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Add some const correctness to mag initialisation.

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See #582.
This commit is contained in:
Dominic Clifton 2015-03-04 09:04:59 +00:00
parent 3a35bfbabf
commit 3e73b3de53
3 changed files with 17 additions and 15 deletions
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4
src/main/drivers/compass_hmc5883l.c
View file

@ -113,9 +113,9 @@
static float magGain[3] = { 1.0f, 1.0f, 1.0f }; static float magGain[3] = { 1.0f, 1.0f, 1.0f };
static hmc5883Config_t *hmc5883Config = NULL; static const hmc5883Config_t *hmc5883Config = NULL;
bool hmc5883lDetect(mag_t* mag, hmc5883Config_t *hmc5883ConfigToUse) bool hmc5883lDetect(mag_t* mag, const hmc5883Config_t *hmc5883ConfigToUse)
{ {
bool ack = false; bool ack = false;
uint8_t sig = 0; uint8_t sig = 0;

2
src/main/drivers/compass_hmc5883l.h
View file

@ -28,6 +28,6 @@ typedef struct hmc5883Config_s {
GPIO_TypeDef *gpioPort; GPIO_TypeDef *gpioPort;
} hmc5883Config_t; } hmc5883Config_t;
bool hmc5883lDetect(mag_t* mag, hmc5883Config_t *hmc5883ConfigToUse); bool hmc5883lDetect(mag_t* mag, const hmc5883Config_t *hmc5883ConfigToUse);
void hmc5883lInit(void); void hmc5883lInit(void);
void hmc5883lRead(int16_t *magData); void hmc5883lRead(int16_t *magData);

26
src/main/sensors/initialisation.c
View file

@ -457,26 +457,28 @@ static void detectMag(magSensor_e magHardwareToUse)
magSensor_e magHardware; magSensor_e magHardware;
#ifdef USE_MAG_HMC5883 #ifdef USE_MAG_HMC5883
hmc5883Config_t *hmc5883Config = 0; const hmc5883Config_t *hmc5883Config = 0;
#ifdef NAZE #ifdef NAZE
static hmc5883Config_t nazeHmc5883Config; static const hmc5883Config_t nazeHmc5883Config_v1_v4 = {
.gpioAPB2Peripherals = RCC_APB2Periph_GPIOB,
.gpioPin = Pin_12,
.gpioPort = GPIOB
};
static const hmc5883Config_t nazeHmc5883Config_v5 = {
.gpioAPB2Peripherals = RCC_APB2Periph_GPIOC,
.gpioPin = Pin_14,
.gpioPort = GPIOC
};
if (hardwareRevision < NAZE32_REV5) { if (hardwareRevision < NAZE32_REV5) {
nazeHmc5883Config.gpioAPB2Peripherals = RCC_APB2Periph_GPIOB; hmc5883Config = &nazeHmc5883Config_v1_v4;
nazeHmc5883Config.gpioPin = Pin_12;
nazeHmc5883Config.gpioPort = GPIOB;
} else { } else {
nazeHmc5883Config.gpioAPB2Peripherals = RCC_APB2Periph_GPIOC; hmc5883Config = &nazeHmc5883Config_v5;
nazeHmc5883Config.gpioPin = Pin_14;
nazeHmc5883Config.gpioPort = GPIOC;
} }
hmc5883Config = &nazeHmc5883Config;
#endif #endif
#ifdef SPRACINGF3 #ifdef SPRACINGF3
static hmc5883Config_t spRacingF3Hmc5883Config = { static const hmc5883Config_t spRacingF3Hmc5883Config = {
.gpioAHBPeripherals = RCC_AHBPeriph_GPIOC, .gpioAHBPeripherals = RCC_AHBPeriph_GPIOC,
.gpioPin = Pin_14, .gpioPin = Pin_14,
.gpioPort = GPIOC .gpioPort = GPIOC