Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-23 16:25:31 +03:00
Code Issues Wiki Activity

beginnings of the great sensor orientation unfucking. WORK IN PROGRESS DO NOT FLY.

Browse source 
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@397 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop@gmail.com 2013-09-14 12:27:26 +00:00
parent edb0ef01b7
commit 1cc306493b
15 changed files with 213 additions and 747 deletions
Download patch file Download diff file Expand all files Collapse all files

39
src/board.h
View file

@ -53,6 +53,7 @@ typedef enum AccelSensors {
ACC_ADXL345 = 1,
ACC_MPU6050 = 2,
ACC_MMA8452 = 3,
ACC_NONE = 4
} AccelSensors;
typedef enum {
@ -79,8 +80,35 @@ typedef enum {
GPS_MTK,
} GPSHardware;
typedef void (* sensorInitFuncPtr)(void); // sensor init prototype
typedef enum {
X = 0,
Y,
Z
} sensor_axis_e;
typedef enum {
ALIGN_DEFAULT = 0, // driver-provided alignment
CW0_DEG = 1,
CW90_DEG = 2,
CW180_DEG = 3,
CW270_DEG = 4,
CW0_DEG_FLIP = 5,
CW90_DEG_FLIP = 6,
CW180_DEG_FLIP = 7,
CW270_DEG_FLIP = 8
} sensor_align_e;
typedef struct sensor_data_t
{
int16_t x;
int16_t y;
int16_t z;
float temperature;
} sensor_data_t;
typedef void (* sensorInitFuncPtr)(sensor_align_e align); // sensor init prototype
typedef void (* sensorReadFuncPtr)(int16_t *data); // sensor read and align prototype
typedef void (* baroOpFuncPtr)(void); // baro start operation
typedef void (* baroCalculateFuncPtr)(int32_t *pressure, int32_t *temperature); // baro calculation (filled params are pressure and temperature)
typedef void (* uartReceiveCallbackPtr)(uint16_t data); // used by uart2 driver to return frames to app
typedef uint16_t (* rcReadRawDataPtr)(uint8_t chan); // used by receiver driver to return channel data
@ -90,7 +118,6 @@ typedef struct sensor_t
{
sensorInitFuncPtr init; // initialize function
sensorReadFuncPtr read; // read 3 axis data function
sensorReadFuncPtr align; // sensor align
sensorReadFuncPtr temperature; // read temperature if available
float scale; // scalefactor (currently used for gyro only, todo for accel)
} sensor_t;
@ -99,10 +126,10 @@ typedef struct baro_t
{
uint16_t ut_delay;
uint16_t up_delay;
sensorInitFuncPtr start_ut;
sensorInitFuncPtr get_ut;
sensorInitFuncPtr start_up;
sensorInitFuncPtr get_up;
baroOpFuncPtr start_ut;
baroOpFuncPtr get_ut;
baroOpFuncPtr start_up;
baroOpFuncPtr get_up;
baroCalculateFuncPtr calculate;
} baro_t;