Cleanup sensor detection. Less code required and a similar pattern is used for each type of sensor.

src/main/main.c

@@ -294,9 +294,6 @@ void init(void)
     }
 #endif
 
-    // We have these sensors; SENSORS_SET defined in board.h depending on hardware platform
-    sensorsSet(SENSORS_SET);
-    // drop out any sensors that don't seem to work, init all the others. halt if gyro is dead.
     sensorsOK = sensorsAutodetect(&masterConfig.sensorAlignmentConfig, masterConfig.gyro_lpf, masterConfig.acc_hardware, masterConfig.mag_hardware, currentProfile->mag_declination);
 
     // if gyro was not detected due to whatever reason, we give up now.

src/main/sensors/acceleration.c

@@ -37,7 +37,7 @@
 int16_t accADC[XYZ_AXIS_COUNT];
 
 acc_t acc;                       // acc access functions
-uint8_t accHardware = ACC_DEFAULT;  // which accel chip is used/detected
+accelerationSensor_e accHardware = ACC_DEFAULT;  // which accel chip is used/detected
 sensor_align_e accAlign = 0;
 uint16_t acc_1G = 256;          // this is the 1G measured acceleration.
 

src/main/sensors/acceleration.h

@@ -18,7 +18,7 @@
 #pragma once
 
 // Type of accelerometer used/detected
-typedef enum AccelSensors {
+typedef enum {
     ACC_DEFAULT = 0,
     ACC_ADXL345 = 1,
     ACC_MPU6050 = 2,
@@ -29,7 +29,7 @@ typedef enum AccelSensors {
     ACC_SPI_MPU6500 = 7,
     ACC_FAKE = 8,
     ACC_NONE = 9
-} accelSensor_e;
+} accelerationSensor_e;
 
 extern uint8_t accHardware;
 extern sensor_align_e accAlign;

src/main/sensors/barometer.c

@@ -41,6 +41,7 @@ static int32_t baroGroundPressure = 0;
 static uint32_t baroPressureSum = 0;
 
 barometerConfig_t *barometerConfig;
+baroSensor_e baroHardware;
 
 void useBarometerConfig(barometerConfig_t *barometerConfigToUse)
 {

src/main/sensors/barometer.h

@@ -17,6 +17,15 @@
 
 #pragma once
 
+typedef enum {
+    BARO_NONE = 0,
+    BARO_DEFAULT = 1,
+    BARO_BMP085 = 2,
+    BARO_MS5611 = 3
+} baroSensor_e;
+
+extern baroSensor_e baroHardware;
+
 #define BARO_SAMPLE_COUNT_MAX   48
 
 typedef struct barometerConfig_s {

src/main/sensors/compass.c

@@ -40,7 +40,7 @@
 #endif
 
 mag_t mag;                   // mag access functions
-uint8_t magHardware = MAG_DEFAULT;
+magSensor_e magHardware = MAG_DEFAULT;
 
 extern uint32_t currentTime; // FIXME dependency on global variable, pass it in instead.
 

src/main/sensors/compass.h

@@ -18,7 +18,7 @@
 #pragma once
 
 // Type of accelerometer used/detected
-typedef enum MagSensors {
+typedef enum {
     MAG_DEFAULT = 0,
     MAG_HMC5883 = 1,
     MAG_AK8975 = 2,

