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Preparation for conversion to parameter groups 3

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This commit is contained in:
Martin Budden 2017-02-01 10:32:27 +00:00
parent 5d5845d9af
commit a3951a3340
6 changed files with 67 additions and 46 deletions
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36
src/main/sensors/gyro.c
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@ -72,9 +72,6 @@ gyro_t gyro; // gyro access functions
static int32_t gyroADC[XYZ_AXIS_COUNT];
static int32_t gyroZero[XYZ_AXIS_COUNT] = { 0, 0, 0 };
#ifndef USE_PARAMETER_GROUPS
static const gyroConfig_t *gyroConfig;
#endif
static uint16_t calibratingG = 0;
static filterApplyFnPtr softLpfFilterApplyFn;
@ -86,6 +83,29 @@ static void *notchFilter2[3];
#define DEBUG_GYRO_CALIBRATION 3
#ifdef STM32F10X
#define GYRO_SYNC_DENOM_DEFAULT 8
#elif defined(USE_GYRO_SPI_MPU6000) || defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_ICM20689)
#define GYRO_SYNC_DENOM_DEFAULT 1
#else
#define GYRO_SYNC_DENOM_DEFAULT 4
#endif
PG_REGISTER_WITH_RESET_TEMPLATE(gyroConfig_t, gyroConfig, PG_GYRO_CONFIG, 0);
PG_RESET_TEMPLATE(gyroConfig_t, gyroConfig,
.gyro_lpf = GYRO_LPF_256HZ,
.gyro_sync_denom = GYRO_SYNC_DENOM_DEFAULT,
.gyro_soft_lpf_type = FILTER_PT1,
.gyro_soft_lpf_hz = 90,
.gyro_soft_notch_hz_1 = 400,
.gyro_soft_notch_cutoff_1 = 300,
.gyro_soft_notch_hz_2 = 200,
.gyro_soft_notch_cutoff_2 = 100,
.gyro_align = ALIGN_DEFAULT,
.gyroMovementCalibrationThreshold = 32
);
static const extiConfig_t *selectMPUIntExtiConfig(void)
{
#if defined(MPU_INT_EXTI)
@ -236,13 +256,8 @@ static bool gyroDetect(gyroDev_t *dev)
return true;
}
bool gyroInit(const gyroConfig_t *gyroConfigToUse)
bool gyroInit(void)
{
#ifdef USE_PARAMETER_GROUPS
(void)(gyroConfigToUse);
#else
gyroConfig = gyroConfigToUse;
#endif
memset(&gyro, 0, sizeof(gyro));
#if defined(USE_GYRO_MPU6050) || defined(USE_GYRO_MPU3050) || defined(USE_GYRO_MPU6500) || defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_MPU6000) || defined(USE_ACC_MPU6050) || defined(USE_GYRO_SPI_MPU9250) || defined(USE_GYRO_SPI_ICM20689)
gyro.dev.mpuIntExtiConfig = selectMPUIntExtiConfig();
@ -257,8 +272,7 @@ bool gyroInit(const gyroConfig_t *gyroConfigToUse)
switch (detectedSensors[SENSOR_INDEX_GYRO]) {
default:
// gyro does not support 32kHz
// cast away constness, legitimate as this is cross-validation
((gyroConfig_t*)gyroConfig)->gyro_use_32khz = false;
gyroConfigMutable()->gyro_use_32khz = false;
break;
case GYRO_MPU6500:
case GYRO_MPU9250: