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de-duplicate failsafe code. extract failsafe code to seperate files.

Browse source 
remove dependency on board.h and mw.h on a few files.

Moved rx configuration paramaters into rxConfig in order to remove the
dependency on config_t from the sbus rx code  - sumd/spektrum to follow.

Avoided use of YAW/PITCH/ROLL in some files since those constants are
from an unrelated enum type.

Replaced some magic numbers with constants to remove comments and
improve code readability.

Note, due to the tight coupling and global variable usage it was
difficult to create a smaller commit.
This commit is contained in:
Dominic Clifton 2014-04-17 23:02:22 +01:00
parent d7eb416aa9
commit 0f02e12f40
26 changed files with 606 additions and 437 deletions
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50
src/sensors_acceleration.c
View file

@ -1,8 +1,10 @@
#include "board.h"
#include "mw.h"
#include "flight_common.h"
#include "mw.h"
uint16_t calibratingA = 0; // the calibration is done is the main loop. Calibrating decreases at each cycle down to 0, then we enter in a normal mode.
extern uint16_t InflightcalibratingA;
@ -29,11 +31,11 @@ void ACC_Common(void)
}
// Calculate average, shift Z down by acc_1G and store values in EEPROM at end of calibration
if (calibratingA == 1) {
mcfg.accZero[ROLL] = (a[ROLL] + (CALIBRATING_ACC_CYCLES / 2)) / CALIBRATING_ACC_CYCLES;
mcfg.accZero[PITCH] = (a[PITCH] + (CALIBRATING_ACC_CYCLES / 2)) / CALIBRATING_ACC_CYCLES;
mcfg.accZero[YAW] = (a[YAW] + (CALIBRATING_ACC_CYCLES / 2)) / CALIBRATING_ACC_CYCLES - acc_1G;
cfg.angleTrim[ROLL] = 0;
cfg.angleTrim[PITCH] = 0;
mcfg.accZero[GI_ROLL] = (a[GI_ROLL] + (CALIBRATING_ACC_CYCLES / 2)) / CALIBRATING_ACC_CYCLES;
mcfg.accZero[GI_PITCH] = (a[GI_PITCH] + (CALIBRATING_ACC_CYCLES / 2)) / CALIBRATING_ACC_CYCLES;
mcfg.accZero[GI_YAW] = (a[GI_YAW] + (CALIBRATING_ACC_CYCLES / 2)) / CALIBRATING_ACC_CYCLES - acc_1G;
cfg.angleTrim[AI_ROLL] = 0;
cfg.angleTrim[AI_PITCH] = 0;
writeEEPROM(1, true); // write accZero in EEPROM
}
calibratingA--;
@ -45,11 +47,11 @@ void ACC_Common(void)
static int16_t angleTrim_saved[2] = { 0, 0 };
// Saving old zeropoints before measurement
if (InflightcalibratingA == 50) {
accZero_saved[ROLL] = mcfg.accZero[ROLL];
accZero_saved[PITCH] = mcfg.accZero[PITCH];
accZero_saved[YAW] = mcfg.accZero[YAW];
angleTrim_saved[ROLL] = cfg.angleTrim[ROLL];
angleTrim_saved[PITCH] = cfg.angleTrim[PITCH];
accZero_saved[GI_ROLL] = mcfg.accZero[GI_ROLL];
accZero_saved[GI_PITCH] = mcfg.accZero[GI_PITCH];
accZero_saved[GI_YAW] = mcfg.accZero[GI_YAW];
angleTrim_saved[AI_ROLL] = cfg.angleTrim[AI_ROLL];
angleTrim_saved[AI_PITCH] = cfg.angleTrim[AI_PITCH];
}
if (InflightcalibratingA > 0) {
for (axis = 0; axis < 3; axis++) {
@ -68,29 +70,29 @@ void ACC_Common(void)
AccInflightCalibrationMeasurementDone = true;
toggleBeep = 2; // buzzer for indicatiing the end of calibration
// recover saved values to maintain current flight behavior until new values are transferred
mcfg.accZero[ROLL] = accZero_saved[ROLL];
mcfg.accZero[PITCH] = accZero_saved[PITCH];
mcfg.accZero[YAW] = accZero_saved[YAW];
cfg.angleTrim[ROLL] = angleTrim_saved[ROLL];
cfg.angleTrim[PITCH] = angleTrim_saved[PITCH];
mcfg.accZero[GI_ROLL] = accZero_saved[GI_ROLL];
mcfg.accZero[GI_PITCH] = accZero_saved[GI_PITCH];
mcfg.accZero[GI_YAW] = accZero_saved[GI_YAW];
cfg.angleTrim[AI_ROLL] = angleTrim_saved[AI_ROLL];
cfg.angleTrim[AI_PITCH] = angleTrim_saved[AI_PITCH];
}
InflightcalibratingA--;
}
// Calculate average, shift Z down by acc_1G and store values in EEPROM at end of calibration
if (AccInflightCalibrationSavetoEEProm) { // the copter is landed, disarmed and the combo has been done again
AccInflightCalibrationSavetoEEProm = false;
mcfg.accZero[ROLL] = b[ROLL] / 50;
mcfg.accZero[PITCH] = b[PITCH] / 50;
mcfg.accZero[YAW] = b[YAW] / 50 - acc_1G; // for nunchuk 200=1G
cfg.angleTrim[ROLL] = 0;
cfg.angleTrim[PITCH] = 0;
mcfg.accZero[GI_ROLL] = b[GI_ROLL] / 50;
mcfg.accZero[GI_PITCH] = b[GI_PITCH] / 50;
mcfg.accZero[GI_YAW] = b[GI_YAW] / 50 - acc_1G; // for nunchuk 200=1G
cfg.angleTrim[AI_ROLL] = 0;
cfg.angleTrim[AI_PITCH] = 0;
writeEEPROM(1, true); // write accZero in EEPROM
}
}
accADC[ROLL] -= mcfg.accZero[ROLL];
accADC[PITCH] -= mcfg.accZero[PITCH];
accADC[YAW] -= mcfg.accZero[YAW];
accADC[GI_ROLL] -= mcfg.accZero[GI_ROLL];
accADC[GI_PITCH] -= mcfg.accZero[GI_PITCH];
accADC[GI_YAW] -= mcfg.accZero[GI_YAW];
}
void ACC_getADC(void)