add cfg.imu_bus_type

Author: qqqlab

examples/00.HelloWorld/madflight_config.h

@@ -1,190 +1,146 @@
-//========================================================================================================================//
-//                                               PINS CONFIG                                                              //
-//========================================================================================================================//
-//
-// You have 3 options to setup the pins (gpio numbers) and busses for the flight controller:
-//
-//   1) Default - #include <madflight_board.h> and see https://madflight.com for default pinout diagrams for the supported
-//      processor families. Default pinouts are defined in the board header files library/madflight/src/madflight_board_XXX.h
-// 
-//   2) Header - #include the BetaFlight flight controller you want to use. See library/madflight/src for all available 
-//      boards. For example: #include <madflight_zzz_MTKS-MATEKH743.h>
-// 
-//   3) Custom - Do not include a board file here, and set your own board definition in the CUSTOM PINS section below.
-//
-//========================================================================================================================//
-
-#include <madflight_board.h>
+/*========================================================================================================================
+                                              MADFLIGHT CONFIG                                                          
+==========================================================================================================================
 
+MADFLIGHT_CONFIG is a multi-line raw string in with a key-value list. Anything after '#' or '/' is ignored as comment.
 
-//========================================================================================================================//
-//                                               HARDWARE CONFIG                                                          //
-//========================================================================================================================//
-//
-// Hardware configuration is a raw string with a key-value list. On a line, anything after '#' or '/' is ignored as comment
-//
-// You can also set these values from the CLI, for example "set imu_gizmo MPU6500"
-//
-//========================================================================================================================//
-
-#define MADFLIGHT_CONFIG R""(
+You have 4 options to setup the pins (gpio numbers) and serial/spi/i2c busses for the flight controller:
 
-// IMU - Inertial Measurement Unit (acc/gyro)
+  1) Default - #include <madflight_board.h> and see https://madflight.com for default pinout diagrams for the supported
+     processor families. Default pinouts are defined in the board header files library/madflight/src/madflight_board_XXX.h
+     Leave lines with "pin_..." and "..._bus" commented in MADFLIGHT_CONFIG. 
+ 
+  2) BetaFlight - #include the BetaFlight flight controller you want to use. See library/madflight/src for all available 
+     boards. For example: #include <madflight_zzz_MTKS-MATEKH743.h>
 
-// Uncomment ONE bus: SPI or I2C
-imu_spi_bus    0        // connect IMU to SPI bus 0
-//imu_i2c_bus    1        // connect IMU to I2C bus 1
+  3) Override - Keep #include <madflight_board.h>, and uncomment lines in MADFLIGHT_CONFIG to override the board settings.
+ 
+  4) Custom - Remove #include <madflight_board.h>, and set the full configuration in MADFLIGHT_CONFIG below.
 
-// IMPORTANT: the IMU sensor should be the ONLY sensor on the selected bus
+Pins and busses use zero-based numbering, i.e. imu_spi_bus 0 is the first spi bus. Use -1 to disable a pin or bus.
 
-imu_gizmo      NONE     // options: NONE, BMI270, MPU6000, MPU6050, MPU6500, MPU9150, MPU9250 
-imu_align      CW90     // options: CW0, CW90, CW180, CW270, CW0FLIP, CW90FLIP, CW180FLIP, CW270FLIP
-imu_i2c_adr    0        // enter decimal i2c address, not hex (use 0 for default i2c address)
+You can also modify the configuration from the CLI, for example "set imu_gizmo MPU6500" or "set imu_spi_bus 1", then
+use "cwrite" to save the config to eeprom and reboot to use the new config.
 
-// RCL - Remote Controller Link
-rcl_gizmo      NONE     // options: NONE, MAVLINK, CRSF, SBUS, DSM, PPM, PWM
-rcl_num_ch     8        // number of channels
-rcl_deadband   0        // center stick deadband
+If things do not work as expected, have a good look at the startup messages!
 
