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Code Issues Wiki Activity

Minor tidy of sensor code

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This commit is contained in:
Martin Budden 2016-06-28 22:00:23 +01:00
parent 2f10c77490
commit 9059254db6
7 changed files with 15 additions and 17 deletions
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2
src/main/drivers/accgyro_mpu6050.c
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@ -38,8 +38,6 @@
#include "accgyro_mpu.h" #include "accgyro_mpu.h"
#include "accgyro_mpu6050.h" #include "accgyro_mpu6050.h"
extern uint8_t mpuLowPassFilter;
//#define DEBUG_MPU_DATA_READY_INTERRUPT //#define DEBUG_MPU_DATA_READY_INTERRUPT
// MPU6050, Standard address 0x68 // MPU6050, Standard address 0x68

3
src/main/sensors/acceleration.h
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@ -29,10 +29,9 @@ typedef enum {
ACC_MPU6000 = 7, ACC_MPU6000 = 7,
ACC_MPU6500 = 8, ACC_MPU6500 = 8,
ACC_FAKE = 9, ACC_FAKE = 9,
ACC_MAX = ACC_FAKE
} accelerationSensor_e; } accelerationSensor_e;
#define ACC_MAX ACC_FAKE
extern sensor_align_e accAlign; extern sensor_align_e accAlign;
extern acc_t acc; extern acc_t acc;
extern uint32_t accTargetLooptime; extern uint32_t accTargetLooptime;

6
src/main/sensors/barometer.h
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@ -22,11 +22,11 @@ typedef enum {
BARO_NONE = 1, BARO_NONE = 1,
BARO_BMP085 = 2, BARO_BMP085 = 2,
BARO_MS5611 = 3, BARO_MS5611 = 3,
BARO_BMP280 = 4 BARO_BMP280 = 4,
BARO_MAX = BARO_BMP280
} baroSensor_e; } baroSensor_e;
#define BARO_SAMPLE_COUNT_MAX 48 #define BARO_SAMPLE_COUNT_MAX 48
#define BARO_MAX BARO_MS5611
typedef struct barometerConfig_s { typedef struct barometerConfig_s {
uint8_t baro_sample_count; // size of baro filter array uint8_t baro_sample_count; // size of baro filter array
@ -38,7 +38,6 @@ typedef struct barometerConfig_s {
extern int32_t BaroAlt; extern int32_t BaroAlt;
extern int32_t baroTemperature; // Use temperature for telemetry extern int32_t baroTemperature; // Use temperature for telemetry
#ifdef BARO
void useBarometerConfig(barometerConfig_t *barometerConfigToUse); void useBarometerConfig(barometerConfig_t *barometerConfigToUse);
bool isBaroCalibrationComplete(void); bool isBaroCalibrationComplete(void);
void baroSetCalibrationCycles(uint16_t calibrationCyclesRequired); void baroSetCalibrationCycles(uint16_t calibrationCyclesRequired);
@ -46,4 +45,3 @@ uint32_t baroUpdate(void);
bool isBaroReady(void); bool isBaroReady(void);
int32_t baroCalculateAltitude(void); int32_t baroCalculateAltitude(void);
void performBaroCalibrationCycle(void); void performBaroCalibrationCycle(void);
#endif

10
src/main/sensors/compass.h
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@ -23,15 +23,13 @@ typedef enum {
MAG_NONE = 1, MAG_NONE = 1,
MAG_HMC5883 = 2, MAG_HMC5883 = 2,
MAG_AK8975 = 3, MAG_AK8975 = 3,
MAG_AK8963 = 4 MAG_AK8963 = 4,
MAG_MAX = MAG_AK8963
} magSensor_e; } magSensor_e;
#define MAG_MAX MAG_AK8963
#ifdef MAG
void compassInit(void); void compassInit(void);
void updateCompass(flightDynamicsTrims_t *magZero); union flightDynamicsTrims_u;
#endif void updateCompass(union flightDynamicsTrims_u *magZero);
extern int32_t magADC[XYZ_AXIS_COUNT]; extern int32_t magADC[XYZ_AXIS_COUNT];

6
src/main/sensors/gyro.c
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@ -41,7 +41,7 @@ sensor_align_e gyroAlign = 0;
int32_t gyroADC[XYZ_AXIS_COUNT]; int32_t gyroADC[XYZ_AXIS_COUNT];
float gyroADCf[XYZ_AXIS_COUNT]; float gyroADCf[XYZ_AXIS_COUNT];
static int32_t gyroZero[FLIGHT_DYNAMICS_INDEX_COUNT] = { 0, 0, 0 }; static int32_t gyroZero[XYZ_AXIS_COUNT] = { 0, 0, 0 };
static const gyroConfig_t *gyroConfig; static const gyroConfig_t *gyroConfig;
static biquad_t gyroFilterState[XYZ_AXIS_COUNT]; static biquad_t gyroFilterState[XYZ_AXIS_COUNT];
static uint8_t gyroSoftLpfHz; static uint8_t gyroSoftLpfHz;
@ -160,5 +160,9 @@ void gyroUpdate(void)
gyroADCf[axis] = applyBiQuadFilter((float)gyroADC[axis], &gyroFilterState[axis]); gyroADCf[axis] = applyBiQuadFilter((float)gyroADC[axis], &gyroFilterState[axis]);
gyroADC[axis] = lrintf(gyroADCf[axis]); gyroADC[axis] = lrintf(gyroADCf[axis]);
} }
} else {
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
gyroADCf[axis] = gyroADC[axis];
}
} }
} }

3
src/main/sensors/gyro.h
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@ -27,7 +27,8 @@ typedef enum {
GYRO_MPU6000, GYRO_MPU6000,
GYRO_MPU6500, GYRO_MPU6500,
GYRO_MPU9250, GYRO_MPU9250,
GYRO_FAKE GYRO_FAKE,
GYRO_MAX = GYRO_FAKE
} gyroSensor_e; } gyroSensor_e;
extern gyro_t gyro; extern gyro_t gyro;

2
src/main/sensors/sensors.h
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@ -34,7 +34,7 @@ typedef struct int16_flightDynamicsTrims_s {
int16_t yaw; int16_t yaw;
} flightDynamicsTrims_def_t; } flightDynamicsTrims_def_t;
typedef union { typedef union flightDynamicsTrims_u {
int16_t raw[3]; int16_t raw[3];
flightDynamicsTrims_def_t values; flightDynamicsTrims_def_t values;
} flightDynamicsTrims_t; } flightDynamicsTrims_t;