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 #include "sensors/temperature.h"
  42 #include "rx/rx.h"
  43
  44 uint8_t requestedSensors[SENSOR_INDEX_COUNT] = { GYRO_AUTODETECT, ACC_NONE, BARO_NONE, MAG_NONE, RANGEFINDER_NONE, PITOT_NONE, OPFLOW_NONE };
  45 uint8_t detectedSensors[SENSOR_INDEX_COUNT] = { GYRO_NONE, ACC_NONE, BARO_NONE, MAG_NONE, RANGEFINDER_NONE, PITOT_NONE, OPFLOW_NONE };
  46
  47 bool sensorsAutodetect(void)
  48 {
  49     bool eepromUpdatePending = false;
  50
  51     if (!gyroInit()) {
  52         return false;
  53     }
  54
  55     accInit(getLooptime());
  56
  57 #ifdef USE_BARO
  58     baroInit();
  59 #endif
  60
  61 #ifdef USE_PITOT
  62     pitotInit();
  63 #endif
  64
  65 #ifdef USE_MAG
  66     compassInit();
  67 #endif
  68
  69 #ifdef USE_TEMPERATURE_SENSOR
  70     temperatureInit();
  71 #endif
  72
  73 #ifdef USE_RANGEFINDER
  74     rangefinderInit();
  75 #endif
  76
  77 #ifdef USE_OPFLOW
  78     opflowInit();
  79 #endif
  80
  81     if (accelerometerConfig()->acc_hardware == ACC_AUTODETECT) {
  82         accelerometerConfigMutable()->acc_hardware = detectedSensors[SENSOR_INDEX_ACC];
  83         eepromUpdatePending = true;
  84     }
  85
  86 #ifdef USE_BARO
  87     if (barometerConfig()->baro_hardware == BARO_AUTODETECT) {
  88         barometerConfigMutable()->baro_hardware = detectedSensors[SENSOR_INDEX_BARO];
  89         eepromUpdatePending = true;
  90     }
  91 #endif
  92
  93 #ifdef USE_MAG
  94     if (compassConfig()->mag_hardware == MAG_AUTODETECT) {
  95         compassConfigMutable()->mag_hardware = detectedSensors[SENSOR_INDEX_MAG];
  96         eepromUpdatePending = true;
  97     }
  98 #endif
  99
 100 #ifdef USE_PITOT
 101     if (pitotmeterConfig()->pitot_hardware == PITOT_AUTODETECT) {
 102         pitotmeterConfigMutable()->pitot_hardware = detectedSensors[SENSOR_INDEX_PITOT];
 103         eepromUpdatePending = true;
 104     }
 105 #endif
 106
 107 #ifdef USE_IRLOCK
 108     irlockInit();
 109 #endif
 110
 111     if (eepromUpdatePending) {
 112         suspendRxSignal();
 113         writeEEPROM();
 114         resumeRxSignal();
 115     }
 116
 117     return true;
 118 }