-// BAR - Barometer
-bar_gizmo      NONE     // options: NONE, BMP390, BMP388, BMP280, MS5611
-bar_i2c_adr    0
+========================================================================================================================*/
 
-// MAG - Magnetometer
-mag_gizmo      NONE     // options: NONE, QMC5883
-mag_i2c_adr    0
+#include <madflight_board.h>
 
-// BAT - Battery Monitor
-bat_gizmo      NONE     // options: NONE, ADC, INA226, INA228
-bat_i2c_adr    0
+#define MADFLIGHT_CONFIG R""(
 
-// GPS
-gps_gizmo      NONE     // options: NONE, UBLOX
-gps_baud       0        // use 0 for auto baud
+//--- IMU --- Inertial Measurement Unit  (use spi -OR- i2c bus)
+imu_gizmo      MPU6500  // options: NONE, BMI270, MPU6000, MPU6050, MPU6500, MPU9150, MPU9250 
+imu_bus_type   SPI      // options: SPI, I2C (not all combinations of gizmo and bus_type are supported)
+imu_align      CW90     // options: CW0, CW90, CW180, CW270, CW0FLIP, CW90FLIP, CW180FLIP, CW270FLIP
+//imu_spi_bus    -1 //spi
+//pin_imu_cs     -1 //spi
+//pin_imu_int    -1 //spi
+//imu_i2c_bus    -1 //i2c
+//imu_i2c_adr     0 //i2c: enter decimal i2c address, not hex (use 0 for default i2c address)
 
-// BBX - Black Box Data Logger
-bbx_gizmo      NONE     // options: NONE, SDSPI, SDMMC
+// IMPORTANT: the IMU sensor should be the ONLY sensor on the selected bus
 
-// RDR - Radar
-rdr_gizmo      NONE     // options: NONE, LD2411S, LD2413, USD1
-rdr_baud       0
 
-// AHR - AHRS
-ahr_gizmo      MAHONY   // options: MAHONY, MAHONY_BF, MADGWICK, VQF
+//--- RCL --- Remote Controller Link  (use serial bus -OR- ppm pin)
+rcl_gizmo      CRSF  // options: NONE, MAVLINK, CRSF, SBUS, DSM, PPM
+rcl_num_ch     8     // number of channels
+rcl_deadband   0     // center stick deadband
+//rcl_ser_bus   -1
+//pin_rcl_ppm   -1
+
+//--- BAR --- Barometer
+bar_gizmo      NONE  // options: NONE, BMP390, BMP388, BMP280, MS5611, HP203B
+//bar_i2c_adr    0
+//bar_i2c_bus   -1
+
+//--- MAG --- Magnetometer
+mag_gizmo      NONE  // options: NONE, QMC5883, QMC6309, RM3100
+//mag_i2c_adr    0
+//mag_i2c_bus   -1
+
+//--- BAT --- Battery Monitor  (use i2c bus -OR- adc pins)
+bat_gizmo      NONE  // options: NONE, ADC, INA226, INA228
+//bat_i2c_adr    0
+//bat_i2c_bus   -1
+//pin_bat_i     -1
+//pin_bat_v     -1
+
+//--- GPS ---
+gps_gizmo      NONE  // options: NONE, UBLOX
+//gps_baud       0   // use 0 for auto baud
+//gps_ser_bus   -1
+
+//--- BBX --- Black Box Data Logger  (use spi -OR- mmc)
+bbx_gizmo      NONE  // options: NONE, SDSPI, SDMMC
+//pin_bbx_cs    -1  // spi
+//bbx_spi_bus   -1  // spi
+//pin_mmc_dat   -1  // mmc
+//pin_mmc_clk   -1  // mmc
+//pin_mmc_cmd   -1  // mmc
+
+//--- RDR --- Radar (use serial bus -OR- trig+echo pins)
+rdr_gizmo      NONE  // options: NONE, LD2411S, LD2413, USD1, SR04
+//rdr_baud       0
+//rdr_ser_bus   -1
+//pin_rdr_trig  -1
+//pin_rdr_echo  -1
+
+//--- LED ---
+//led_on         LOW_IS_OFF // options: LOW_IS_OFF, LOW_IS_ON
+//pin_led       -1
+
+//--- AHR --- AHRS (keep MAHONY, unless you want to experiment)
+ahr_gizmo      MAHONY  // options: MAHONY, MAHONY_BF, MADGWICK, VQF
+
+//--- Serial bus 0 ---
+//pin_ser0_rx   -1
+//pin_ser0_tx   -1
+
+//--- Serial bus 1 ---
+//pin_ser1_rx   -1
+//pin_ser1_tx   -1 
+
+//--- SPI bus 0 ---
+//pin_spi0_miso -1
+//pin_spi0_mosi -1
+//pin_spi0_sclk -1
+
+//--- SPI bus 1 ---
+//pin_spi1_miso -1
+//pin_spi1_mosi -1
+//pin_spi1_sclk -1
+
+//--- I2C Bus 0 ---
+//pin_i2c0_sda  -1
+//pin_i2c0_scl  -1
+
+//--- I2C Bus 1 ---
+//pin_i2c1_sda  -1
+//pin_i2c1_scl  -1
+
+//--- OUT Pins ---
+//pin_out0      -1
+//pin_out1      -1
+//pin_out2      -1
+//pin_out3      -1
+//pin_out4      -1
+//pin_out5      -1
+//pin_out6      -1
+//pin_out7      -1
+//pin_out8      -1
+//pin_out9      -1
+//pin_out10     -1
+//pin_out11     -1
+//pin_out12     -1
+//pin_out13     -1
+//pin_out14     -1
+//pin_out15     -1
 
