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Remove mpu6050_scale from core_t by providing a sensor independent way

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of determining a revision code.  Previously there was mpu6050 specific
code in cli.c (the status command).

Finally this commit has removed all non-serial port configuration
settings from core_t so that a future commit can refactor core_t to
reduce dependencies on serial port code.

In doing this I also noted from other source code that the MPU6050
accelerometer trim for some revisions appeared to be incorrectly set to
255 * 8 instead of 256 * 8.
This commit is contained in:
Dominic Clifton 2014-04-18 23:30:48 +01:00
parent 94c0f87c45
commit 2baf385b99
16 changed files with 59 additions and 29 deletions
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18
src/sensors_initialisation.c
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@ -2,6 +2,10 @@
#include "mw.h"
#include "sensors_acceleration.h"
#include "sensors_barometer.h"
#include "sensors_gyro.h"
#include "sensors_common.h"
uint16_t calibratingB = 0; // baro calibration = get new ground pressure value
uint16_t calibratingG = 0;
@ -12,15 +16,12 @@ extern uint16_t batteryWarningVoltage;
extern uint8_t batteryCellCount;
extern float magneticDeclination;
sensor_t acc; // acc access functions
sensor_t gyro; // gyro access functions
baro_t baro; // barometer access functions
uint8_t accHardware = ACC_DEFAULT; // which accel chip is used/detected
#ifdef FY90Q
// FY90Q analog gyro/acc
void sensorsAutodetect(void)
{
memset(&acc, sizeof(acc), 0);
memset(&gyro, sizeof(gyro), 0);
adcSensorInit(&acc, &gyro);
}
#else
@ -31,8 +32,11 @@ void sensorsAutodetect(void)
drv_adxl345_config_t acc_params;
bool haveMpu6k = false;
memset(&acc, sizeof(acc), 0);
memset(&gyro, sizeof(gyro), 0);
// Autodetect gyro hardware. We have MPU3050 or MPU6050.
if (mpu6050Detect(&acc, &gyro, mcfg.gyro_lpf, &core.mpu6050_scale)) {
if (mpu6050Detect(&acc, &gyro, mcfg.gyro_lpf)) {
// this filled up acc.* struct with init values
haveMpu6k = true;
} else if (l3g4200dDetect(&gyro, mcfg.gyro_lpf)) {
@ -60,7 +64,7 @@ retry:
; // fallthrough
case ACC_MPU6050: // MPU6050
if (haveMpu6k) {
mpu6050Detect(&acc, &gyro, mcfg.gyro_lpf, &core.mpu6050_scale); // yes, i'm rerunning it again. re-fill acc struct
mpu6050Detect(&acc, &gyro, mcfg.gyro_lpf); // yes, i'm rerunning it again. re-fill acc struct
accHardware = ACC_MPU6050;
if (mcfg.acc_hardware == ACC_MPU6050)
break;