mirror of
https://github.com/betaflight/betaflight.git
synced 2025-07-18 05:45:31 +03:00
Renamed sensor detect functions from eg detectGyro to gyroDetect
This commit is contained in:
Martin Budden
parent
229f6d14d4
commit
f4cd683ecd
1 changed files with 38 additions and 38 deletions
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@ -157,7 +157,7 @@ bool fakeAccDetect(accDev_t *acc)
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}
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#endif
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bool detectGyro(void)
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bool gyroDetect(gyroDev_t *dev)
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{
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gyroSensor_e gyroHardware = GYRO_DEFAULT;
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@ -168,7 +168,7 @@ bool detectGyro(void)
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; // fallthrough
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case GYRO_MPU6050:
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#ifdef USE_GYRO_MPU6050
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if (mpu6050GyroDetect(&gyro.dev)) {
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if (mpu6050GyroDetect(dev)) {
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gyroHardware = GYRO_MPU6050;
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#ifdef GYRO_MPU6050_ALIGN
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gyro.dev.gyroAlign = GYRO_MPU6050_ALIGN;
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@ -179,7 +179,7 @@ bool detectGyro(void)
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; // fallthrough
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case GYRO_L3G4200D:
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#ifdef USE_GYRO_L3G4200D
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if (l3g4200dDetect(&gyro.dev)) {
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if (l3g4200dDetect(dev)) {
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gyroHardware = GYRO_L3G4200D;
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#ifdef GYRO_L3G4200D_ALIGN
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gyro.dev.gyroAlign = GYRO_L3G4200D_ALIGN;
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@ -191,7 +191,7 @@ bool detectGyro(void)
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case GYRO_MPU3050:
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#ifdef USE_GYRO_MPU3050
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if (mpu3050Detect(&gyro.dev)) {
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if (mpu3050Detect(dev)) {
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gyroHardware = GYRO_MPU3050;
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#ifdef GYRO_MPU3050_ALIGN
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gyro.dev.gyroAlign = GYRO_MPU3050_ALIGN;
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@ -203,7 +203,7 @@ bool detectGyro(void)
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case GYRO_L3GD20:
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#ifdef USE_GYRO_L3GD20
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if (l3gd20Detect(&gyro.dev)) {
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if (l3gd20Detect(dev)) {
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gyroHardware = GYRO_L3GD20;
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#ifdef GYRO_L3GD20_ALIGN
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gyro.dev.gyroAlign = GYRO_L3GD20_ALIGN;
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@ -215,7 +215,7 @@ bool detectGyro(void)
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case GYRO_MPU6000:
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#ifdef USE_GYRO_SPI_MPU6000
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if (mpu6000SpiGyroDetect(&gyro.dev)) {
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if (mpu6000SpiGyroDetect(dev)) {
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gyroHardware = GYRO_MPU6000;
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#ifdef GYRO_MPU6000_ALIGN
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gyro.dev.gyroAlign = GYRO_MPU6000_ALIGN;
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@ -228,9 +228,9 @@ bool detectGyro(void)
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case GYRO_MPU6500:
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#if defined(USE_GYRO_MPU6500) || defined(USE_GYRO_SPI_MPU6500)
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#ifdef USE_GYRO_SPI_MPU6500
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if (mpu6500GyroDetect(&gyro.dev) || mpu6500SpiGyroDetect(&gyro.dev))
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if (mpu6500GyroDetect(dev) || mpu6500SpiGyroDetect(dev))
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#else
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if (mpu6500GyroDetect(&gyro.dev))
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if (mpu6500GyroDetect(dev))
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#endif
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{
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gyroHardware = GYRO_MPU6500;
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@ -246,7 +246,7 @@ bool detectGyro(void)
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case GYRO_MPU9250:
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#ifdef USE_GYRO_SPI_MPU9250
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if (mpu9250SpiGyroDetect(&gyro.dev))
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if (mpu9250SpiGyroDetect(dev))
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{
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gyroHardware = GYRO_MPU9250;
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#ifdef GYRO_MPU9250_ALIGN
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@ -260,7 +260,7 @@ bool detectGyro(void)
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case GYRO_ICM20689:
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#ifdef USE_GYRO_SPI_ICM20689
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if (icm20689SpiGyroDetect(&gyro.dev))
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if (icm20689SpiGyroDetect(dev))
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{
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gyroHardware = GYRO_ICM20689;
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#ifdef GYRO_ICM20689_ALIGN
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@ -274,7 +274,7 @@ bool detectGyro(void)
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case GYRO_FAKE:
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#ifdef USE_FAKE_GYRO
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if (fakeGyroDetect(&gyro.dev)) {
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if (fakeGyroDetect(dev)) {
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gyroHardware = GYRO_FAKE;
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break;
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}
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@ -294,7 +294,7 @@ bool detectGyro(void)
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return true;
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}
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static bool detectAcc(accelerationSensor_e accHardwareToUse)
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static bool accDetect(accDev_t *dev, accelerationSensor_e accHardwareToUse)
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{
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accelerationSensor_e accHardware;
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@ -313,9 +313,9 @@ retry:
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acc_params.useFifo = false;
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acc_params.dataRate = 800; // unused currently
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#ifdef NAZE
