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LPF setting is not needed to detect the gyro sensor, only when it's

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initialised; now the lpf setting is passed to gyroInit().

This saves a bit of code size and ram as well as making the code
cleaner.
This commit is contained in:
Dominic Clifton 2015-09-21 14:16:21 +01:00
parent 06ceac0614
commit aac13914f9
20 changed files with 83 additions and 85 deletions
Download patch file Download diff file Expand all files Collapse all files

40
src/main/sensors/initialisation.c
View file

@ -128,19 +128,25 @@ const extiConfig_t *selectMPUIntExtiConfig(void)
}
#ifdef USE_FAKE_GYRO
static void fakeGyroInit(void) {}
static bool fakeGyroRead(int16_t *gyroADC) {
static void fakeGyroInit(uint16_t lpf)
{
UNUSED(lpf);
}
static bool fakeGyroRead(int16_t *gyroADC)
{
memset(gyroADC, 0, sizeof(int16_t[XYZ_AXIS_COUNT]));
return true;
}
static bool fakeGyroReadTemp(int16_t *tempData) {
static bool fakeGyroReadTemp(int16_t *tempData)
{
UNUSED(tempData);
return true;
}
bool fakeGyroDetect(gyro_t *gyro, uint16_t lpf)
bool fakeGyroDetect(gyro_t *gyro)
{
UNUSED(lpf);
gyro->init = fakeGyroInit;
gyro->read = fakeGyroRead;
gyro->temperature = fakeGyroReadTemp;
@ -164,7 +170,7 @@ bool fakeAccDetect(acc_t *acc)
}
#endif
bool detectGyro(uint16_t gyroLpf)
bool detectGyro(void)
{
gyroSensor_e gyroHardware = GYRO_DEFAULT;
@ -175,7 +181,7 @@ bool detectGyro(uint16_t gyroLpf)
; // fallthrough
case GYRO_MPU6050:
#ifdef USE_GYRO_MPU6050
if (mpu6050GyroDetect(&gyro, gyroLpf)) {
if (mpu6050GyroDetect(&gyro)) {
#ifdef GYRO_MPU6050_ALIGN
gyroHardware = GYRO_MPU6050;
gyroAlign = GYRO_MPU6050_ALIGN;
@ -186,7 +192,7 @@ bool detectGyro(uint16_t gyroLpf)
; // fallthrough
case GYRO_L3G4200D:
#ifdef USE_GYRO_L3G4200D
if (l3g4200dDetect(&gyro, gyroLpf)) {
if (l3g4200dDetect(&gyro)) {
#ifdef GYRO_L3G4200D_ALIGN
gyroHardware = GYRO_L3G4200D;
gyroAlign = GYRO_L3G4200D_ALIGN;
@ -198,7 +204,7 @@ bool detectGyro(uint16_t gyroLpf)
case GYRO_MPU3050:
#ifdef USE_GYRO_MPU3050
if (mpu3050Detect(&gyro, gyroLpf)) {
if (mpu3050Detect(&gyro)) {
#ifdef GYRO_MPU3050_ALIGN
gyroHardware = GYRO_MPU3050;
gyroAlign = GYRO_MPU3050_ALIGN;
@ -210,7 +216,7 @@ bool detectGyro(uint16_t gyroLpf)
case GYRO_L3GD20:
#ifdef USE_GYRO_L3GD20
if (l3gd20Detect(&gyro, gyroLpf)) {
if (l3gd20Detect(&gyro)) {
#ifdef GYRO_L3GD20_ALIGN
gyroHardware = GYRO_L3GD20;
gyroAlign = GYRO_L3GD20_ALIGN;
@ -222,7 +228,7 @@ bool detectGyro(uint16_t gyroLpf)
case GYRO_MPU6000:
#ifdef USE_GYRO_SPI_MPU6000
if (mpu6000SpiGyroDetect(&gyro, gyroLpf)) {
if (mpu6000SpiGyroDetect(&gyro)) {
#ifdef GYRO_MPU6000_ALIGN
gyroHardware = GYRO_MPU6000;
gyroAlign = GYRO_MPU6000_ALIGN;
@ -237,7 +243,7 @@ bool detectGyro(uint16_t gyroLpf)
#ifdef USE_HARDWARE_REVISION_DETECTION
spiBusInit();
#endif
if (mpu6500GyroDetect(&gyro, gyroLpf) || mpu6500SpiGyroDetect(&gyro, gyroLpf)) {
if (mpu6500GyroDetect(&gyro) || mpu6500SpiGyroDetect(&gyro)) {
#ifdef GYRO_MPU6500_ALIGN
gyroHardware = GYRO_MPU6500;
gyroAlign = GYRO_MPU6500_ALIGN;
@ -249,7 +255,7 @@ bool detectGyro(uint16_t gyroLpf)
case GYRO_FAKE:
#ifdef USE_FAKE_GYRO
if (fakeGyroDetect(&gyro, gyroLpf)) {
if (fakeGyroDetect(&gyro)) {
gyroHardware = GYRO_FAKE;
break;
}
@ -403,7 +409,9 @@ retry:
static void detectBaro(baroSensor_e baroHardwareToUse)
{
#ifdef BARO
#ifndef BARO
UNUSED(baroHardwareToUse);
#else
// Detect what pressure sensors are available. baro->update() is set to sensor-specific update function
baroSensor_e baroHardware = baroHardwareToUse;
@ -603,7 +611,7 @@ bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint16_t
UNUSED(mpuDetectionResult);
#endif
if (!detectGyro(gyroLpf)) {
if (!detectGyro()) {
return false;
}
detectAcc(accHardwareToUse);
@ -614,7 +622,7 @@ bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint16_t
if (sensors(SENSOR_ACC))
acc.init();
// this is safe because either mpu6050 or mpu3050 or lg3d20 sets it, and in case of fail, we never get here.
gyro.init();
gyro.init(gyroLpf);
detectMag(magHardwareToUse);