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Code Issues Wiki Activity

Remove sensor_gyro.c's dependency on mw.h/board.h.

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This commit is contained in:
Dominic Clifton 2014-04-22 20:14:52 +01:00
parent fbfb75b24a
commit db9042757d
3 changed files with 16 additions and 9 deletions
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2
src/flight_imu.c
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@ -92,7 +92,7 @@ void computeIMU(void)
uint32_t axis; uint32_t axis;
static int16_t gyroYawSmooth = 0; static int16_t gyroYawSmooth = 0;
gyroGetADC(); gyroGetADC(masterConfig.moron_threshold);
if (sensors(SENSOR_ACC)) { if (sensors(SENSOR_ACC)) {
updateAccelerationReadings(&currentProfile.accelerometerTrims); updateAccelerationReadings(&currentProfile.accelerometerTrims);
getEstimatedAttitude(); getEstimatedAttitude();

20
src/sensors_gyro.c
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@ -1,10 +1,18 @@
#include "board.h" #include <stdbool.h>
#include "mw.h" #include <stdint.h>
#include "platform.h"
#include "common/axis.h"
#include "common/maths.h" #include "common/maths.h"
#include "drivers/accgyro_common.h"
#include "flight_common.h" #include "flight_common.h"
#include "sensors_common.h"
#include "statusindicator.h" #include "statusindicator.h"
#include "boardalignment.h"
#include "sensors_gyro.h"
uint16_t calibratingG = 0; uint16_t calibratingG = 0;
uint16_t acc_1G = 256; // this is the 1G measured acceleration. uint16_t acc_1G = 256; // this is the 1G measured acceleration.
@ -16,7 +24,7 @@ void gyroSetCalibrationCycles(uint16_t calibrationCyclesRequired)
calibratingG = calibrationCyclesRequired; calibratingG = calibrationCyclesRequired;
} }
void gyroCommon(void) static void gyroCommon(uint8_t gyroMovementCalibrationThreshold)
{ {
int axis; int axis;
static int32_t g[3]; static int32_t g[3];
@ -38,7 +46,7 @@ void gyroCommon(void)
if (calibratingG == 1) { if (calibratingG == 1) {
float dev = devStandardDeviation(&var[axis]); float dev = devStandardDeviation(&var[axis]);
// check deviation and startover if idiot was moving the model // check deviation and startover if idiot was moving the model
if (masterConfig.moron_threshold && dev > masterConfig.moron_threshold) { if (gyroMovementCalibrationThreshold && dev > gyroMovementCalibrationThreshold) {
calibratingG = CALIBRATING_GYRO_CYCLES; calibratingG = CALIBRATING_GYRO_CYCLES;
devClear(&var[0]); devClear(&var[0]);
devClear(&var[1]); devClear(&var[1]);
@ -56,10 +64,10 @@ void gyroCommon(void)
gyroADC[axis] -= gyroZero[axis]; gyroADC[axis] -= gyroZero[axis];
} }
void gyroGetADC(void) void gyroGetADC(uint8_t gyroMovementCalibrationThreshold)
{ {
// range: +/- 8192; +/- 2000 deg/sec // range: +/- 8192; +/- 2000 deg/sec
gyro.read(gyroADC); gyro.read(gyroADC);
alignSensors(gyroADC, gyroADC, gyroAlign); alignSensors(gyroADC, gyroADC, gyroAlign);
gyroCommon(); gyroCommon(gyroMovementCalibrationThreshold);
} }

3
src/sensors_gyro.h
View file

@ -5,6 +5,5 @@ extern gyro_t gyro;
extern sensor_align_e gyroAlign; extern sensor_align_e gyroAlign;
void gyroSetCalibrationCycles(uint16_t calibrationCyclesRequired); void gyroSetCalibrationCycles(uint16_t calibrationCyclesRequired);
void gyroCommon(void); void gyroGetADC(uint8_t gyroMovementCalibrationThreshold);
void gyroGetADC(void);