Cleanup project structure. Update unit test Makefile to place object

files in obj/test

src/main/sensors/gyro.c

@@ -0,0 +1,104 @@
+#include <stdbool.h>
+#include <stdint.h>
+
+#include "platform.h"
+
+#include "common/axis.h"
+#include "common/maths.h"
+
+#include "drivers/accgyro.h"
+#include "flight/flight.h"
+#include "sensors/sensors.h"
+#include "io/statusindicator.h"
+#include "sensors/boardalignment.h"
+
+#include "sensors/gyro.h"
+
+uint16_t calibratingG = 0;
+
+static gyroConfig_t *gyroConfig;
+
+gyro_t gyro;                      // gyro access functions
+sensor_align_e gyroAlign = 0;
+
+void useGyroConfig(gyroConfig_t *gyroConfigToUse)
+{
+    gyroConfig = gyroConfigToUse;
+}
+
+void gyroSetCalibrationCycles(uint16_t calibrationCyclesRequired)
+{
+    calibratingG = calibrationCyclesRequired;
+}
+
+bool isGyroCalibrationComplete(void)
+{
+    return calibratingG == 0;
+}
+
+bool isOnFinalGyroCalibrationCycle(void)
+{
+    return calibratingG == 1;
+}
+
+bool isOnFirstGyroCalibrationCycle(void)
+{
+    return calibratingG == CALIBRATING_GYRO_CYCLES;
+}
+
+static void performAcclerationCalibration(uint8_t gyroMovementCalibrationThreshold)
+{
+    int8_t axis;
+    static int32_t g[3];
+    static stdev_t var[3];
+
+    for (axis = 0; axis < 3; axis++) {
+
+        // Reset g[axis] at start of calibration
+        if (isOnFirstGyroCalibrationCycle()) {
+            g[axis] = 0;
+            devClear(&var[axis]);
+        }
+
+        // Sum up CALIBRATING_GYRO_CYCLES readings
+        g[axis] += gyroADC[axis];
+        devPush(&var[axis], gyroADC[axis]);
+
+        // Reset global variables to prevent other code from using un-calibrated data
+        gyroADC[axis] = 0;
+        gyroZero[axis] = 0;
+
+        if (isOnFinalGyroCalibrationCycle()) {
+            float dev = devStandardDeviation(&var[axis]);
+            // check deviation and startover if idiot was moving the model
+            if (gyroMovementCalibrationThreshold && dev > gyroMovementCalibrationThreshold) {
+                gyroSetCalibrationCycles(CALIBRATING_GYRO_CYCLES);
+                return;
+            }
+            gyroZero[axis] = (g[axis] + (CALIBRATING_GYRO_CYCLES / 2)) / CALIBRATING_GYRO_CYCLES;
+            blinkLedAndSoundBeeper(10, 15, 1);
+        }
+    }
+    calibratingG--;
+}
+
+static void applyGyroZero(void)
+{
+    int8_t axis;
+    for (axis = 0; axis < 3; axis++) {
+        gyroADC[axis] -= gyroZero[axis];
+    }
+}
+
+void gyroGetADC(void)
+{
+    // range: +/- 8192; +/- 2000 deg/sec
+    gyro.read(gyroADC);
+    alignSensors(gyroADC, gyroADC, gyroAlign);
+
+    if (!isGyroCalibrationComplete()) {
+        performAcclerationCalibration(gyroConfig->gyroMovementCalibrationThreshold);
+    }
+
+    applyGyroZero();
+}