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if (hardwareRevision < NAZE32_REV5 && adxl345Detect(&acc_params, &acc.dev)) {
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if (hardwareRevision < NAZE32_REV5 && adxl345Detect(&acc_params, dev)) {
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#else
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if (adxl345Detect(&acc_params, &acc.dev)) {
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if (adxl345Detect(&acc_params, dev)) {
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#endif
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#ifdef ACC_ADXL345_ALIGN
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acc.dev.accAlign = ACC_ADXL345_ALIGN;
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@ -327,7 +327,7 @@ retry:
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; // fallthrough
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case ACC_LSM303DLHC:
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#ifdef USE_ACC_LSM303DLHC
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if (lsm303dlhcAccDetect(&acc.dev)) {
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if (lsm303dlhcAccDetect(dev)) {
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#ifdef ACC_LSM303DLHC_ALIGN
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acc.dev.accAlign = ACC_LSM303DLHC_ALIGN;
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#endif
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@ -338,7 +338,7 @@ retry:
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; // fallthrough
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case ACC_MPU6050: // MPU6050
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#ifdef USE_ACC_MPU6050
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if (mpu6050AccDetect(&acc.dev)) {
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if (mpu6050AccDetect(dev)) {
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#ifdef ACC_MPU6050_ALIGN
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acc.dev.accAlign = ACC_MPU6050_ALIGN;
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#endif
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@ -351,9 +351,9 @@ retry:
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#ifdef USE_ACC_MMA8452
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#ifdef NAZE
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// Not supported with this frequency
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if (hardwareRevision < NAZE32_REV5 && mma8452Detect(&acc.dev)) {
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if (hardwareRevision < NAZE32_REV5 && mma8452Detect(dev)) {
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#else
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if (mma8452Detect(&acc.dev)) {
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if (mma8452Detect(dev)) {
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#endif
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#ifdef ACC_MMA8452_ALIGN
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acc.dev.accAlign = ACC_MMA8452_ALIGN;
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@ -365,7 +365,7 @@ retry:
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; // fallthrough
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case ACC_BMA280: // BMA280
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#ifdef USE_ACC_BMA280
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if (bma280Detect(&acc.dev)) {
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if (bma280Detect(dev)) {
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#ifdef ACC_BMA280_ALIGN
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acc.dev.accAlign = ACC_BMA280_ALIGN;
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#endif
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@ -376,7 +376,7 @@ retry:
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; // fallthrough
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case ACC_MPU6000:
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#ifdef USE_ACC_SPI_MPU6000
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if (mpu6000SpiAccDetect(&acc.dev)) {
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if (mpu6000SpiAccDetect(dev)) {
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#ifdef ACC_MPU6000_ALIGN
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acc.dev.accAlign = ACC_MPU6000_ALIGN;
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#endif
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@ -388,9 +388,9 @@ retry:
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case ACC_MPU6500:
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#if defined(USE_ACC_MPU6500) || defined(USE_ACC_SPI_MPU6500)
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#ifdef USE_ACC_SPI_MPU6500
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if (mpu6500AccDetect(&acc.dev) || mpu6500SpiAccDetect(&acc.dev))
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if (mpu6500AccDetect(dev) || mpu6500SpiAccDetect(dev))
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#else
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if (mpu6500AccDetect(&acc.dev))
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if (mpu6500AccDetect(dev))
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#endif
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{
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#ifdef ACC_MPU6500_ALIGN
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@ -404,7 +404,7 @@ retry:
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case ACC_ICM20689:
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#ifdef USE_ACC_SPI_ICM20689
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if (icm20689SpiAccDetect(&acc.dev))
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if (icm20689SpiAccDetect(dev))
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{
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#ifdef ACC_ICM20689_ALIGN
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acc.dev.accAlign = ACC_ICM20689_ALIGN;
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@ -416,7 +416,7 @@ retry:
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; // fallthrough
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case ACC_FAKE:
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#ifdef USE_FAKE_ACC
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if (fakeAccDetect(&acc.dev)) {
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if (fakeAccDetect(dev)) {
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accHardware = ACC_FAKE;
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break;
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}
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@ -446,7 +446,7 @@ retry:
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}
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#ifdef BARO
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static bool detectBaro(baroSensor_e baroHardwareToUse)
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static bool baroDetect(baroDev_t *dev, baroSensor_e baroHardwareToUse)
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{
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// Detect what pressure sensors are available. baro->update() is set to sensor-specific update function
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@ -476,7 +476,7 @@ static bool detectBaro(baroSensor_e baroHardwareToUse)
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; // fallthough
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case BARO_BMP085:
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#ifdef USE_BARO_BMP085
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if (bmp085Detect(bmp085Config, &baro.dev)) {
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if (bmp085Detect(bmp085Config, dev)) {
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baroHardware = BARO_BMP085;
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break;
