src/main/sensors/initialisation.c

   1 /*
   2  * This file is part of Cleanflight.
   3  *
   4  * Cleanflight is free software: you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation, either version 3 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * Cleanflight is distributed in the hope that it will be useful,
  10  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  12  * GNU General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License
  15  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  16  */
  17 #include <stdbool.h>
  18 #include <stdint.h>
  19 #include <string.h>
  20
  21 #include "platform.h"
  22
  23 #include "common/utils.h"
  24
  25 #include "config/config_eeprom.h"
  26
  27 #include "fc/config.h"
  28 #include "fc/runtime_config.h"
  29
  30 #include "sensors/acceleration.h"
  31 #include "sensors/barometer.h"
  32 #include "sensors/compass.h"
  33 #include "sensors/gyro.h"
  34 #include "sensors/initialisation.h"
  35 #include "sensors/irlock.h"
  36 #include "sensors/opflow.h"
  37 #include "sensors/pitotmeter.h"
  38 #include "sensors/rangefinder.h"
  39 #include "sensors/sensors.h"
  40 #include "sensors/temperature.h"
  41
  42 uint8_t requestedSensors[SENSOR_INDEX_COUNT] = { GYRO_AUTODETECT, ACC_NONE, BARO_NONE, MAG_NONE, RANGEFINDER_NONE, PITOT_NONE, OPFLOW_NONE };
  43 uint8_t detectedSensors[SENSOR_INDEX_COUNT] = { GYRO_NONE, ACC_NONE, BARO_NONE, MAG_NONE, RANGEFINDER_NONE, PITOT_NONE, OPFLOW_NONE };
  44
  45
  46 bool sensorsAutodetect(void)
  47 {
  48     bool eepromUpdatePending = false;
  49
  50     if (!gyroInit()) {
  51         return false;
  52     }
  53
  54     accInit(getLooptime());
  55
  56 #ifdef USE_BARO
  57     baroInit();
  58 #endif
  59
  60 #ifdef USE_PITOT
  61     pitotInit();
  62 #endif
  63
  64 #ifdef USE_MAG
  65     compassInit();
  66 #endif
  67
  68 #ifdef USE_TEMPERATURE_SENSOR
  69     temperatureInit();
  70 #endif
  71
  72 #ifdef USE_RANGEFINDER
  73     rangefinderInit();
  74 #endif
  75
  76 #ifdef USE_OPFLOW
  77     opflowInit();
  78 #endif
  79
  80     if (accelerometerConfig()->acc_hardware == ACC_AUTODETECT) {
  81         accelerometerConfigMutable()->acc_hardware = detectedSensors[SENSOR_INDEX_ACC];
  82         eepromUpdatePending = true;
  83     }
  84
  85 #ifdef USE_BARO
  86     if (barometerConfig()->baro_hardware == BARO_AUTODETECT) {
  87         barometerConfigMutable()->baro_hardware = detectedSensors[SENSOR_INDEX_BARO];
  88         eepromUpdatePending = true;
  89     }
  90 #endif
  91
  92 #ifdef USE_MAG
  93     if (compassConfig()->mag_hardware == MAG_AUTODETECT) {
  94         compassConfigMutable()->mag_hardware = detectedSensors[SENSOR_INDEX_MAG];
  95         eepromUpdatePending = true;
  96     }
  97 #endif
  98
  99 #ifdef USE_PITOT
 100     if (pitotmeterConfig()->pitot_hardware == PITOT_AUTODETECT) {
 101         pitotmeterConfigMutable()->pitot_hardware = detectedSensors[SENSOR_INDEX_PITOT];
 102         eepromUpdatePending = true;
 103     }
 104 #endif
 105
 106 #ifdef USE_IRLOCK
 107     irlockInit();
 108 #endif
 109
 110     if (eepromUpdatePending) {
 111         writeEEPROM();
 112     }
 113
 114     return true;
 115 }