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Merge pull request #3503 from martinbudden/bf_gyro_sensor

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Renamed gyroSensor0 to gyroSensor1
This commit is contained in:
Martin Budden 2017-07-12 20:48:43 +01:00 • committed by GitHub
commit c84d0b5f85
1 changed files with 13 additions and 13 deletions
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26
src/main/sensors/gyro.c
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@ -101,7 +101,7 @@ typedef struct gyroSensor_s {
biquadFilter_t notchFilterDyn[XYZ_AXIS_COUNT]; biquadFilter_t notchFilterDyn[XYZ_AXIS_COUNT];
} gyroSensor_t; } gyroSensor_t;
static gyroSensor_t gyroSensor0; static gyroSensor_t gyroSensor1;
static void gyroInitSensorFilters(gyroSensor_t *gyroSensor); static void gyroInitSensorFilters(gyroSensor_t *gyroSensor);
@ -136,17 +136,17 @@ PG_RESET_TEMPLATE(gyroConfig_t, gyroConfig,
const busDevice_t *gyroSensorBus(void) const busDevice_t *gyroSensorBus(void)
{ {
return &gyroSensor0.gyroDev.bus; return &gyroSensor1.gyroDev.bus;
} }
const mpuConfiguration_t *gyroMpuConfiguration(void) const mpuConfiguration_t *gyroMpuConfiguration(void)
{ {
return &gyroSensor0.gyroDev.mpuConfiguration; return &gyroSensor1.gyroDev.mpuConfiguration;
} }
const mpuDetectionResult_t *gyroMpuDetectionResult(void) const mpuDetectionResult_t *gyroMpuDetectionResult(void)
{ {
return &gyroSensor0.gyroDev.mpuDetectionResult; return &gyroSensor1.gyroDev.mpuDetectionResult;
} }
STATIC_UNIT_TESTED gyroSensor_e gyroDetect(gyroDev_t *dev) STATIC_UNIT_TESTED gyroSensor_e gyroDetect(gyroDev_t *dev)
@ -359,7 +359,7 @@ static bool gyroInitSensor(gyroSensor_t *gyroSensor)
bool gyroInit(void) bool gyroInit(void)
{ {
memset(&gyro, 0, sizeof(gyro)); memset(&gyro, 0, sizeof(gyro));
return gyroInitSensor(&gyroSensor0); return gyroInitSensor(&gyroSensor1);
} }
void gyroInitFilterLpf(gyroSensor_t *gyroSensor, uint8_t lpfHz) void gyroInitFilterLpf(gyroSensor_t *gyroSensor, uint8_t lpfHz)
@ -458,7 +458,7 @@ static void gyroInitSensorFilters(gyroSensor_t *gyroSensor)
void gyroInitFilters(void) void gyroInitFilters(void)
{ {
gyroInitSensorFilters(&gyroSensor0); gyroInitSensorFilters(&gyroSensor1);
} }
bool isGyroSensorCalibrationComplete(const gyroSensor_t *gyroSensor) bool isGyroSensorCalibrationComplete(const gyroSensor_t *gyroSensor)
@ -468,7 +468,7 @@ bool isGyroSensorCalibrationComplete(const gyroSensor_t *gyroSensor)
bool isGyroCalibrationComplete(void) bool isGyroCalibrationComplete(void)
{ {
return isGyroSensorCalibrationComplete(&gyroSensor0); return isGyroSensorCalibrationComplete(&gyroSensor1);
} }
static bool isOnFinalGyroCalibrationCycle(const gyroCalibration_t *gyroCalibration) static bool isOnFinalGyroCalibrationCycle(const gyroCalibration_t *gyroCalibration)
@ -494,7 +494,7 @@ static void gyroSetCalibrationCycles(gyroSensor_t *gyroSensor)
void gyroStartCalibration(bool isFirstArmingCalibration) void gyroStartCalibration(bool isFirstArmingCalibration)
{ {
if (!(isFirstArmingCalibration && firstArmingCalibrationWasStarted)) { if (!(isFirstArmingCalibration && firstArmingCalibrationWasStarted)) {
gyroSetCalibrationCycles(&gyroSensor0); gyroSetCalibrationCycles(&gyroSensor1);
if (isFirstArmingCalibration) { if (isFirstArmingCalibration) {
firstArmingCalibrationWasStarted = true; firstArmingCalibrationWasStarted = true;
@ -606,22 +606,22 @@ void gyroUpdateSensor(gyroSensor_t *gyroSensor)
void gyroUpdate(void) void gyroUpdate(void)
{ {
gyroUpdateSensor(&gyroSensor0); gyroUpdateSensor(&gyroSensor1);
} }
void gyroReadTemperature(void) void gyroReadTemperature(void)
{ {
if (gyroSensor0.gyroDev.temperatureFn) { if (gyroSensor1.gyroDev.temperatureFn) {
gyroSensor0.gyroDev.temperatureFn(&gyroSensor0.gyroDev, &gyroSensor0.gyroDev.temperature); gyroSensor1.gyroDev.temperatureFn(&gyroSensor1.gyroDev, &gyroSensor1.gyroDev.temperature);
} }
} }
int16_t gyroGetTemperature(void) int16_t gyroGetTemperature(void)
{ {
return gyroSensor0.gyroDev.temperature; return gyroSensor1.gyroDev.temperature;
} }
int16_t gyroRateDps(int axis) int16_t gyroRateDps(int axis)
{ {
return lrintf(gyro.gyroADCf[axis] / gyroSensor0.gyroDev.scale); return lrintf(gyro.gyroADCf[axis] / gyroSensor1.gyroDev.scale);
} }