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Code Issues Wiki Activity

Refactored arbitrary gyro and mag alignment.

Browse source 
The original implementation:

* removed the old 'alignment' variable
* did not require 'ALIGN_CUSTOM'
* always used rotation matrix
* had no additional per-pid-loop conditional logic.

Extract currently unused code into tests.
In preparation for either deleting or re-using in validateAndFixConfig.

Fix code style of some old boardalignment code.

De-duplicate vector rotation code.

Now that rotation code is exacted from `alignBoard` and now  doesn't use
`boardRotation` some if it was similar to the code in `rotateV` in
maths.c

Use DECIDEGREES for mag and gyro/acc custom alignments.

Use unnamed structure instead of `values`.

Redefine what 'custom' orientation means.

Move alignment test-only code into the tests.

Ensure gyro/mag custom alignment settings follow the enum variations.

This can't be applied to ALIGN_DEFAULT because, in the case of the MAG,
the default isn't actually known until the gyro is detected, see
`compassDetect`.

OMNIBUSF4/F7 - Don't use ALIGN_DEFAULT in target.h,
common_defaults_post.h does this now.

Comment cleanup.

Delete unused alignment code left from various tests/refactoring
efforts.

* Please do not squash this commit.

Fix SITL build by avoiding structure assignment with anonymous inner
struct.

The error from the build server was as follows:

```./src/main/common/sensor_alignment.c:49:5: error: missing initializer
for field ‘yaw’ of ‘struct <anonymous>’
[-Werror=missing-field-initializers]
     *sensorAlignment = CUSTOM_ALIGN_CW0_DEG;
     ^
In file included from ./src/main/common/sensor_alignment.c:27:0:
./src/main/common/sensor_alignment.h:80:17: note: ‘yaw’ declared here
         int16_t yaw;
                 ^
```

Cleanup sensor_alignment API.
This commit is contained in:
Dominic Clifton 2019-06-26 00:12:51 +02:00 • committed by mikeller
parent 494b559277
commit 980df1536f
27 changed files with 558 additions and 139 deletions
Download patch file Download diff file Expand all files Collapse all files

21
src/main/pg/gyrodev.c
View file

@ -23,6 +23,8 @@
#include "platform.h"
#include "common/sensor_alignment.h"
#include "pg/pg.h"
#include "pg/pg_ids.h"
#include "pg/gyrodev.h"
@ -36,30 +38,31 @@
ioTag_t selectMPUIntExtiConfigByHardwareRevision(void); // XXX Should be gone
#if defined(USE_SPI_GYRO) || defined(USE_I2C_GYRO)
static void gyroResetCommonDeviceConfig(gyroDeviceConfig_t *devconf, ioTag_t extiTag, uint8_t align)
static void gyroResetCommonDeviceConfig(gyroDeviceConfig_t *devconf, ioTag_t extiTag, uint8_t alignment, sensorAlignment_t customAlignment)
{
devconf->extiTag = extiTag;
devconf->align = align;
devconf->alignment = alignment;
devconf->customAlignment = customAlignment;
}
#endif
#ifdef USE_SPI_GYRO
static void gyroResetSpiDeviceConfig(gyroDeviceConfig_t *devconf, SPI_TypeDef *instance, ioTag_t csnTag, ioTag_t extiTag, uint8_t align)
static void gyroResetSpiDeviceConfig(gyroDeviceConfig_t *devconf, SPI_TypeDef *instance, ioTag_t csnTag, ioTag_t extiTag, uint8_t alignment, sensorAlignment_t customAlignment)
{
devconf->bustype = BUSTYPE_SPI;
devconf->spiBus = SPI_DEV_TO_CFG(spiDeviceByInstance(instance));
devconf->csnTag = csnTag;
gyroResetCommonDeviceConfig(devconf, extiTag, align);
gyroResetCommonDeviceConfig(devconf, extiTag, alignment, customAlignment);
}
#endif
#if defined(USE_I2C_GYRO) && !defined(USE_MULTI_GYRO)
static void gyroResetI2cDeviceConfig(gyroDeviceConfig_t *devconf, I2CDevice i2cbus, ioTag_t extiTag, uint8_t align)
static void gyroResetI2cDeviceConfig(gyroDeviceConfig_t *devconf, I2CDevice i2cbus, ioTag_t extiTag, uint8_t alignment, sensorAlignment_t customAlignment)
{
devconf->bustype = BUSTYPE_I2C;
devconf->i2cBus = I2C_DEV_TO_CFG(i2cbus);
devconf->i2cAddress = GYRO_I2C_ADDRESS;
gyroResetCommonDeviceConfig(devconf, extiTag, align);
gyroResetCommonDeviceConfig(devconf, extiTag, alignment, customAlignment);
}
#endif
@ -71,17 +74,17 @@ void pgResetFn_gyroDeviceConfig(gyroDeviceConfig_t *devconf)
// All multi-gyro boards use SPI based gyros.
#ifdef USE_SPI_GYRO
gyroResetSpiDeviceConfig(&devconf[0], GYRO_1_SPI_INSTANCE, IO_TAG(GYRO_1_CS_PIN), IO_TAG(GYRO_1_EXTI_PIN), GYRO_1_ALIGN);
gyroResetSpiDeviceConfig(&devconf[0], GYRO_1_SPI_INSTANCE, IO_TAG(GYRO_1_CS_PIN), IO_TAG(GYRO_1_EXTI_PIN), GYRO_1_ALIGN, GYRO_1_CUSTOM_ALIGN);
#ifdef USE_MULTI_GYRO
devconf[1].index = 1;
gyroResetSpiDeviceConfig(&devconf[1], GYRO_2_SPI_INSTANCE, IO_TAG(GYRO_2_CS_PIN), IO_TAG(GYRO_2_EXTI_PIN), GYRO_2_ALIGN);
gyroResetSpiDeviceConfig(&devconf[1], GYRO_2_SPI_INSTANCE, IO_TAG(GYRO_2_CS_PIN), IO_TAG(GYRO_2_EXTI_PIN), GYRO_2_ALIGN, GYRO_2_CUSTOM_ALIGN);
#endif
#endif
// I2C gyros appear as a sole gyro in single gyro boards.
#if defined(USE_I2C_GYRO) && !defined(USE_MULTI_GYRO)
devconf[0].i2cBus = I2C_DEV_TO_CFG(I2CINVALID); // XXX Not required?
gyroResetI2cDeviceConfig(&devconf[0], I2C_DEVICE, IO_TAG(GYRO_1_EXTI_PIN), GYRO_1_ALIGN);
gyroResetI2cDeviceConfig(&devconf[0], I2C_DEVICE, IO_TAG(GYRO_1_EXTI_PIN), GYRO_1_ALIGN, GYRO_1_CUSTOM_ALIGN);
#endif
// Special treatment for very rare F3 targets with variants having either I2C or SPI acc/gyro chip; mark it for run time detection.