From 9f26018abd96e1006d57087044f595f53d8b954a Mon Sep 17 00:00:00 2001 From: Dominic Clifton Date: Tue, 22 Apr 2014 02:43:39 +0100 Subject: [PATCH] Cleanup baro/mag/gyro/acc method names from old sensors.c --- src/flight_imu.c | 8 ++++---- src/main.c | 6 +++--- src/mw.c | 6 ++++-- src/mw.h | 7 ------- src/sensors_acceleration.c | 8 ++++---- src/sensors_acceleration.h | 6 +++--- src/sensors_barometer.c | 10 +++++----- src/sensors_barometer.h | 8 ++++---- src/sensors_compass.c | 4 ++-- src/sensors_compass.h | 4 ++-- src/sensors_gyro.c | 8 ++++---- src/sensors_gyro.h | 6 +++--- 12 files changed, 38 insertions(+), 43 deletions(-) diff --git a/src/flight_imu.c b/src/flight_imu.c index 01675a1496..94d022d912 100644 --- a/src/flight_imu.c +++ b/src/flight_imu.c @@ -83,7 +83,7 @@ void imuInit(void) #ifdef MAG // if mag sensor is enabled, use it if (sensors(SENSOR_MAG)) - Mag_init(); + compassInit(); #endif } @@ -92,9 +92,9 @@ void computeIMU(void) uint32_t axis; static int16_t gyroYawSmooth = 0; - Gyro_getADC(); + gyroGetADC(); if (sensors(SENSOR_ACC)) { - ACC_getADC(); + accGetADC(); getEstimatedAttitude(); } else { accADC[X] = 0; @@ -406,7 +406,7 @@ int getEstimatedAltitude(void) vel = 0; accAlt = 0; } - BaroAlt = Baro_calculateAltitude(); + BaroAlt = baroCalculateAltitude(); dt = accTimeSum * 1e-6f; // delta acc reading time in seconds diff --git a/src/main.c b/src/main.c index 1f5a6ae9cc..c8e28a4d9a 100755 --- a/src/main.c +++ b/src/main.c @@ -193,11 +193,11 @@ int main(void) previousTime = micros(); if (masterConfig.mixerConfiguration == MULTITYPE_GIMBAL) { - ACC_SetCalibrationCycles(CALIBRATING_ACC_CYCLES); + accSetCalibrationCycles(CALIBRATING_ACC_CYCLES); } - GYRO_SetCalibrationCycles(CALIBRATING_GYRO_CYCLES); + gyroSetCalibrationCycles(CALIBRATING_GYRO_CYCLES); #ifdef BARO - Baro_SetCalibrationCycles(CALIBRATING_BARO_CYCLES); + baroSetCalibrationCycles(CALIBRATING_BARO_CYCLES); #endif f.SMALL_ANGLE = 1; diff --git a/src/mw.c b/src/mw.c index de65195ede..e0d35b440f 100755 --- a/src/mw.c +++ b/src/mw.c @@ -6,6 +6,8 @@ #include "sensors_sonar.h" #include "sensors_gyro.h" +#include "sensors_compass.h" +#include "sensors_barometer.h" #include "flight_common.h" #include "serial_cli.h" #include "telemetry_common.h" @@ -479,13 +481,13 @@ void loop(void) case 0: taskOrder++; #ifdef MAG - if (sensors(SENSOR_MAG) && Mag_getADC()) + if (sensors(SENSOR_MAG) && compassGetADC()) break; #endif case 1: taskOrder++; #ifdef BARO - if (sensors(SENSOR_BARO) && Baro_update()) + if (sensors(SENSOR_BARO) && baroUpdate()) break; #endif case 2: diff --git a/src/mw.h b/src/mw.h index 077cdaa75b..1398f72ee8 100755 --- a/src/mw.h +++ b/src/mw.h @@ -64,13 +64,6 @@ void annexCode(void); void computeIMU(void); int getEstimatedAltitude(void); -// Sensors -void ACC_getADC(void); -int Baro_update(void); -void Gyro_getADC(void); -void Mag_init(void); -int Mag_getADC(void); - // Output void mixerResetMotors(void); void mixerLoadMix(int index); diff --git a/src/sensors_acceleration.c b/src/sensors_acceleration.c index bacea401b2..ad34de76ed 100644 --- a/src/sensors_acceleration.c +++ b/src/sensors_acceleration.c @@ -18,12 +18,12 @@ extern bool AccInflightCalibrationMeasurementDone; extern bool AccInflightCalibrationSavetoEEProm; extern bool AccInflightCalibrationActive; -void ACC_SetCalibrationCycles(uint16_t calibrationCyclesRequired) +void accSetCalibrationCycles(uint16_t calibrationCyclesRequired) { calibratingA = calibrationCyclesRequired; } -void ACC_Common(void) +void accCommon(void) { static int32_t a[3]; int axis; @@ -109,11 +109,11 @@ void ACC_Common(void) accADC[GI_YAW] -= masterConfig.accZero[GI_YAW]; } -void ACC_getADC(void) +void accGetADC(void) { acc.read(accADC); alignSensors(accADC, accADC, accAlign); - ACC_Common(); + accCommon(); } diff --git a/src/sensors_acceleration.h b/src/sensors_acceleration.h index 0663cc59c1..dc3f752844 100644 --- a/src/sensors_acceleration.h +++ b/src/sensors_acceleration.h @@ -15,7 +15,7 @@ extern sensor_align_e accAlign; extern acc_t acc; extern uint16_t