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}
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@ -484,7 +484,7 @@ static bool detectBaro(baroSensor_e baroHardwareToUse)
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; // fallthough
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case BARO_MS5611:
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#ifdef USE_BARO_MS5611
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if (ms5611Detect(&baro.dev)) {
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if (ms5611Detect(dev)) {
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baroHardware = BARO_MS5611;
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break;
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}
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@ -492,7 +492,7 @@ static bool detectBaro(baroSensor_e baroHardwareToUse)
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; // fallthough
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case BARO_BMP280:
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#if defined(USE_BARO_BMP280) || defined(USE_BARO_SPI_BMP280)
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if (bmp280Detect(&baro.dev)) {
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if (bmp280Detect(dev)) {
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baroHardware = BARO_BMP280;
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break;
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}
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@ -514,7 +514,7 @@ static bool detectBaro(baroSensor_e baroHardwareToUse)
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#endif
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#ifdef MAG
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static bool detectMag(magSensor_e magHardwareToUse)
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static bool compassDetect(magDev_t *dev, magSensor_e magHardwareToUse)
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{
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magSensor_e magHardware;
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@ -555,7 +555,7 @@ retry:
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case MAG_HMC5883:
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#ifdef USE_MAG_HMC5883
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if (hmc5883lDetect(&mag.dev, hmc5883Config)) {
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if (hmc5883lDetect(dev, hmc5883Config)) {
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#ifdef MAG_HMC5883_ALIGN
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mag.dev.magAlign = MAG_HMC5883_ALIGN;
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#endif
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@ -567,7 +567,7 @@ retry:
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case MAG_AK8975:
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#ifdef USE_MAG_AK8975
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if (ak8975Detect(&mag.dev)) {
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if (ak8975Detect(dev)) {
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#ifdef MAG_AK8975_ALIGN
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mag.dev.magAlign = MAG_AK8975_ALIGN;
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#endif
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@ -579,7 +579,7 @@ retry:
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case MAG_AK8963:
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#ifdef USE_MAG_AK8963
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if (ak8963Detect(&mag.dev)) {
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if (ak8963Detect(dev)) {
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#ifdef MAG_AK8963_ALIGN
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mag.dev.magAlign = MAG_AK8963_ALIGN;
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#endif
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@ -611,7 +611,7 @@ retry:
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#endif
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#ifdef SONAR
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static bool detectSonar(void)
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static bool sonarDetect(void)
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{
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if (feature(FEATURE_SONAR)) {
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// the user has set the sonar feature, so assume they have an HC-SR04 plugged in,
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@ -640,7 +640,7 @@ bool sensorsAutodetect(const gyroConfig_t *gyroConfig,
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UNUSED(mpuDetectionResult);
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#endif
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if (!detectGyro()) {
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if (!gyroDetect(&gyro.dev)) {
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return false;
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}
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@ -651,7 +651,7 @@ bool sensorsAutodetect(const gyroConfig_t *gyroConfig,
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gyro.dev.init(&gyro.dev); // driver initialisation
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gyroInit(gyroConfig); // sensor initialisation
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if (detectAcc(accelerometerConfig->acc_hardware)) {
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if (accDetect(&acc.dev, accelerometerConfig->acc_hardware)) {
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acc.dev.acc_1G = 256; // set default
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acc.dev.init(&acc.dev); // driver initialisation
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accInit(gyro.targetLooptime); // sensor initialisation
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@ -661,7 +661,7 @@ bool sensorsAutodetect(const gyroConfig_t *gyroConfig,
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mag.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.
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#ifdef MAG
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// FIXME extract to a method to reduce dependencies, maybe move to sensors_compass.c
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if (detectMag(compassConfig->mag_hardware)) {
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if (compassDetect(&mag.dev, compassConfig->mag_hardware)) {
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// calculate magnetic declination
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const int16_t deg = compassConfig->mag_declination / 100;
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const int16_t min = compassConfig->mag_declination % 100;
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@ -673,13 +673,13 @@ bool sensorsAutodetect(const gyroConfig_t *gyroConfig,
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#endif
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#ifdef BARO
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detectBaro(barometerConfig->baro_hardware);
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baroDetect(&baro.dev, barometerConfig->baro_hardware);
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#else
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UNUSED(barometerConfig);
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#endif
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#ifdef SONAR
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if (detectSonar()) {
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if (sonarDetect()) {
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sonarInit(sonarConfig);
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}
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#else
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