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added ability to swap sensor axises dynamically. still needs a sane way to configire in CLI, though.

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adjusted all drivers for the new align stuff.
commented out default config setting values to zero - memset already did that.


git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@227 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop@gmail.com 2012-10-07 18:03:42 +00:00
parent 193902079c
commit 021b486916
8 changed files with 3184 additions and 3144 deletions
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45
src/sensors.c
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@ -152,6 +152,28 @@ void batteryInit(void)
batteryWarningVoltage = i * cfg.vbatmincellvoltage; // 3.3V per cell minimum, configurable in CLI
}
// ALIGN_GYRO = 0,
// ALIGN_ACCEL = 1,
// ALIGN_MAG = 2
static void alignSensors(uint8_t type, int16_t *data)
{
int i;
int16_t tmp[3];
// make a copy :(
tmp[0] = data[0];
tmp[1] = data[1];
tmp[2] = data[2];
for (i = 0; i < 3; i++) {
int8_t axis = cfg.align[type][i];
if (axis > 0)
data[axis - 1] = tmp[i];
else
data[-axis - 1] = -tmp[i];
}
}
static void ACC_Common(void)
{
static int32_t a[3];
@ -237,7 +259,11 @@ static void ACC_Common(void)
void ACC_getADC(void)
{
acc.read(accADC);
acc.align(accADC);
// if we have CUSTOM alignment configured, user is "assumed" to know what they're doing
if (cfg.align[ALIGN_ACCEL][0])
alignSensors(ALIGN_ACCEL, accADC);
else
acc.align(accADC);
ACC_Common();
}
@ -316,7 +342,11 @@ void Gyro_getADC(void)
{
// range: +/- 8192; +/- 2000 deg/sec
gyro.read(gyroADC);
gyro.align(gyroADC);
// if we have CUSTOM alignment configured, user is "assumed" to know what they're doing
if (cfg.align[ALIGN_GYRO][0])
alignSensors(ALIGN_GYRO, gyroADC);
else
gyro.align(gyroADC);
GYRO_Common();
}
@ -327,13 +357,14 @@ static uint8_t magInit = 0;
static void Mag_getRawADC(void)
{
static int16_t rawADC[3];
hmc5883lRead(rawADC);
hmc5883lRead(magADC);
// Default mag orientation is -2, -3, 1 or
// no way? is THIS finally the proper orientation?? (by GrootWitBaas)
magADC[ROLL] = rawADC[2]; // X
magADC[PITCH] = -rawADC[0]; // Y
magADC[YAW] = -rawADC[1]; // Z
// magADC[ROLL] = rawADC[2]; // X
// magADC[PITCH] = -rawADC[0]; // Y
// magADC[YAW] = -rawADC[1]; // Z
alignSensors(ALIGN_MAG, magADC);
}
void Mag_init(void)