calibratingA; -void ACC_SetCalibrationCycles(uint16_t calibrationCyclesRequired); -void ACC_Common(void); -void ACC_getADC(void); +void accSetCalibrationCycles(uint16_t calibrationCyclesRequired); +void accCommon(void); +void accGetADC(void); diff --git a/src/sensors_barometer.c b/src/sensors_barometer.c index 476938e2d8..517e67d0ab 100644 --- a/src/sensors_barometer.c +++ b/src/sensors_barometer.c @@ -11,12 +11,12 @@ uint16_t calibratingB = 0; // baro calibration = get new ground pressure va static int32_t baroGroundAltitude = 0; static int32_t baroGroundPressure = 0; -void Baro_SetCalibrationCycles(uint16_t calibrationCyclesRequired) +void baroSetCalibrationCycles(uint16_t calibrationCyclesRequired) { calibratingB = calibrationCyclesRequired; } -void Baro_Common(void) +void baroCommon(void) { static int32_t baroHistTab[BARO_TAB_SIZE_MAX]; static int baroHistIdx; @@ -32,7 +32,7 @@ void Baro_Common(void) } -int Baro_update(void) +int baroUpdate(void) { static uint32_t baroDeadline = 0; static int state = 0; @@ -52,14 +52,14 @@ int Baro_update(void) } else { baro.get_ut(); baro.start_up(); - Baro_Common(); + baroCommon(); state = 1; baroDeadline += baro.up_delay; return 1; } } -int32_t Baro_calculateAltitude(void) +int32_t baroCalculateAltitude(void) { int32_t BaroAlt_tmp; diff --git a/src/sensors_barometer.h b/src/sensors_barometer.h index 9cb4ed68a7..a48d6722ff 100644 --- a/src/sensors_barometer.h +++ b/src/sensors_barometer.h @@ -1,10 +1,10 @@ #pragma once #ifdef BARO -void Baro_SetCalibrationCycles(uint16_t calibrationCyclesRequired); -void Baro_Common(void); -int Baro_update(void); -int32_t Baro_calculateAltitude(void); +void baroSetCalibrationCycles(uint16_t calibrationCyclesRequired); +void baroCommon(void); +int baroUpdate(void); +int32_t baroCalculateAltitude(void); bool isBaroCalibrationComplete(void); void performBaroCalibrationCycle(void); #endif diff --git a/src/sensors_compass.c b/src/sensors_compass.c index 47af59c99d..a61c9bf60f 100644 --- a/src/sensors_compass.c +++ b/src/sensors_compass.c @@ -8,7 +8,7 @@ sensor_align_e magAlign = 0; #ifdef MAG static uint8_t magInit = 0; -void Mag_init(void) +void compassInit(void) { // initialize and calibration. turn on led during mag calibration (calibration routine blinks it) LED1_ON; @@ -17,7 +17,7 @@ void Mag_init(void) magInit = 1; } -int Mag_getADC(void) +int compassGetADC(void) { static uint32_t t, tCal = 0; static int16_t magZeroTempMin[3]; diff --git a/src/sensors_compass.h b/src/sensors_compass.h index 2aa7b44715..0a48ac7f3a 100644 --- a/src/sensors_compass.h +++ b/src/sensors_compass.h @@ -1,8 +1,8 @@ #pragma once #ifdef MAG -void Mag_init(void); -int Mag_getADC(void); +void compassInit(void); +int compassGetADC(void); #endif extern int16_t magADC[XYZ_AXIS_COUNT]; diff --git a/src/sensors_gyro.c b/src/sensors_gyro.c index c866fadf58..ba8903466b 100644 --- a/src/sensors_gyro.c +++ b/src/sensors_gyro.c @@ -11,12 +11,12 @@ uint16_t acc_1G = 256; // this is the 1G measured acceleration. gyro_t gyro; // gyro access functions sensor_align_e gyroAlign = 0; -void GYRO_SetCalibrationCycles(uint16_t calibrationCyclesRequired) +void gyroSetCalibrationCycles(uint16_t calibrationCyclesRequired) { calibratingG = calibrationCyclesRequired; } -void GYRO_Common(void) +void gyroCommon(void) { int axis; static int32_t g[3]; @@ -56,10 +56,10 @@ void GYRO_Common(void) gyroADC[axis] -= gyroZero[axis]; } -void Gyro_getADC(void) +void gyroGetADC(void) { // range: +/- 8192; +/- 2000 deg/sec gyro.read(gyroADC); alignSensors(gyroADC, gyroADC, gyroAlign); - GYRO_Common(); + gyroCommon(); } diff --git a/src/sensors_gyro.h b/src/sensors_gyro.h index f092492b1c..4e55f1a0cd 100644 --- a/src/sensors_gyro.h +++ b/src/sensors_gyro.h @@ -4,7 +4,7 @@ extern uint16_t acc_1G; extern gyro_t gyro; extern sensor_align_e gyroAlign; -void GYRO_SetCalibrationCycles(uint16_t calibrationCyclesRequired); -void GYRO_Common(void); -void Gyro_getADC(void); +void gyroSetCalibrationCycles(uint16_t calibrationCyclesRequired); +void gyroCommon(void); +void gyroGetADC(void);