {
sensor_align_e mag_align; // mag alignment
uint8_t mag_hardware; // Which mag hardware to use on boards with more than one device
flightDynamicsTrims_t magZero;
uint8_t __dummy_1; // Maximum rotation rate MAG_HOLD mode can feed to yaw rate PID controller
uint8_t mag_to_use;
uint8_t magCalibrationTimeLimit; // Time for compass calibration (seconds)
} compassConfig_t;

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11 changes: 11 additions & 0 deletions src/main/target/REVO/target.c
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Expand Up @@ -23,6 +23,17 @@
#include "drivers/pwm_mapping.h"
#include "drivers/timer.h"

/* GYRO */
BUSDEV_REGISTER_SPI_TAG(busdev_mpu6000, DEVHW_MPU6000, MPU6000_SPI_BUS, MPU6000_CS_PIN, MPU6000_EXTI_PIN, 0, DEVFLAGS_NONE);

BUSDEV_REGISTER_I2C( busdev_ms5611, DEVHW_MS5611, BARO_I2C_BUS, 0x77, NONE, DEVFLAGS_USE_RAW_REGISTERS);

BUSDEV_REGISTER_I2C_TAG(busdev_hmc5883_int, DEVHW_HMC5883, MAG_I2C_BUS_INT, 0x1E, NONE, 0, DEVFLAGS_NONE);

BUSDEV_REGISTER_I2C_TAG(busdev_hmc5883, DEVHW_HMC5883, MAG_I2C_BUS_EXT, 0x1E, NONE, 1, DEVFLAGS_NONE);
BUSDEV_REGISTER_I2C_TAG(busdev_qmc5883, DEVHW_QMC5883, MAG_I2C_BUS_EXT, 0x0D, NONE, 1, DEVFLAGS_NONE);
BUSDEV_REGISTER_I2C_TAG(busdev_mag3110, DEVHW_MAG3110, MAG_I2C_BUS_EXT, 0x0E, NONE, 1, DEVFLAGS_NONE);

/* TIMERS */
const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
{ TIM3, IO_TAG(PB0), TIM_Channel_3, 1, IOCFG_AF_PP_PD, GPIO_AF_TIM3, TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR }, // S1_OUT
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11 changes: 7 additions & 4 deletions src/main/target/REVO/target.h
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Expand Up @@ -24,6 +24,9 @@
#define USBD_SERIALNUMBER_STRING "0x8020000"
#endif

// Use target-specific hardware descriptors (don't use common_hardware.h)
#define USE_TARGET_HARDWARE_DESCRIPTORS

#define LED0 PB5
#define LED1 PB4

Expand All @@ -34,7 +37,7 @@

// MPU6000 interrupts
#define USE_EXTI
#define MPU_INT_EXTI PC4
#define MPU6000_EXTI_PIN PC4
#define USE_MPU_DATA_READY_SIGNAL

#define MPU6000_CS_PIN PA4
Expand All @@ -49,16 +52,16 @@
#define GYRO_MPU6000_ALIGN CW270_DEG

#define MAG
#define MAG_I2C_BUS BUS_I2C2
#define USE_DUAL_MAG
#define MAG_I2C_BUS_EXT BUS_I2C2
#define MAG_I2C_BUS_INT BUS_I2C1
#define USE_MAG_MAG3110
#define USE_MAG_QMC5883
#define USE_MAG_HMC5883
#define MAG_HMC5883_ALIGN CW90_DEG

#define BARO
#define BARO_I2C_BUS BUS_I2C1
#define USE_BARO_BMP085
#define USE_BARO_BMP280
#define USE_BARO_MS5611

//#define USE_PITOT_MS4525
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