 )"" // End of MADFLIGHT_CONFIG
 
 
-//========================================================================================================================//
-//                                               CUSTOM PINS CONFIG                                                       //
-//========================================================================================================================//
-
-/*  <-- Add a / here to setup your custom pins below - Check datasheet that what you're doing is actually possible!!!
-
-#define MADFLIGHT_BOARD R""(
-
-// PINOUT
-
-// Serial Pins
-pin_ser0_rx    -1
-pin_ser0_tx    -1
-pin_ser0_inv   -1
-pin_ser1_rx    -1
-pin_ser1_tx    -1
-pin_ser1_inv   -1 
-pin_ser2_rx    -1
-pin_ser2_tx    -1
-pin_ser2_inv   -1
-pin_ser3_rx    -1
-pin_ser3_tx    -1
-pin_ser3_inv   -1
-pin_ser4_rx    -1
-pin_ser4_tx    -1
-pin_ser4_inv   -1
-pin_ser5_rx    -1
-pin_ser5_tx    -1
-pin_ser5_inv   -1
-pin_ser6_rx    -1
-pin_ser6_tx    -1
-pin_ser6_inv   -1
-pin_ser7_rx    -1
-pin_ser7_tx    -1
-pin_ser7_inv   -1
-
-// SPI Pins
-pin_spi0_miso  -1
-pin_spi0_mosi  -1
-pin_spi0_sclk  -1
-pin_spi1_miso  -1
-pin_spi1_mosi  -1
-pin_spi1_sclk  -1
-pin_spi2_miso  -1
-pin_spi2_mosi  -1
-pin_spi2_sclk  -1
-pin_spi3_miso  -1
-pin_spi3_mosi  -1
-pin_spi3_sclk  -1
-
-// I2C Pins
-pin_i2c0_sda   -1
-pin_i2c0_scl   -1
-pin_i2c1_sda   -1
-pin_i2c1_scl   -1
-pin_i2c2_sda   -1
-pin_i2c2_scl   -1
-pin_i2c3_sda   -1
-pin_i2c3_scl   -1
-
-// OUT Pins
-pin_out0       -1
-pin_out1       -1
-pin_out2       -1
-pin_out3       -1
-pin_out4       -1
-pin_out5       -1
-pin_out6       -1
-pin_out7       -1
-pin_out8       -1
-pin_out9       -1
-pin_out10      -1
-pin_out11      -1
-pin_out12      -1
-pin_out13      -1
-pin_out14      -1
-pin_out15      -1
-
-// Other Pins
-pin_bat_i      -1
-pin_bat_v      -1
-pin_bbx_cs     -1
-pin_imu_cs     -1
-pin_imu_int    -1
-pin_led        -1
-led_on       LOW_IS_ON
-pin_mmc_dat    -1
-pin_mmc_clk    -1
-pin_mmc_cmd    -1
-pin_rcl_ppm    -1
-
-// BUSSES
-
-// Serial Busses
-rcl_ser_bus    -1
-gps_ser_bus    -1
-rdr_ser_bus    -1
-
-// SPI Busses
-imu_spi_bus    -1
-bbx_spi_bus    -1
-
-// I2C Busses
-bar_i2c_bus    -1
-mag_i2c_bus    -1
-bat_i2c_bus    -1
-imu_i2c_bus    -1
-
-)"" // end of MADFLIGHT_BOARD */
-
 //========================================================================================================================//
 //                                               COMPILER OPTIONS                                                         //
 //========================================================================================================================//