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/config.c

@@ -14,6 +14,7 @@
 
 #include "statusindicator.h"
 #include "sensors_acceleration.h"
+#include "sensors_barometer.h"
 #include "telemetry_common.h"
 #include "gps_common.h"
 
@@ -90,8 +91,11 @@ void activateConfig(void)
     gpsUseProfile(&currentProfile.gpsProfile);
     gpsUsePIDs(&currentProfile.pidProfile);
     useFailsafeConfig(&currentProfile.failsafeConfig);
-
     setAccelerationTrims(&masterConfig.accZero);
+
+#ifdef BARO
+    useBarometerConfig(&currentProfile.barometerConfig);
+#endif
 }
 
 void readEEPROM(void)
@@ -223,6 +227,14 @@ void resetGpsProfile(gpsProfile_t *gpsProfile)
     gpsProfile->ap_mode = 40;
 }
 
+void resetBarometerConfig(barometerConfig_t *barometerConfig)
+{
+    barometerConfig->baro_sample_count = 21;
+    barometerConfig->baro_noise_lpf = 0.6f;
+    barometerConfig->baro_cf_vel = 0.985f;
+    barometerConfig->baro_cf_alt = 0.965f;
+}
+
 // Default settings
 static void resetConf(void)
 {
@@ -306,15 +318,16 @@ static void resetConf(void)
     currentProfile.controlRateConfig.thrExpo8 = 0;
     // for (i = 0; i < CHECKBOXITEMS; i++)
     //     cfg.activate[i] = 0;
+
     resetRollAndPitchTrims(&currentProfile.accelerometerTrims);
+
     currentProfile.mag_declination = 0;    // For example, -6deg 37min, = -637 Japan, format is [sign]dddmm (degreesminutes) default is zero.
     currentProfile.acc_lpf_factor = 4;
     currentProfile.accz_deadband = 40;
     currentProfile.accxy_deadband = 40;
-    currentProfile.baro_tab_size = 21;
+
-    currentProfile.baro_noise_lpf = 0.6f;
+    resetBarometerConfig(&currentProfile.barometerConfig);
-    currentProfile.baro_cf_vel = 0.985f;
+
-    currentProfile.baro_cf_alt = 0.965f;
     currentProfile.acc_unarmedcal = 1;
 
     // Radio

src/config_profile.h

@@ -16,10 +16,10 @@ typedef struct profile_s {
     uint8_t acc_lpf_factor;                 // Set the Low Pass Filter factor for ACC. Increasing this value would reduce ACC noise (visible in GUI), but would increase ACC lag time. Zero = no filter
     uint8_t accz_deadband;                  // set the acc deadband for z-Axis, this ignores small accelerations
     uint8_t accxy_deadband;                 // set the acc deadband for xy-Axis
-    uint8_t baro_tab_size;                  // size of baro filter array
+
-    float baro_noise_lpf;                   // additional LPF to reduce baro noise
+    barometerConfig_t barometerConfig;
-    float baro_cf_vel;                      // apply Complimentary Filter to keep the calculated velocity based on baro velocity (i.e. near real velocity)
+
-    float baro_cf_alt;                      // apply CF to use ACC for height estimation
+
     uint8_t acc_unarmedcal;                 // turn automatic acc compensation on/off
 
     uint16_t activate[CHECKBOX_ITEM_COUNT]; // activate switches

src/flight_imu.c

@@ -54,11 +54,7 @@ int32_t vario = 0;                      // variometer in cm/s
 int16_t throttleAngleCorrection = 0;    // correction of throttle in lateral wind,
 float throttleAngleScale;
 
-int32_t baroPressure = 0;
-int32_t baroTemperature = 0;
-uint32_t baroPressureSum = 0;
 int32_t BaroPID = 0;
-int32_t BaroAlt = 0;
 
 float magneticDeclination = 0.0f;       // calculated at startup from config
 
@@ -400,7 +396,7 @@ int getEstimatedAltitude(void)
 
     // Integrator - Altitude in cm
     accAlt += (vel_acc * 0.5f) * dt + vel * dt;                                         // integrate velocity to get distance (x= a/2 * t^2)
-    accAlt = accAlt * currentProfile.baro_cf_alt + (float)BaroAlt * (1.0f - currentProfile.baro_cf_alt);      // complementary filter for Altitude estimation (baro & acc)
+    accAlt = accAlt * currentProfile.barometerConfig.baro_cf_alt + (float)BaroAlt * (1.0f - currentProfile.barometerConfig.baro_cf_alt);      // complementary filter for Altitude estimation (baro & acc)
     EstAlt = accAlt;
     vel += vel_acc;
 
@@ -420,7 +416,7 @@ int getEstimatedAltitude(void)
 
     // apply Complimentary Filter to keep the calculated velocity based on baro velocity (i.e. near real velocity).
     // By using CF it's possible to correct the drift of integrated accZ (velocity) without loosing the phase, i.e without delay
-    vel = vel * currentProfile.baro_cf_vel + baroVel * (1 - currentProfile.baro_cf_vel);
+    vel = vel * currentProfile.barometerConfig.baro_cf_vel + baroVel * (1 - currentProfile.barometerConfig.baro_cf_vel);
     vel_tmp = lrintf(vel);
 
     // set vario

src/mw.c

@@ -489,7 +489,7 @@ void loop(void)
         case 1:
             taskOrder++;
 #ifdef BARO
-            if (sensors(SENSOR_BARO) && baroUpdate())
+            if (sensors(SENSOR_BARO) && baroUpdate(currentTime) != BAROMETER_ACTION_NOT_READY)
                 break;
 #endif
         case 2:

src/mw.h

@@ -7,7 +7,6 @@
 
 /* for VBAT monitoring frequency */
 #define VBATFREQ 6        // to read battery voltage - nth number of loop iterations
-#define BARO_TAB_SIZE_MAX   48
 
