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

This also cleans the code - No magic numbers, clearly defines states,
config variables grouped together, avoiding some global variable use.

src/sensors_barometer.c

@@ -1,61 +1,97 @@
-#include "board.h"
-#include "mw.h"
+#include <stdbool.h>
+#include <stdint.h>
+#include <math.h>
+
+#include "platform.h"
 
 #include "drivers/barometer_common.h"
+#include "config.h"
+
+#include "sensors_barometer.h"
 
 baro_t baro;                        // barometer access functions
 uint16_t calibratingB = 0;      // baro calibration = get new ground pressure value
+int32_t baroPressure = 0;
+int32_t baroTemperature = 0;
+uint32_t baroPressureSum = 0;
+int32_t BaroAlt = 0;
 
 #ifdef BARO
 
 static int32_t baroGroundAltitude = 0;
 static int32_t baroGroundPressure = 0;
 
+barometerConfig_t *barometerConfig;
+
+void useBarometerConfig(barometerConfig_t *barometerConfigToUse)
+{
+    barometerConfig = barometerConfigToUse;
+}
+
+bool isBaroCalibrationComplete(void)
+{
+    return calibratingB == 0;
+}
+
 void baroSetCalibrationCycles(uint16_t calibrationCyclesRequired)
 {
     calibratingB = calibrationCyclesRequired;
 }
 
-void baroCommon(void)
+static uint32_t recalculateBarometerTotal(uint8_t baroSampleCount, uint32_t pressureTotal, int32_t newPressureReading)
 {
-    static int32_t baroHistTab[BARO_TAB_SIZE_MAX];
-    static int baroHistIdx;
-    int indexplus1;
+    static int32_t barometerSamples[BARO_SAMPLE_COUNT_MAX];
+    static int currentSampleIndex = 0;
+    int nextSampleIndex;
 
-    indexplus1 = (baroHistIdx + 1);
-    if (indexplus1 == currentProfile.baro_tab_size)
-        indexplus1 = 0;
-    baroHistTab[baroHistIdx] = baroPressure;
-    baroPressureSum += baroHistTab[baroHistIdx];
-    baroPressureSum -= baroHistTab[indexplus1];
-    baroHistIdx = indexplus1;
+    // store current pressure in barometerSamples
+    nextSampleIndex = (currentSampleIndex + 1);
+    if (nextSampleIndex == baroSampleCount) {
+        nextSampleIndex = 0;
+    }
+    barometerSamples[currentSampleIndex] = newPressureReading;
+
+    // recalculate pressure total
+    pressureTotal += barometerSamples[currentSampleIndex];
+    pressureTotal -= barometerSamples[nextSampleIndex];
+
+    currentSampleIndex = nextSampleIndex;
+
+    return pressureTotal;
 }
 
+typedef enum {
+    BAROMETER_NEEDS_SAMPLES = 0,
+    BAROMETER_NEEDS_CALCULATION
+} barometerState_e;
 
-int baroUpdate(void)
+barometerAction_e baroUpdate(uint32_t currentTime)
 {
     static uint32_t baroDeadline = 0;
-    static int state = 0;
+    static barometerState_e state = BAROMETER_NEEDS_SAMPLES;
 
     if ((int32_t)(currentTime - baroDeadline) < 0)
-        return 0;
+        return BAROMETER_ACTION_NOT_READY;
 
     baroDeadline = currentTime;
 
-    if (state) {
-        baro.get_up();
-        baro.start_ut();
-        baroDeadline += baro.ut_delay;
-        baro.calculate(&baroPressure, &baroTemperature);
-        state = 0;
-        return 2;
-    } else {
-        baro.get_ut();
-        baro.start_up();
-        baroCommon();
-        state = 1;
-        baroDeadline += baro.up_delay;
-        return 1;
+    switch (state) {
+        case BAROMETER_NEEDS_CALCULATION:
+            baro.get_up();
+            baro.start_ut();
+            baroDeadline += baro.ut_delay;
+            baro.calculate(&baroPressure, &baroTemperature);
+            state = BAROMETER_NEEDS_SAMPLES;
+            return BAROMETER_ACTION_PERFORMED_CALCULATION;
+
+        case BAROMETER_NEEDS_SAMPLES:
+        default:
+            baro.get_ut();
+            baro.start_up();
+            baroPressureSum = recalculateBarometerTotal(barometerConfig->baro_sample_count, baroPressureSum, baroPressure);
+            state = BAROMETER_NEEDS_CALCULATION;
+            baroDeadline += baro.up_delay;
+            return BAROMETER_ACTION_OBTAINED_SAMPLES;
     }
 }
 
@@ -65,9 +101,9 @@ int32_t baroCalculateAltitude(void)
 
     // calculates height from ground via baro readings
     // see: https://github.com/diydrones/ardupilot/blob/master/libraries/AP_Baro/AP_Baro.cpp#L140
-    BaroAlt_tmp = lrintf((1.0f - powf((float)(baroPressureSum / (currentProfile.baro_tab_size - 1)) / 101325.0f, 0.190295f)) * 4433000.0f); // in cm
+    BaroAlt_tmp = lrintf((1.0f - powf((float)(baroPressureSum / (barometerConfig->baro_sample_count - 1)) / 101325.0f, 0.190295f)) * 4433000.0f); // in cm
     BaroAlt_tmp -= baroGroundAltitude;
-    BaroAlt = lrintf((float)BaroAlt * currentProfile.baro_noise_lpf + (float)BaroAlt_tmp * (1.0f - currentProfile.baro_noise_lpf)); // additional LPF to reduce baro noise
+    BaroAlt = lrintf((float)BaroAlt * barometerConfig->baro_noise_lpf + (float)BaroAlt_tmp * (1.0f - barometerConfig->baro_noise_lpf)); // additional LPF to reduce baro noise
 
     return BaroAlt;
 }
@@ -75,14 +111,10 @@ int32_t baroCalculateAltitude(void)
 void performBaroCalibrationCycle(void)
 {
     baroGroundPressure -= baroGroundPressure / 8;
-    baroGroundPressure += baroPressureSum / (currentProfile.baro_tab_size - 1);
+    baroGroundPressure += baroPressureSum / (barometerConfig->baro_sample_count - 1);
     baroGroundAltitude = (1.0f - powf((baroGroundPressure / 8) / 101325.0f, 0.190295f)) * 4433000.0f;
 
     calibratingB--;
 }
 
-bool isBaroCalibrationComplete(void)
-{
-    return calibratingB == 0;
-}
 #endif /* BARO */