Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-19 22:35:23 +03:00
Code Issues Wiki Activity

cleanup code

Browse source
This commit is contained in:
borisbstyle 2016-02-17 14:57:42 +01:00
parent 66f7e52fad
commit 974274b748
4 changed files with 12 additions and 5 deletions
Download patch file Download diff file Expand all files Collapse all files

3
out.asm Normal file
View file

@ -0,0 +1,3 @@
obj/main/betaflight_NAZE.elf: file format elf32-little

6
src/main/sensors/acceleration.c
View file

@ -36,12 +36,10 @@
#include "sensors/acceleration.h" #include "sensors/acceleration.h"
int32_t accADC[XYZ_AXIS_COUNT]; int32_t accADC[XYZ_AXIS_COUNT];
int16_t accADCRaw[XYZ_AXIS_COUNT];
acc_t acc; // acc access functions acc_t acc; // acc access functions
sensor_align_e accAlign = 0; sensor_align_e accAlign = 0;
uint16_t acc_1G = 256; // this is the 1G measured acceleration. uint16_t acc_1G = 256; // this is the 1G measured acceleration.
int axis;
uint16_t calibratingA = 0; // the calibration is done is the main loop. Calibrating decreases at each cycle down to 0, then we enter in a normal mode. uint16_t calibratingA = 0; // the calibration is done is the main loop. Calibrating decreases at each cycle down to 0, then we enter in a normal mode.
@ -82,6 +80,7 @@ void resetRollAndPitchTrims(rollAndPitchTrims_t *rollAndPitchTrims)
void performAcclerationCalibration(rollAndPitchTrims_t *rollAndPitchTrims) void performAcclerationCalibration(rollAndPitchTrims_t *rollAndPitchTrims)
{ {
static int32_t a[3]; static int32_t a[3];
int axis;
for (axis = 0; axis < 3; axis++) { for (axis = 0; axis < 3; axis++) {
@ -173,6 +172,9 @@ void applyAccelerationTrims(flightDynamicsTrims_t *accelerationTrims)
void updateAccelerationReadings(rollAndPitchTrims_t *rollAndPitchTrims) void updateAccelerationReadings(rollAndPitchTrims_t *rollAndPitchTrims)
{ {
int16_t accADCRaw[XYZ_AXIS_COUNT];
int axis;
if (!acc.read(accADCRaw)) { if (!acc.read(accADCRaw)) {
return; return;
} }

2
src/main/sensors/compass.c
View file

@ -43,7 +43,6 @@ mag_t mag; // mag access functions
extern uint32_t currentTime; // FIXME dependency on global variable, pass it in instead. extern uint32_t currentTime; // FIXME dependency on global variable, pass it in instead.
int16_t magADCRaw[XYZ_AXIS_COUNT];
int32_t magADC[XYZ_AXIS_COUNT]; int32_t magADC[XYZ_AXIS_COUNT];
sensor_align_e magAlign = 0; sensor_align_e magAlign = 0;
#ifdef MAG #ifdef MAG
@ -65,6 +64,7 @@ void updateCompass(flightDynamicsTrims_t *magZero)
static uint32_t nextUpdateAt, tCal = 0; static uint32_t nextUpdateAt, tCal = 0;
static flightDynamicsTrims_t magZeroTempMin; static flightDynamicsTrims_t magZeroTempMin;
static flightDynamicsTrims_t magZeroTempMax; static flightDynamicsTrims_t magZeroTempMax;
int16_t magADCRaw[XYZ_AXIS_COUNT];
uint32_t axis; uint32_t axis;
if ((int32_t)(currentTime - nextUpdateAt) < 0) if ((int32_t)(currentTime - nextUpdateAt) < 0)

6
src/main/sensors/gyro.c
View file

@ -37,7 +37,6 @@
#include "sensors/gyro.h" #include "sensors/gyro.h"
uint16_t calibratingG = 0; uint16_t calibratingG = 0;
int16_t gyroADCRaw[XYZ_AXIS_COUNT];
int32_t gyroADC[XYZ_AXIS_COUNT]; int32_t gyroADC[XYZ_AXIS_COUNT];
int32_t gyroZero[FLIGHT_DYNAMICS_INDEX_COUNT] = { 0, 0, 0 }; int32_t gyroZero[FLIGHT_DYNAMICS_INDEX_COUNT] = { 0, 0, 0 };
@ -45,7 +44,6 @@ static gyroConfig_t *gyroConfig;
static biquad_t gyroFilterState[3]; static biquad_t gyroFilterState[3];
static bool gyroFilterStateIsSet; static bool gyroFilterStateIsSet;
static float gyroLpfCutFreq; static float gyroLpfCutFreq;
int axis;
gyro_t gyro; // gyro access functions gyro_t gyro; // gyro access functions
sensor_align_e gyroAlign = 0; sensor_align_e gyroAlign = 0;
@ -57,6 +55,7 @@ void useGyroConfig(gyroConfig_t *gyroConfigToUse, float gyro_lpf_hz)
} }
void initGyroFilterCoefficients(void) { void initGyroFilterCoefficients(void) {
int axis;
if (gyroLpfCutFreq && targetLooptime) { /* Initialisation needs to happen once samplingrate is known */ if (gyroLpfCutFreq && targetLooptime) { /* Initialisation needs to happen once samplingrate is known */
for (axis = 0; axis < 3; axis++) BiQuadNewLpf(gyroLpfCutFreq, &gyroFilterState[axis], targetLooptime); for (axis = 0; axis < 3; axis++) BiQuadNewLpf(gyroLpfCutFreq, &gyroFilterState[axis], targetLooptime);
gyroFilterStateIsSet = true; gyroFilterStateIsSet = true;
@ -133,6 +132,9 @@ static void applyGyroZero(void)
void gyroUpdate(void) void gyroUpdate(void)
{ {
int16_t gyroADCRaw[XYZ_AXIS_COUNT];
int axis;
// range: +/- 8192; +/- 2000 deg/sec // range: +/- 8192; +/- 2000 deg/sec
if (!gyro.read(gyroADCRaw)) { if (!gyro.read(gyroADCRaw)) {
return; return;