 #define  VERSION  230
 
@@ -20,6 +19,7 @@ enum {
     ALIGN_MAG = 2
 };
 
+#include "sensors_barometer.h"
 #include "serial_common.h"
 #include "rc_controls.h"
 #include "rx_common.h"

src/sensors_barometer.c

@@ -1,61 +1,97 @@
-#include "board.h"
+#include <stdbool.h>
-#include "mw.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 int32_t barometerSamples[BARO_SAMPLE_COUNT_MAX];
-    static int baroHistIdx;
+    static int currentSampleIndex = 0;
-    int indexplus1;
+    int nextSampleIndex;
 
-    indexplus1 = (baroHistIdx + 1);
+    // store current pressure in barometerSamples
-    if (indexplus1 == currentProfile.baro_tab_size)
+    nextSampleIndex = (currentSampleIndex + 1);
-        indexplus1 = 0;
+    if (nextSampleIndex == baroSampleCount) {
-    baroHistTab[baroHistIdx] = baroPressure;
+        nextSampleIndex = 0;
-    baroPressureSum += baroHistTab[baroHistIdx];
+    }
-    baroPressureSum -= baroHistTab[indexplus1];
+    barometerSamples[currentSampleIndex] = newPressureReading;
-    baroHistIdx = indexplus1;
+
+    // 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) {
+    switch (state) {
-        baro.get_up();
+        case BAROMETER_NEEDS_CALCULATION:
-        baro.start_ut();
+            baro.get_up();
-        baroDeadline += baro.ut_delay;
+            baro.start_ut();
-        baro.calculate(&baroPressure, &baroTemperature);
+            baroDeadline += baro.ut_delay;
-        state = 0;
+            baro.calculate(&baroPressure, &baroTemperature);
-        return 2;
+            state = BAROMETER_NEEDS_SAMPLES;
-    } else {
+            return BAROMETER_ACTION_PERFORMED_CALCULATION;
-        baro.get_ut();
+
-        baro.start_up();
+        case BAROMETER_NEEDS_SAMPLES:
-        baroCommon();
+        default:
-        state = 1;
+            baro.get_ut();
-        baroDeadline += baro.up_delay;
+            baro.start_up();
-        return 1;
+            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 */

src/sensors_barometer.h

@@ -1,10 +1,27 @@
 #pragma once
 
+#define BARO_SAMPLE_COUNT_MAX   48
+
+typedef struct barometerConfig_s {
+    uint8_t baro_sample_count;                  // size of baro filter array
+    float baro_noise_lpf;                   // additional LPF to reduce baro noise
+    float baro_cf_vel;                      // apply Complimentary Filter to keep the calculated velocity based on baro velocity (i.e. near real velocity)
+    float baro_cf_alt;                      // apply CF to use ACC for height estimation
+} barometerConfig_t;
+
+typedef enum {
+    BAROMETER_ACTION_NOT_READY = 0,
+    BAROMETER_ACTION_OBTAINED_SAMPLES,
+    BAROMETER_ACTION_PERFORMED_CALCULATION
+} barometerAction_e;
+
+extern int32_t BaroAlt;
+
 #ifdef BARO
-void baroSetCalibrationCycles(uint16_t calibrationCyclesRequired);
+void useBarometerConfig(barometerConfig_t *barometerConfigToUse);
-void baroCommon(void);
-int baroUpdate(void);
-int32_t baroCalculateAltitude(void);
 bool isBaroCalibrationComplete(void);
+void baroSetCalibrationCycles(uint16_t calibrationCyclesRequired);
+barometerAction_e baroUpdate(uint32_t currentTime);
+int32_t baroCalculateAltitude(void);
 void performBaroCalibrationCycle(void);
 #endif

src/serial_cli.c

@@ -196,10 +196,10 @@ const clivalue_t valueTable[] = {
     { "acc_unarmedcal", VAR_UINT8, &currentProfile.acc_unarmedcal, 0, 1 },
     { "acc_trim_pitch", VAR_INT16, &currentProfile.accelerometerTrims.trims.pitch, -300, 300 },
     { "acc_trim_roll", VAR_INT16, &currentProfile.accelerometerTrims.trims.roll, -300, 300 },
-    { "baro_tab_size", VAR_UINT8, &currentProfile.baro_tab_size, 0, BARO_TAB_SIZE_MAX },
+    { "baro_tab_size", VAR_UINT8, &currentProfile.barometerConfig.baro_sample_count, 0, BARO_SAMPLE_COUNT_MAX },
-    { "baro_noise_lpf", VAR_FLOAT, &currentProfile.baro_noise_lpf, 0, 1 },
+    { "baro_noise_lpf", VAR_FLOAT, &currentProfile.barometerConfig.baro_noise_lpf, 0, 1 },
-    { "baro_cf_vel", VAR_FLOAT, &currentProfile.baro_cf_vel, 0, 1 },
+    { "baro_cf_vel", VAR_FLOAT, &currentProfile.barometerConfig.baro_cf_vel, 0, 1 },
-    { "baro_cf_alt", VAR_FLOAT, &currentProfile.baro_cf_alt, 0, 1 },
+    { "baro_cf_alt", VAR_FLOAT, &currentProfile.barometerConfig.baro_cf_alt, 0, 1 },
     { "mag_declination", VAR_INT16, &currentProfile.mag_declination, -18000, 18000 },
     { "gps_pos_p", VAR_UINT8, &currentProfile.pidProfile.P8[PIDPOS], 0, 200 },
     { "gps_pos_i", VAR_UINT8, &currentProfile.pidProfile.I8[PIDPOS], 0, 200 },