src/main/sensors/initialisation.c

   1 /*
   2  * This file is part of Cleanflight and Betaflight.
   3  *
   4  * Cleanflight and Betaflight are free software. You can redistribute
   5  * this software and/or modify this software under the terms of the
   6  * GNU General Public License as published by the Free Software
   7  * Foundation, either version 3 of the License, or (at your option)
   8  * any later version.
   9  *
  10  * Cleanflight and Betaflight are distributed in the hope that they
  11  * will be useful, but WITHOUT ANY WARRANTY; without even the implied
  12  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  13  * See the GNU General Public License for more details.
  14  *
  15  * You should have received a copy of the GNU General Public License
  16  * along with this software.
  17  *
  18  * If not, see <http://www.gnu.org/licenses/>.
  19  */
  20
  21 #include <stdbool.h>
  22 #include <stdint.h>
  23 #include <string.h>
  24
  25 #include "platform.h"
  26
  27 #include "common/utils.h"
  28
  29 #include "config/config.h"
  30 #include "config/feature.h"
  31
  32 #include "fc/runtime_config.h"
  33
  34 #include "flight/pid.h"
  35
  36 #include "pg/pg.h"
  37 #include "pg/pg_ids.h"
  38
  39 #include "sensors/acceleration.h"
  40 #include "sensors/adcinternal.h"
  41 #include "sensors/barometer.h"
  42 #include "sensors/compass.h"
  43 #include "sensors/gyro.h"
  44 #include "sensors/gyro_init.h"
  45 #include "sensors/initialisation.h"
  46 #include "sensors/rangefinder.h"
  47 #include "sensors/sensors.h"
  48 #include "sensors/opticalflow.h"
  49
  50 // requestedSensors is not actually used
  51 uint8_t requestedSensors[SENSOR_INDEX_COUNT] = { GYRO_NONE, ACC_NONE, BARO_NONE, MAG_NONE, RANGEFINDER_NONE, OPTICALFLOW_NONE};
  52 uint8_t detectedSensors[SENSOR_INDEX_COUNT] = { GYRO_NONE, ACC_NONE, BARO_NONE, MAG_NONE, RANGEFINDER_NONE, OPTICALFLOW_NONE};
  53
  54 void sensorsPreInit(void)
  55 {
  56     gyroPreInit();
  57
  58 #ifdef USE_MAG
  59     compassPreInit();
  60 #endif
  61
  62 #ifdef USE_BARO
  63     baroPreInit();
  64 #endif
  65 }
  66
  67 bool sensorsAutodetect(void)
  68 {
  69
  70     // gyro must be initialised before accelerometer
  71
  72     bool gyroDetected = gyroInit();
  73
  74 #ifdef USE_ACC
  75     if (gyroDetected) {
  76         accInit(gyro.accSampleRateHz);
  77     }
  78 #endif
  79
  80 #ifdef USE_BARO
  81     baroInit();
  82 #endif
  83
  84 #ifdef USE_MAG
  85     compassInit();
  86 #endif
  87
  88 #ifdef USE_RANGEFINDER
  89     rangefinderInit();
  90 #endif
  91
  92 #ifdef USE_OPTICALFLOW
  93     opticalflowInit();
  94 #endif
  95
  96 #ifdef USE_ADC_INTERNAL
  97     adcInternalInit();
  98 #endif
  99
 100     return gyroDetected;
 101 }