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Removing final dependency on board.h.

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board.h is no-longer required.
This commit is contained in:
Dominic Clifton 2014-04-24 02:12:47 +01:00
parent cb63f6e2b5
commit 92f74ac0c2
9 changed files with 83 additions and 199 deletions
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86
src/board.h
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@ -1,86 +0,0 @@
/*
* This file is deprecated. All this code belongs elsewhere - create appropriate headers and include them.
*/
#pragma once
#include <stdbool.h>
#include <stdlib.h>
#include <stdint.h>
#define __USE_C99_MATH // for roundf()
#include <math.h>
#include <ctype.h>
#include <string.h>
#include <stdio.h>
#include "platform.h"
#include "common/axis.h"
#include "sensors_common.h"
#include "drivers/accgyro_common.h"
#include "drivers/gpio_common.h"
#include "drivers/system_common.h"
#include "drivers/barometer_common.h"
#include "sensors_common.h"
#include "platform.h"
#include "drivers/light_led.h"
#include "drivers/sound_beeper.h"
#include "boardalignment.h"
#include "battery.h"
#ifdef FY90Q
// FY90Q
#include "drivers/accgyro_fy90q.h"
#include "drivers/adc_common.h"
#include "drivers/adc_fy90q.h"
#include "drivers/bus_i2c.h"
#include "drivers/bus_spi.h"
#include "drivers/pwm_common.h"
#include "drivers/timer_common.h"
#include "drivers/serial_common.h"
#include "drivers/serial_uart.h"
#else
#ifdef OLIMEXINO
// OLIMEXINO
#include "drivers/adc_common.h"
#include "drivers/bus_i2c.h"
#include "drivers/bus_spi.h"
#include "drivers/accgyro_adxl345.h"
#include "drivers/accgyro_mpu3050.h"
#include "drivers/accgyro_mpu6050.h"
#include "drivers/accgyro_l3g4200d.h"
#include "drivers/pwm_common.h"
#include "drivers/timer_common.h"
#include "drivers/serial_common.h"
#include "drivers/serial_uart.h"
#include "drivers/serial_softserial.h"
#else
// AfroFlight32
#include "drivers/adc_common.h"
#include "drivers/accgyro_adxl345.h"
#include "drivers/accgyro_bma280.h"
#include "drivers/barometer_bmp085.h"
#include "drivers/barometer_ms5611.h"
#include "drivers/compass_hmc5883l.h"
#include "drivers/bus_i2c.h"
#include "drivers/bus_spi.h"
#include "drivers/light_ledring.h"
#include "drivers/accgyro_mma845x.h"
#include "drivers/accgyro_mpu3050.h"
#include "drivers/accgyro_mpu6050.h"
#include "drivers/accgyro_l3g4200d.h"
#include "drivers/pwm_common.h"
#include "drivers/timer_common.h"
#include "drivers/serial_common.h"
#include "drivers/serial_uart.h"
#include "drivers/serial_softserial.h"
#include "drivers/sonar_hcsr04.h"
#endif
#endif

8
src/flight_imu.h Normal file
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@ -0,0 +1,8 @@
#pragma once
extern int32_t errorAltitudeI;
extern int32_t BaroPID;
extern int16_t throttleAngleCorrection;
int getEstimatedAltitude(void);
void computeIMU(void);

3
src/flight_mixer.h
View file

@ -81,6 +81,9 @@ void mixerInit(MultiType mixerConfiguration, motorMixer_t *customMixers);
void writeAllMotors(int16_t mc);
void mixerLoadMix(int index, motorMixer_t *customMixers);
void mixerResetMotors(void);
void mixTable(void);
void writeServos(void);
void writeMotors(void);
// from mixer.c
extern int16_t motor_disarmed[MAX_SUPPORTED_MOTORS];

