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Code Issues Wiki Activity

Move freestanding masterConfig items into structs

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This commit is contained in:
Martin Budden 2016-11-24 17:11:12 +00:00
parent 75110a8299
commit d85eed0933
25 changed files with 190 additions and 177 deletions
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13
src/main/sensors/initialisation.c
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@ -623,9 +623,7 @@ void reconfigureAlignment(sensorAlignmentConfig_t *sensorAlignmentConfig)
}
bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig,
uint8_t accHardwareToUse,
uint8_t magHardwareToUse,
uint8_t baroHardwareToUse,
sensorSelectionConfig_t *sensorSelectionConfig,
int16_t magDeclinationFromConfig,
uint8_t gyroLpf,
uint8_t gyroSyncDenominator)
@ -651,7 +649,7 @@ bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig,
gyro.init(gyroLpf); // driver initialisation
gyroInit(); // sensor initialisation
if (detectAcc(accHardwareToUse)) {
if (detectAcc(sensorSelectionConfig->acc_hardware)) {
acc.acc_1G = 256; // set default
acc.init(&acc); // driver initialisation
accInit(gyro.targetLooptime); // sensor initialisation
@ -661,21 +659,18 @@ bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig,
magneticDeclination = 0.0f; // TODO investigate if this is actually needed if there is no mag sensor or if the value stored in the config should be used.
#ifdef MAG
// FIXME extract to a method to reduce dependencies, maybe move to sensors_compass.c
if (detectMag(magHardwareToUse)) {
if (detectMag(sensorSelectionConfig->mag_hardware)) {
// calculate magnetic declination
const int16_t deg = magDeclinationFromConfig / 100;
const int16_t min = magDeclinationFromConfig % 100;
magneticDeclination = (deg + ((float)min * (1.0f / 60.0f))) * 10; // heading is in 0.1deg units
}
#else
UNUSED(magHardwareToUse);
UNUSED(magDeclinationFromConfig);
#endif
#ifdef BARO
detectBaro(baroHardwareToUse);
#else
UNUSED(baroHardwareToUse);
detectBaro(sensorSelectionConfig->baro_hardware);
#endif
reconfigureAlignment(sensorAlignmentConfig);