Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-19 06:15:16 +03:00
Code Issues Wiki Activity

Resolve upward inclusion

Browse source
This commit is contained in:
jflyper 2018-09-06 14:21:56 +09:00
parent 1217893676
commit 9caeceb2dd
4 changed files with 26 additions and 26 deletions
Download patch file Download diff file Expand all files Collapse all files

23
src/main/drivers/accgyro/accgyro.h
View file

@ -27,7 +27,7 @@
#include "drivers/bus.h" #include "drivers/bus.h"
#include "drivers/sensor.h" #include "drivers/sensor.h"
#include "drivers/accgyro/accgyro_mpu.h" #include "drivers/accgyro/accgyro_mpu.h"
#include "sensors/gyro.h"
#pragma GCC diagnostic push #pragma GCC diagnostic push
#if defined(SIMULATOR_BUILD) && defined(SIMULATOR_MULTITHREAD) #if defined(SIMULATOR_BUILD) && defined(SIMULATOR_MULTITHREAD)
#include <pthread.h> #include <pthread.h>
@ -39,6 +39,25 @@
#define MPU_I2C_INSTANCE I2C_DEVICE #define MPU_I2C_INSTANCE I2C_DEVICE
#endif #endif
typedef enum {
GYRO_NONE = 0,
GYRO_DEFAULT,
GYRO_MPU6050,
GYRO_L3G4200D,
GYRO_MPU3050,
GYRO_L3GD20,
GYRO_MPU6000,
GYRO_MPU6500,
GYRO_MPU9250,
GYRO_ICM20601,
GYRO_ICM20602,
GYRO_ICM20608G,
GYRO_ICM20649,
GYRO_ICM20689,
GYRO_BMI160,
GYRO_FAKE
} gyroHardware_e;
typedef enum { typedef enum {
GYRO_HARDWARE_LPF_NORMAL, GYRO_HARDWARE_LPF_NORMAL,
GYRO_HARDWARE_LPF_1KHZ_SAMPLE, GYRO_HARDWARE_LPF_1KHZ_SAMPLE,
@ -88,7 +107,7 @@ typedef struct gyroDev_s {
uint8_t mpuDividerDrops; uint8_t mpuDividerDrops;
ioTag_t mpuIntExtiTag; ioTag_t mpuIntExtiTag;
uint8_t gyroHasOverflowProtection; uint8_t gyroHasOverflowProtection;
gyroSensor_e gyroHardware; gyroHardware_e gyroHardware;
} gyroDev_t; } gyroDev_t;
typedef struct accDev_s { typedef struct accDev_s {

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

@ -267,9 +267,9 @@ const mpuDetectionResult_t *gyroMpuDetectionResult(void)
#endif #endif
} }
STATIC_UNIT_TESTED gyroSensor_e gyroDetect(gyroDev_t *dev) STATIC_UNIT_TESTED gyroHardware_e gyroDetect(gyroDev_t *dev)
{ {
gyroSensor_e gyroHardware = GYRO_DEFAULT; gyroHardware_e gyroHardware = GYRO_DEFAULT;
switch (gyroHardware) { switch (gyroHardware) {
case GYRO_DEFAULT: case GYRO_DEFAULT:
@ -450,7 +450,7 @@ static bool gyroInitSensor(gyroSensor_t *gyroSensor)
mpuResetFn = gyroSensor->gyroDev.mpuConfiguration.resetFn; // must be set after mpuDetect mpuResetFn = gyroSensor->gyroDev.mpuConfiguration.resetFn; // must be set after mpuDetect
#endif #endif
const gyroSensor_e gyroHardware = gyroDetect(&gyroSensor->gyroDev); const gyroHardware_e gyroHardware = gyroDetect(&gyroSensor->gyroDev);
gyroSensor->gyroDev.gyroHardware = gyroHardware; gyroSensor->gyroDev.gyroHardware = gyroHardware;
if (gyroHardware == GYRO_NONE) { if (gyroHardware == GYRO_NONE) {
return false; return false;

19
src/main/sensors/gyro.h
View file

@ -29,25 +29,6 @@
#include "pg/pg.h" #include "pg/pg.h"
typedef enum {
GYRO_NONE = 0,
GYRO_DEFAULT,
GYRO_MPU6050,
GYRO_L3G4200D,
GYRO_MPU3050,
GYRO_L3GD20,
GYRO_MPU6000,
GYRO_MPU6500,
GYRO_MPU9250,
GYRO_ICM20601,
GYRO_ICM20602,
GYRO_ICM20608G,
GYRO_ICM20649,
GYRO_ICM20689,
GYRO_BMI160,
GYRO_FAKE
} gyroSensor_e;
typedef struct gyro_s { typedef struct gyro_s {
uint32_t targetLooptime; uint32_t targetLooptime;
float gyroADCf[XYZ_AXIS_COUNT]; float gyroADCf[XYZ_AXIS_COUNT];

4
src/test/unit/sensor_gyro_unittest.cc
View file

@ -40,7 +40,7 @@ extern "C" {
#include "sensors/acceleration.h" #include "sensors/acceleration.h"
#include "sensors/sensors.h" #include "sensors/sensors.h"
STATIC_UNIT_TESTED gyroSensor_e gyroDetect(gyroDev_t *dev); STATIC_UNIT_TESTED gyroHardware_e gyroDetect(gyroDev_t *dev);
struct gyroSensor_s; struct gyroSensor_s;
STATIC_UNIT_TESTED void performGyroCalibration(struct gyroSensor_s *gyroSensor, uint8_t gyroMovementCalibrationThreshold); STATIC_UNIT_TESTED void performGyroCalibration(struct gyroSensor_s *gyroSensor, uint8_t gyroMovementCalibrationThreshold);
STATIC_UNIT_TESTED bool fakeGyroRead(gyroDev_t *gyro); STATIC_UNIT_TESTED bool fakeGyroRead(gyroDev_t *gyro);
@ -57,7 +57,7 @@ extern gyroDev_t * const gyroDevPtr;
TEST(SensorGyro, Detect) TEST(SensorGyro, Detect)
{ {
const gyroSensor_e detected = gyroDetect(gyroDevPtr); const gyroHardware_e detected = gyroDetect(gyroDevPtr);
EXPECT_EQ(GYRO_FAKE, detected); EXPECT_EQ(GYRO_FAKE, detected);
EXPECT_EQ(GYRO_FAKE, detectedSensors[SENSOR_INDEX_GYRO]); EXPECT_EQ(GYRO_FAKE, detectedSensors[SENSOR_INDEX_GYRO]);
} }