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Code Issues Wiki Activity

Used device pointer in detect functions

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This commit is contained in:
Martin Budden 2016-12-07 09:16:42 +00:00
parent 4bb6820c42
commit a47c073874
10 changed files with 39 additions and 36 deletions
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19
src/main/sensors/compass.c
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@ -81,7 +81,7 @@ bool compassDetect(magDev_t *dev, magSensor_e magHardwareToUse)
retry:
mag.dev.magAlign = ALIGN_DEFAULT;
dev->magAlign = ALIGN_DEFAULT;
switch(magHardwareToUse) {
case MAG_DEFAULT:
@ -91,7 +91,7 @@ retry:
#ifdef USE_MAG_HMC5883
if (hmc5883lDetect(dev, hmc5883Config)) {
#ifdef MAG_HMC5883_ALIGN
mag.dev.magAlign = MAG_HMC5883_ALIGN;
dev->magAlign = MAG_HMC5883_ALIGN;
#endif
magHardware = MAG_HMC5883;
break;
@ -103,7 +103,7 @@ retry:
#ifdef USE_MAG_AK8975
if (ak8975Detect(dev)) {
#ifdef MAG_AK8975_ALIGN
mag.dev.magAlign = MAG_AK8975_ALIGN;
dev->magAlign = MAG_AK8975_ALIGN;
#endif
magHardware = MAG_AK8975;
break;
@ -115,7 +115,7 @@ retry:
#ifdef USE_MAG_AK8963
if (ak8963Detect(dev)) {
#ifdef MAG_AK8963_ALIGN
mag.dev.magAlign = MAG_AK8963_ALIGN;
dev->magAlign = MAG_AK8963_ALIGN;
#endif
magHardware = MAG_AK8963;
break;
@ -161,15 +161,16 @@ void compassUpdate(uint32_t currentTime, flightDynamicsTrims_t *magZero)
static uint32_t tCal = 0;
static flightDynamicsTrims_t magZeroTempMin;
static flightDynamicsTrims_t magZeroTempMax;
uint32_t axis;
mag.dev.read(magADCRaw);
for (axis = 0; axis < XYZ_AXIS_COUNT; axis++) mag.magADC[axis] = magADCRaw[axis]; // int32_t copy to work with
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
mag.magADC[axis] = magADCRaw[axis];
}
alignSensors(mag.magADC, mag.dev.magAlign);
if (STATE(CALIBRATE_MAG)) {
tCal = currentTime;
for (axis = 0; axis < 3; axis++) {
for (int axis = 0; axis < 3; axis++) {
magZero->raw[axis] = 0;
magZeroTempMin.raw[axis] = mag.magADC[axis];
magZeroTempMax.raw[axis] = mag.magADC[axis];
@ -186,7 +187,7 @@ void compassUpdate(uint32_t currentTime, flightDynamicsTrims_t *magZero)
if (tCal != 0) {
if ((currentTime - tCal) < 30000000) { // 30s: you have 30s to turn the multi in all directions
LED0_TOGGLE;
for (axis = 0; axis < 3; axis++) {
for (int axis = 0; axis < 3; axis++) {
if (mag.magADC[axis] < magZeroTempMin.raw[axis])
magZeroTempMin.raw[axis] = mag.magADC[axis];
if (mag.magADC[axis] > magZeroTempMax.raw[axis])
@ -194,7 +195,7 @@ void compassUpdate(uint32_t currentTime, flightDynamicsTrims_t *magZero)
}
} else {
tCal = 0;
for (axis = 0; axis < 3; axis++) {
for (int axis = 0; axis < 3; axis++) {
magZero->raw[axis] = (magZeroTempMin.raw[axis] + magZeroTempMax.raw[axis]) / 2; // Calculate offsets
}