87
src/mw.c
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@ -1,28 +1,60 @@
#include "board.h"
#include "mw.h"
#include <stdbool.h>
#include <stdlib.h>
#include <stdint.h>
#include <math.h>
#include "platform.h"
#include "common/maths.h"
#include "common/typeconversion.h"
#include "common/axis.h"
#include "drivers/accgyro_common.h"
#include "drivers/light_ledring.h"
#include "drivers/light_led.h"
#include "drivers/gpio_common.h"
#include "drivers/system_common.h"
#include "drivers/serial_common.h"
#include "boardalignment.h"
#include "battery.h"
#include "buzzer.h"
#include "sensors_sonar.h"
#include "sensors_gyro.h"
#include "sensors_compass.h"
#include "sensors_barometer.h"
#include "sensors_acceleration.h"
#include "flight_common.h"
#include "serial_cli.h"
#include "telemetry_common.h"
#include "gps_common.h"
#include "rx_common.h"
#include "rx_sbus.h"
#include "rx_sumd.h"
#include "rx_spektrum.h"
#include "escservo.h"
#include "failsafe.h"
#include "flight_imu.h"
#include "flight_common.h"
#include "flight_mixer.h"
#include "gimbal.h"
#include "gps_common.h"
#include "sensors_common.h"
#include "sensors_sonar.h"
#include "sensors_compass.h"
#include "sensors_acceleration.h"
#include "sensors_barometer.h"
#include "sensors_gyro.h"
#include "serial_cli.h"
#include "serial_common.h"
#include "statusindicator.h"
#include "rc_controls.h"
#include "rc_curves.h"
#include "rx_common.h"
#include "telemetry_common.h"
#include "runtime_config.h"
#include "config.h"
#include "config_profile.h"
#include "config_master.h"
// June 2013 V2.2-dev
enum {
ALIGN_GYRO = 0,
ALIGN_ACCEL = 1,
ALIGN_MAG = 2
};
/* for VBAT monitoring frequency */
#define VBATFREQ 6 // to read battery voltage - nth number of loop iterations
int16_t debug[4];
uint32_t currentTime = 0;
uint32_t previousTime = 0;
@ -125,7 +157,7 @@ void annexCode(void)
buzzer(batteryWarningEnabled); // external buzzer routine that handles buzzer events globally now
if ((calibratingA > 0 && sensors(SENSOR_ACC)) || (calibratingG > 0)) { // Calibration phasis
if ((!isAccelerationCalibrationComplete() && sensors(SENSOR_ACC)) || (!isGyroCalibrationComplete())) { // Calibration phasis
LED0_TOGGLE;
} else {
if (f.ACC_CALIBRATED)
@ -177,7 +209,7 @@ void annexCode(void)
static void mwArm(void)
{
if (calibratingG == 0 && f.ACC_CALIBRATED) {
if (isGyroCalibrationComplete() && f.ACC_CALIBRATED) {
// TODO: feature(FEATURE_FAILSAFE) && failsafeCnt < 2
// TODO: && ( !feature || ( feature && ( failsafecnt > 2) )
if (!f.ARMED) { // arm now!
@ -211,18 +243,7 @@ void loop(void)
// calculate rc stuff from serial-based receivers (spek/sbus)
if (feature(FEATURE_SERIALRX)) {
switch (masterConfig.rxConfig.serialrx_type) {
case SERIALRX_SPEKTRUM1024:
case SERIALRX_SPEKTRUM2048:
rcReady = spektrumFrameComplete();
break;
case SERIALRX_SBUS:
rcReady = sbusFrameComplete();
break;
case SERIALRX_SUMD:
rcReady = sumdFrameComplete();
break;
}
rcReady = isSerialRxFrameComplete(&masterConfig.rxConfig);
}
if (((int32_t)(currentTime - rcTime) >= 0) || rcReady) { // 50Hz or data driven
@ -292,11 +313,13 @@ void loop(void)
i = 0;
// GYRO calibration
if (rcSticks == THR_LO + YAW_LO + PIT_LO + ROL_CE) {
calibratingG = CALIBRATING_GYRO_CYCLES;
gyroSetCalibrationCycles(CALIBRATING_GYRO_CYCLES);
if (feature(FEATURE_GPS))
GPS_reset_home_position();
#ifdef BARO
if (sensors(SENSOR_BARO))
calibratingB = 10; // calibrate baro to new ground level (10 * 25 ms = ~250 ms non blocking)
baroSetCalibrationCycles(10); // calibrate baro to new ground level (10 * 25 ms = ~250 ms non blocking)
#endif
if (!sensors(SENSOR_MAG))
heading = 0; // reset heading to zero after gyro calibration
// Inflight ACC Calibration