src/main/sensors/initialisation.c

@@ -233,11 +233,10 @@ retry:
             }
 #endif
         case ACC_NONE: // disable ACC
-            sensorsClear(SENSOR_ACC);
             break;
         case ACC_DEFAULT: // autodetect
-#ifdef USE_ACC_ADXL345
         case ACC_ADXL345: // ADXL345
+#ifdef USE_ACC_ADXL345
             acc_params.useFifo = false;
             acc_params.dataRate = 800; // unused currently
 #ifdef NAZE
@@ -252,10 +251,10 @@ retry:
                 if (accHardwareToUse == ACC_ADXL345)
                     break;
             }
-            ; // fallthrough
 #endif
-#ifdef USE_ACC_LSM303DLHC
+            ; // fallthrough
         case ACC_LSM303DLHC:
+#ifdef USE_ACC_LSM303DLHC
             if (lsm303dlhcAccDetect(&acc)) {
 #ifdef ACC_LSM303DLHC_ALIGN
                 accAlign = ACC_LSM303DLHC_ALIGN;
@@ -264,10 +263,10 @@ retry:
                 if (accHardwareToUse == ACC_LSM303DLHC)
                     break;
             }
-            ; // fallthrough
 #endif
-#ifdef USE_ACC_MPU6050
+            ; // fallthrough
         case ACC_MPU6050: // MPU6050
+#ifdef USE_ACC_MPU6050
             if (mpu6050AccDetect(selectMPU6050Config(), &acc)) {
 #ifdef ACC_MPU6050_ALIGN
                 accAlign = ACC_MPU6050_ALIGN;
@@ -276,10 +275,10 @@ retry:
                 if (accHardwareToUse == ACC_MPU6050)
                     break;
             }
-            ; // fallthrough
 #endif
-#ifdef USE_ACC_MMA8452
+            ; // fallthrough
         case ACC_MMA8452: // MMA8452
+#ifdef USE_ACC_MMA8452
 #ifdef NAZE
             // Not supported with this frequency
             if (hardwareRevision < NAZE32_REV5 && mma8452Detect(&acc)) {
@@ -293,10 +292,10 @@ retry:
                 if (accHardwareToUse == ACC_MMA8452)
                     break;
             }
-            ; // fallthrough
 #endif
-#ifdef USE_ACC_BMA280
+            ; // fallthrough
         case ACC_BMA280: // BMA280
+#ifdef USE_ACC_BMA280
             if (bma280Detect(&acc)) {
 #ifdef ACC_BMA280_ALIGN
                 accAlign = ACC_BMA280_ALIGN;
@@ -305,10 +304,10 @@ retry:
                 if (accHardwareToUse == ACC_BMA280)
                     break;
             }
-            ; // fallthrough
 #endif
-#ifdef USE_ACC_SPI_MPU6000
+            ; // fallthrough
         case ACC_SPI_MPU6000:
+#ifdef USE_ACC_SPI_MPU6000
             if (mpu6000SpiAccDetect(&acc)) {
 #ifdef ACC_SPI_MPU6000_ALIGN
                 accAlign = ACC_SPI_MPU6000_ALIGN;
@@ -317,10 +316,10 @@ retry:
                 if (accHardwareToUse == ACC_SPI_MPU6000)
                     break;
             }
-            ; // fallthrough
 #endif
-#ifdef USE_ACC_SPI_MPU6500
+            ; // fallthrough
         case ACC_SPI_MPU6500:
+#ifdef USE_ACC_SPI_MPU6500
 #ifdef NAZE
             if (hardwareRevision == NAZE32_SP && mpu6500SpiAccDetect(&acc)) {
 #else
@@ -333,9 +332,8 @@ retry:
                 if (accHardwareToUse == ACC_SPI_MPU6500)
                     break;
             }
-            ; // fallthrough
 #endif
-            ; // prevent compiler error
+            ; // fallthrough
     }
 
     // Found anything? Check if error or ACC is really missing.
@@ -344,18 +342,21 @@ retry:
             // Nothing was found and we have a forced sensor that isn't present.
             accHardwareToUse = ACC_DEFAULT;
             goto retry;
-        } else {
-            // No ACC was detected
-            sensorsClear(SENSOR_ACC);
         }
     }
+
+    if (accHardware != ACC_NONE) {
+        sensorsSet(SENSOR_ACC);
+    }
 }
 
 static void detectBaro()
 {
+#ifdef BARO
     // Detect what pressure sensors are available. baro->update() is set to sensor-specific update function
 
-    #ifdef BARO
+    baroHardware = BARO_DEFAULT;
+
 #ifdef USE_BARO_BMP085
 
     const bmp085Config_t *bmp085Config = NULL;
@@ -379,24 +380,37 @@ static void detectBaro()
 
