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Decouple sensor alignment from all acc/gyro/mag drivers.

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This resulted in the removal of duplicate logic, duplicate code and the
removal of a temporary buffer per-driver.

The NAZE specific sensor alignment is now contained within the core code
instead of in the drivers.
The sensor alignment is determines by the sensor initialisation code.
The alignment of sensor readings is now performed once and only by the
appropriate sensor code, see usages of alignSensors().

The acc/gyro/compass driver code is now more reusable since it has no
dependencies on the main code.
This commit is contained in:
Dominic Clifton 2014-04-21 14:14:14 +01:00
parent 0f3e4add48
commit 297609d4c3
18 changed files with 124 additions and 185 deletions
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2
src/sensors_gyro.c
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@ -9,6 +9,7 @@
uint16_t calibratingG = 0;
uint16_t acc_1G = 256; // this is the 1G measured acceleration.
gyro_t gyro; // gyro access functions
sensor_align_e gyroAlign = 0;
void GYRO_Common(void)
{
@ -54,5 +55,6 @@ void Gyro_getADC(void)
{
// range: +/- 8192; +/- 2000 deg/sec
gyro.read(gyroADC);
alignSensors(gyroADC, gyroADC, gyroAlign);
GYRO_Common();
}