79
src/mw.h
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@ -1,79 +0,0 @@
#pragma once
#include "rc_controls.h"
#include "escservo.h"
#include "rc_curves.h"
#include "runtime_config.h"
#include "flight_common.h"
#include "failsafe.h"
/* for VBAT monitoring frequency */
#define VBATFREQ 6 // to read battery voltage - nth number of loop iterations
#include "gimbal.h"
#include "flight_mixer.h"
enum {
ALIGN_GYRO = 0,
ALIGN_ACCEL = 1,
ALIGN_MAG = 2
};
#include "sensors_barometer.h"
#include "sensors_gyro.h"
#include "serial_common.h"
#include "rx_common.h"
#include "gps_common.h"
#include "telemetry_common.h"
#include "config.h"
#include "config_profile.h"
#include "config_master.h"
extern int16_t debug[4];
extern uint16_t acc_1G;
extern uint32_t accTimeSum;
extern int accSumCount;
extern uint32_t currentTime;
extern uint16_t cycleTime;
extern uint16_t calibratingA;
extern uint16_t calibratingB;
extern uint16_t calibratingG;
extern int16_t heading;
extern int32_t baroPressure;
extern int32_t baroTemperature;
extern uint32_t baroPressureSum;
extern int32_t BaroAlt;
extern int32_t sonarAlt;
extern int32_t EstAlt;
extern int32_t AltHold;
extern int32_t errorAltitudeI;
extern int32_t BaroPID;
extern int32_t vario;
extern int16_t throttleAngleCorrection;
extern int16_t headFreeModeHold;
extern int16_t motor[MAX_SUPPORTED_MOTORS];
extern int16_t servo[MAX_SUPPORTED_SERVOS];
extern uint16_t rssi; // range: [0;1023]
extern int16_t telemTemperature1; // gyro sensor temperature
extern uint8_t toggleBeep;
extern flags_t f;
// IMU
void annexCode(void);
void computeIMU(void);
int getEstimatedAltitude(void);
// Output
void mixerResetMotors(void);
void writeServos(void);
void writeMotors(void);
void writeAllMotors(int16_t mc);
void mixTable(void);
// buzzer
void buzzer(bool warn_vbat);
void systemBeep(bool onoff);
// cli
void cliProcess(void);

14
src/rx_common.c
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@ -65,6 +65,20 @@ void serialRxInit(rxConfig_t *rxConfig, failsafe_t *failsafe)
}
}
bool isSerialRxFrameComplete(rxConfig_t *rxConfig)
{
switch (rxConfig->serialrx_type) {
case SERIALRX_SPEKTRUM1024:
case SERIALRX_SPEKTRUM2048:
return spektrumFrameComplete();
case SERIALRX_SBUS:
return sbusFrameComplete();
case SERIALRX_SUMD:
return sumdFrameComplete();
}
return false;
}
void computeRC(rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig)
{
uint8_t chan;

2
src/rx_common.h
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@ -41,4 +41,4 @@ typedef uint16_t (* rcReadRawDataPtr)(rxConfig_t *rxConfig, rxRuntimeConfig_t *r
void computeRC(rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig);
void parseRcChannels(const char *input, rxConfig_t *rxConfig);
bool isSerialRxFrameComplete(rxConfig_t *rxConfig);

2
src/sensors_acceleration.h
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@ -13,8 +13,8 @@ typedef enum AccelSensors {
extern uint8_t accHardware;
extern sensor_align_e accAlign;
extern acc_t acc;
extern uint16_t calibratingA;
bool isAccelerationCalibrationComplete(void);
void accSetCalibrationCycles(uint16_t calibrationCyclesRequired);
void updateAccelerationReadings(rollAndPitchTrims_t *rollAndPitchTrims);
void setAccelerationTrims(int16_flightDynamicsTrims_t *accelerationTrimsToUse);

1
src/sensors_gyro.h
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@ -11,4 +11,5 @@ typedef struct gyroConfig_s {
void useGyroConfig(gyroConfig_t *gyroConfigToUse);
void gyroSetCalibrationCycles(uint16_t calibrationCyclesRequired);
void gyroGetADC(void);
bool isGyroCalibrationComplete(void);