 #endif
 
-#ifdef USE_BARO_MS5611
+    switch (baroHardware) {
-    if (ms5611Detect(&baro)) {
+        case BARO_DEFAULT:
-        sensorsSet(SENSOR_BARO);
+            ; // fallthough
-        return;
-    }
-#endif
 
+        case BARO_MS5611:
+#ifdef USE_BARO_MS5611
+            if (ms5611Detect(&baro)) {
+                baroHardware = BARO_MS5611;
+                break;
+            }
+#endif
+            ; // fallthough
+        case BARO_BMP085:
 #ifdef USE_BARO_BMP085
-    if (bmp085Detect(bmp085Config, &baro)) {
+            if (bmp085Detect(bmp085Config, &baro)) {
-        sensorsSet(SENSOR_BARO);
+                baroHardware = BARO_BMP085;
-        return;
+                break;
+            }
+#endif
+            baroHardware = BARO_NONE; // nothing detected or enabled.
+        case BARO_NONE:
+            break;
     }
-#endif
+
-#endif
+    if (baroHardware != BARO_NONE) {
-    sensorsClear(SENSOR_BARO);
+        sensorsSet(SENSOR_BARO);
+    }
+    #endif
 }
 
-static void detectMag(uint8_t magHardwareToUse)
+static void detectMag(magSensor_e magHardwareToUse)
 {
 #ifdef USE_MAG_HMC5883
     static hmc5883Config_t *hmc5883Config = 0;
@@ -435,12 +449,11 @@ retry:
 
     switch(magHardwareToUse) {
         case MAG_NONE: // disable MAG
-            sensorsClear(SENSOR_MAG);
             break;
         case MAG_DEFAULT: // autodetect
 
-#ifdef USE_MAG_HMC5883
         case MAG_HMC5883:
+#ifdef USE_MAG_HMC5883
             if (hmc5883lDetect(&mag, hmc5883Config)) {
                 sensorsSet(SENSOR_MAG);
 #ifdef MAG_HMC5883_ALIGN
@@ -451,11 +464,11 @@ retry:
                     break;
 
             }
-            ; // fallthrough
 #endif
+            ; // fallthrough
 
-#ifdef USE_MAG_AK8975
         case MAG_AK8975:
+#ifdef USE_MAG_AK8975
             if (ak8975detect(&mag)) {
 
                 sensorsSet(SENSOR_MAG);
@@ -466,9 +479,8 @@ retry:
                 if (magHardwareToUse == MAG_AK8975)
                     break;
             }
-            ; // fallthrough
 #endif
-            ; // prevent compiler error.
+            ; // fallthrough
     }
 
     if (magHardware == MAG_DEFAULT) {
@@ -476,12 +488,13 @@ retry:
             // Nothing was found and we have a forced sensor that isn't present.
             magHardwareToUse = MAG_DEFAULT;
             goto retry;
-        } else {
-            // No MAG was detected
-            sensorsClear(SENSOR_MAG);
         }
     }
 
+    if (magHardware != MAG_NONE) {
+        sensorsSet(SENSOR_MAG);
+    }
+
 }
 
 void reconfigureAlignment(sensorAlignmentConfig_t *sensorAlignmentConfig)

src/main/target/ALIENWIIF3/target.h

@@ -86,9 +86,6 @@
 #define I2C2_SDA_PIN_SOURCE  GPIO_PinSource10
 #define I2C2_SDA_CLK_SOURCE  RCC_AHBPeriph_GPIOA
 
-
-#define SENSORS_SET (SENSOR_ACC | SENSOR_BARO | SENSOR_MAG)
-
 #define BLACKBOX
 #define SERIAL_RX
 #define GPS

src/main/target/CC3D/target.h

@@ -98,8 +98,6 @@
 #define RSSI_ADC_CHANNEL            ADC_Channel_1
 
 
-#define SENSORS_SET (SENSOR_ACC)
-
 #define GPS
 #define LED_STRIP
 #define LED_STRIP_TIMER TIM3

src/main/target/CHEBUZZF3/target.h

@@ -90,9 +90,6 @@
 #define EXTERNAL1_ADC_GPIO_PIN      GPIO_Pin_3
 #define EXTERNAL1_ADC_CHANNEL       ADC_Channel_9
 
