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cleanup of sensor readings and sensor driver API reorganization part 1

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documented L3G4200D driver why 0x28 read was suddenly turning into 0xA8
removed old wiimotion averaging cruft from computeIMU
NOT FLIGHT TESTED

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@403 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop@gmail.com 2013-09-19 11:20:53 +00:00
parent 6d3467c759
commit 14893afb32
10 changed files with 75 additions and 63 deletions
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28
src/board.h
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@ -32,7 +32,6 @@
#define min(a, b) ((a) < (b) ? (a) : (b))
#define max(a, b) ((a) > (b) ? (a) : (b))
#define abs(x) ((x) > 0 ? (x) : -(x))
#define constrain(amt, low, high) ((amt) < (low) ? (low) : ((amt) > (high) ? (high) : (amt)))
// Chip Unique ID on F103
#define U_ID_0 (*(uint32_t*)0x1FFFF7E8)
@ -40,11 +39,12 @@
#define U_ID_2 (*(uint32_t*)0x1FFFF7F0)
typedef enum {
SENSOR_ACC = 1 << 0,
SENSOR_BARO = 1 << 1,
SENSOR_MAG = 1 << 2,
SENSOR_SONAR = 1 << 3,
SENSOR_GPS = 1 << 4,
SENSOR_GYRO = 1 << 0, // always present
SENSOR_ACC = 1 << 1,
SENSOR_BARO = 1 << 2,
SENSOR_MAG = 1 << 3,
SENSOR_SONAR = 1 << 4,
SENSOR_GPS = 1 << 5,
} AvailableSensors;
// Type of accelerometer used/detected
@ -98,12 +98,20 @@ typedef enum {
CW270_DEG_FLIP = 8
} sensor_align_e;
enum {
GYRO_UPDATED = 0,
ACC_UPDATED,
MAG_UPDATED,
TEMP_UPDATED
};
typedef struct sensor_data_t
{
int16_t x;
int16_t y;
int16_t z;
int16_t gyro[3];
int16_t acc[3];
int16_t mag[3];
float temperature;
int updated;
} sensor_data_t;
typedef void (* sensorInitFuncPtr)(sensor_align_e align); // sensor init prototype
@ -207,6 +215,8 @@ typedef struct baro_t
#undef SOFT_I2C // enable to test software i2c
#include "utils.h"
#ifdef FY90Q
// FY90Q
#include "drv_adc.h"