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

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Also changed type of magZero from int16_t[3] to
int16_flightDynamicsTrims_t.
This commit is contained in:
Dominic Clifton 2014-04-23 00:15:55 +01:00
parent 1464b7398a
commit e963496263
4 changed files with 37 additions and 22 deletions
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2
src/config_master.h
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@ -37,7 +37,7 @@ typedef struct master_t {
uint8_t moron_threshold; // people keep forgetting that moving model while init results in wrong gyro offsets. and then they never reset gyro. so this is now on by default. uint8_t moron_threshold; // people keep forgetting that moving model while init results in wrong gyro offsets. and then they never reset gyro. so this is now on by default.
uint16_t max_angle_inclination; // max inclination allowed in angle (level) mode. default 500 (50 degrees). uint16_t max_angle_inclination; // max inclination allowed in angle (level) mode. default 500 (50 degrees).
int16_flightDynamicsTrims_t accZero; int16_flightDynamicsTrims_t accZero;
int16_t magZero[3]; int16_flightDynamicsTrims_t magZero;
batteryConfig_t batteryConfig; batteryConfig_t batteryConfig;

2
src/mw.c
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@ -483,7 +483,7 @@ void loop(void)
case 0: case 0:
taskOrder++; taskOrder++;
#ifdef MAG #ifdef MAG
if (sensors(SENSOR_MAG) && compassGetADC()) if (sensors(SENSOR_MAG) && compassGetADC(&masterConfig.magZero))
break; break;
#endif #endif
case 1: case 1:

53
src/sensors_compass.c
View file

@ -1,8 +1,24 @@
#include "board.h" #include <stdbool.h>
#include "mw.h" #include <stdint.h>
#include "platform.h"
#include "common/axis.h" #include "common/axis.h"
#include "drivers/compass_hmc5883l.h"
#include "drivers/gpio_common.h"
#include "drivers/light_led.h"
#include "flight_common.h"
#include "boardalignment.h"
#include "runtime_config.h"
#include "config.h"
#include "sensors_common.h"
#include "sensors_compass.h"
extern uint32_t currentTime; // FIXME dependency on global variable, pass it in instead.
int16_t magADC[XYZ_AXIS_COUNT]; int16_t magADC[XYZ_AXIS_COUNT];
sensor_align_e magAlign = 0; sensor_align_e magAlign = 0;
#ifdef MAG #ifdef MAG
@ -17,11 +33,11 @@ void compassInit(void)
magInit = 1; magInit = 1;
} }
int compassGetADC(void) int compassGetADC(int16_flightDynamicsTrims_t *magZero)
{ {
static uint32_t t, tCal = 0; static uint32_t t, tCal = 0;
static int16_t magZeroTempMin[3]; static int16_flightDynamicsTrims_t magZeroTempMin;
static int16_t magZeroTempMax[3]; static int16_flightDynamicsTrims_t magZeroTempMax;
uint32_t axis; uint32_t axis;
if ((int32_t)(currentTime - t) < 0) if ((int32_t)(currentTime - t) < 0)
@ -35,36 +51,35 @@ int compassGetADC(void)
if (f.CALIBRATE_MAG) { if (f.CALIBRATE_MAG) {
tCal = t; tCal = t;
for (axis = 0; axis < 3; axis++) { for (axis = 0; axis < 3; axis++) {
masterConfig.magZero[axis] = 0; magZero->raw[axis] = 0;
magZeroTempMin[axis] = magADC[axis]; magZeroTempMin.raw[axis] = magADC[axis];
magZeroTempMax[axis] = magADC[axis]; magZeroTempMax.raw[axis] = magADC[axis];
} }
f.CALIBRATE_MAG = 0; f.CALIBRATE_MAG = 0;
} }
if (magInit) { // we apply offset only once mag calibration is done if (magInit) { // we apply offset only once mag calibration is done
magADC[X] -= masterConfig.magZero[X]; magADC[X] -= magZero->raw[X];
magADC[Y] -= masterConfig.magZero[Y]; magADC[Y] -= magZero->raw[Y];
magADC[Z] -= masterConfig.magZero[Z]; magADC[Z] -= magZero->raw[Z];
} }
if (tCal != 0) { if (tCal != 0) {
if ((t - tCal) < 30000000) { // 30s: you have 30s to turn the multi in all directions if ((t - tCal) < 30000000) { // 30s: you have 30s to turn the multi in all directions
LED0_TOGGLE; LED0_TOGGLE;
for (axis = 0; axis < 3; axis++) { for (axis = 0; axis < 3; axis++) {
if (magADC[axis] < magZeroTempMin[axis]) if (magADC[axis] < magZeroTempMin.raw[axis])
magZeroTempMin[axis] = magADC[axis]; magZeroTempMin.raw[axis] = magADC[axis];
if (magADC[axis] > magZeroTempMax[axis]) if (magADC[axis] > magZeroTempMax.raw[axis])
magZeroTempMax[axis] = magADC[axis]; magZeroTempMax.raw[axis] = magADC[axis];
} }
} else { } else {
tCal = 0; tCal = 0;
for (axis = 0; axis < 3; axis++) { for (axis = 0; axis < 3; axis++) {
masterConfig.magZero[axis] = (magZeroTempMin[axis] + magZeroTempMax[axis]) / 2; // Calculate offsets magZero->raw[axis] = (magZeroTempMin.raw[axis] + magZeroTempMax.raw[axis]) / 2; // Calculate offsets
} }
copyCurrentProfileToProfileSlot(masterConfig.current_profile_index);
writeEEPROM(); saveAndReloadCurrentProfileToCurrentProfileSlot();
readEEPROMAndNotify();
} }
} }

2
src/sensors_compass.h
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@ -2,7 +2,7 @@
#ifdef MAG #ifdef MAG
void compassInit(void); void compassInit(void);
int compassGetADC(void); int compassGetADC(int16_flightDynamicsTrims_t *magZero);
#endif #endif
extern int16_t magADC[XYZ_AXIS_COUNT]; extern int16_t magADC[XYZ_AXIS_COUNT];