-
-#define SENSORS_SET (SENSOR_ACC | SENSOR_BARO | SENSOR_MAG)
-
 #define GPS
 #define LED_STRIP
 #if 1

src/main/target/CJMCU/target.h

@@ -60,8 +60,6 @@
 // #define SOFT_I2C_PB1011 // If SOFT_I2C is enabled above, need to define pinout as well (I2C1 = PB67, I2C2 = PB1011)
 // #define SOFT_I2C_PB67
 
-#define SENSORS_SET (SENSOR_ACC | SENSOR_MAG)
-
 #define SERIAL_RX
 
 #define SPEKTRUM_BIND

src/main/target/EUSTM32F103RC/target.h

@@ -116,8 +116,6 @@
 #define EXTERNAL1_ADC_GPIO_PIN      GPIO_Pin_5
 #define EXTERNAL1_ADC_CHANNEL       ADC_Channel_5
 
-#define SENSORS_SET (SENSOR_ACC | SENSOR_BARO | SENSOR_MAG)
-
 #define GPS
 #define LED_STRIP
 #define LED_STRIP_TIMER TIM3

src/main/target/NAZE/target.h

@@ -135,8 +135,6 @@
 #define EXTERNAL1_ADC_GPIO_PIN      GPIO_Pin_5
 #define EXTERNAL1_ADC_CHANNEL       ADC_Channel_5
 
-#define SENSORS_SET (SENSOR_ACC | SENSOR_BARO | SENSOR_MAG)
-
 #define GPS
 
 #define LED_STRIP

src/main/target/NAZE32PRO/target.h

@@ -40,8 +40,6 @@
 #define USE_I2C
 #define I2C_DEVICE (I2CDEV_1)
 
-#define SENSORS_SET (SENSOR_ACC)
-
 #define GPS
 #define BLACKBOX
 #define TELEMETRY

src/main/target/OLIMEXINO/target.h

@@ -103,9 +103,6 @@
 #define EXTERNAL1_ADC_GPIO_PIN      GPIO_Pin_5
 #define EXTERNAL1_ADC_CHANNEL       ADC_Channel_5
 
-
-#define SENSORS_SET (SENSOR_ACC | SENSOR_BARO | SENSOR_MAG)
-
 #define GPS
 #define LED_STRIP
 #define LED_STRIP_TIMER TIM3

src/main/target/PORT103R/target.h

@@ -126,8 +126,6 @@
 #define EXTERNAL1_ADC_GPIO_PIN      GPIO_Pin_5
 #define EXTERNAL1_ADC_CHANNEL       ADC_Channel_5
 
-#define SENSORS_SET (SENSOR_ACC | SENSOR_BARO | SENSOR_MAG)
-
 #define LED0
 #define GPS
 #define LED_STRIP

src/main/target/SPARKY/target.h

@@ -86,9 +86,6 @@
 #define I2C2_SDA_PIN_SOURCE  GPIO_PinSource10
 #define I2C2_SDA_CLK_SOURCE  RCC_AHBPeriph_GPIOA
 
-
-#define SENSORS_SET (SENSOR_ACC | SENSOR_BARO | SENSOR_MAG)
-
 #define BLACKBOX
 #define SERIAL_RX
 #define GPS

src/main/target/SPRACINGF3/target.h

@@ -120,8 +120,6 @@
 #define WS2811_DMA_CHANNEL              DMA1_Channel2
 #define WS2811_IRQ                      DMA1_Channel2_IRQn
 
-#define SENSORS_SET (SENSOR_ACC | SENSOR_BARO | SENSOR_MAG)
-
 #define GPS
 #define BLACKBOX
 #define TELEMETRY

src/main/target/STM32F3DISCOVERY/target.h

@@ -81,8 +81,6 @@
 #define EXTERNAL1_ADC_GPIO_PIN      GPIO_Pin_3
 #define EXTERNAL1_ADC_CHANNEL       ADC_Channel_9
 
-#define SENSORS_SET (SENSOR_ACC | SENSOR_MAG)
-
 #define BLACKBOX
 #define GPS
 #define LED_STRIP