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Code Issues Wiki Activity

Renamed sensor detect functions from eg detectGyro to gyroDetect

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This commit is contained in:
Martin Budden 2016-12-05 05:22:07 +00:00
parent 229f6d14d4
commit f4cd683ecd
1 changed files with 38 additions and 38 deletions
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76
src/main/sensors/initialisation.c
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@ -157,7 +157,7 @@ bool fakeAccDetect(accDev_t *acc)
} }
#endif #endif
bool detectGyro(void) bool gyroDetect(gyroDev_t *dev)
{ {
gyroSensor_e gyroHardware = GYRO_DEFAULT; gyroSensor_e gyroHardware = GYRO_DEFAULT;
@ -168,7 +168,7 @@ bool detectGyro(void)
; // fallthrough ; // fallthrough
case GYRO_MPU6050: case GYRO_MPU6050:
#ifdef USE_GYRO_MPU6050 #ifdef USE_GYRO_MPU6050
if (mpu6050GyroDetect(&gyro.dev)) { if (mpu6050GyroDetect(dev)) {
gyroHardware = GYRO_MPU6050; gyroHardware = GYRO_MPU6050;
#ifdef GYRO_MPU6050_ALIGN #ifdef GYRO_MPU6050_ALIGN
gyro.dev.gyroAlign = GYRO_MPU6050_ALIGN; gyro.dev.gyroAlign = GYRO_MPU6050_ALIGN;
@ -179,7 +179,7 @@ bool detectGyro(void)
; // fallthrough ; // fallthrough
case GYRO_L3G4200D: case GYRO_L3G4200D:
#ifdef USE_GYRO_L3G4200D #ifdef USE_GYRO_L3G4200D
if (l3g4200dDetect(&gyro.dev)) { if (l3g4200dDetect(dev)) {
gyroHardware = GYRO_L3G4200D; gyroHardware = GYRO_L3G4200D;
#ifdef GYRO_L3G4200D_ALIGN #ifdef GYRO_L3G4200D_ALIGN
gyro.dev.gyroAlign = GYRO_L3G4200D_ALIGN; gyro.dev.gyroAlign = GYRO_L3G4200D_ALIGN;
@ -191,7 +191,7 @@ bool detectGyro(void)
case GYRO_MPU3050: case GYRO_MPU3050:
#ifdef USE_GYRO_MPU3050 #ifdef USE_GYRO_MPU3050
if (mpu3050Detect(&gyro.dev)) { if (mpu3050Detect(dev)) {
gyroHardware = GYRO_MPU3050; gyroHardware = GYRO_MPU3050;
#ifdef GYRO_MPU3050_ALIGN #ifdef GYRO_MPU3050_ALIGN
gyro.dev.gyroAlign = GYRO_MPU3050_ALIGN; gyro.dev.gyroAlign = GYRO_MPU3050_ALIGN;
@ -203,7 +203,7 @@ bool detectGyro(void)
case GYRO_L3GD20: case GYRO_L3GD20:
#ifdef USE_GYRO_L3GD20 #ifdef USE_GYRO_L3GD20
if (l3gd20Detect(&gyro.dev)) { if (l3gd20Detect(dev)) {
gyroHardware = GYRO_L3GD20; gyroHardware = GYRO_L3GD20;
#ifdef GYRO_L3GD20_ALIGN #ifdef GYRO_L3GD20_ALIGN
gyro.dev.gyroAlign = GYRO_L3GD20_ALIGN; gyro.dev.gyroAlign = GYRO_L3GD20_ALIGN;
@ -215,7 +215,7 @@ bool detectGyro(void)
case GYRO_MPU6000: case GYRO_MPU6000:
#ifdef USE_GYRO_SPI_MPU6000 #ifdef USE_GYRO_SPI_MPU6000
if (mpu6000SpiGyroDetect(&gyro.dev)) { if (mpu6000SpiGyroDetect(dev)) {
gyroHardware = GYRO_MPU6000; gyroHardware = GYRO_MPU6000;
#ifdef GYRO_MPU6000_ALIGN #ifdef GYRO_MPU6000_ALIGN
gyro.dev.gyroAlign = GYRO_MPU6000_ALIGN; gyro.dev.gyroAlign = GYRO_MPU6000_ALIGN;
@ -228,9 +228,9 @@ bool detectGyro(void)
case GYRO_MPU6500: case GYRO_MPU6500:
#if defined(USE_GYRO_MPU6500) || defined(USE_GYRO_SPI_MPU6500) #if defined(USE_GYRO_MPU6500) || defined(USE_GYRO_SPI_MPU6500)
#ifdef USE_GYRO_SPI_MPU6500 #ifdef USE_GYRO_SPI_MPU6500
if (mpu6500GyroDetect(&gyro.dev) || mpu6500SpiGyroDetect(&gyro.dev)) if (mpu6500GyroDetect(dev) || mpu6500SpiGyroDetect(dev))
#else #else
if (mpu6500GyroDetect(&gyro.dev)) if (mpu6500GyroDetect(dev))
#endif #endif
{ {
gyroHardware = GYRO_MPU6500; gyroHardware = GYRO_MPU6500;
@ -246,7 +246,7 @@ bool detectGyro(void)
case GYRO_MPU9250: case GYRO_MPU9250:
#ifdef USE_GYRO_SPI_MPU9250 #ifdef USE_GYRO_SPI_MPU9250
if (mpu9250SpiGyroDetect(&gyro.dev)) if (mpu9250SpiGyroDetect(dev))
{ {
gyroHardware = GYRO_MPU9250; gyroHardware = GYRO_MPU9250;
#ifdef GYRO_MPU9250_ALIGN #ifdef GYRO_MPU9250_ALIGN
@ -260,7 +260,7 @@ bool detectGyro(void)
case GYRO_ICM20689: case GYRO_ICM20689:
#ifdef USE_GYRO_SPI_ICM20689 #ifdef USE_GYRO_SPI_ICM20689
if (icm20689SpiGyroDetect(&gyro.dev)) if (icm20689SpiGyroDetect(dev))
{ {
gyroHardware = GYRO_ICM20689; gyroHardware = GYRO_ICM20689;
#ifdef GYRO_ICM20689_ALIGN #ifdef GYRO_ICM20689_ALIGN
@ -274,7 +274,7 @@ bool detectGyro(void)
case GYRO_FAKE: case GYRO_FAKE:
#ifdef USE_FAKE_GYRO #ifdef USE_FAKE_GYRO
if (fakeGyroDetect(&gyro.dev)) { if (fakeGyroDetect(dev)) {
gyroHardware = GYRO_FAKE; gyroHardware = GYRO_FAKE;
break; break;
} }
@ -294,7 +294,7 @@ bool detectGyro(void)
return true; return true;
} }
static bool detectAcc(accelerationSensor_e accHardwareToUse) static bool accDetect(accDev_t *dev, accelerationSensor_e accHardwareToUse)
{ {
accelerationSensor_e accHardware; accelerationSensor_e accHardware;
@ -313,9 +313,9 @@ retry:
acc_params.useFifo = false; acc_params.useFifo = false;
acc_params.dataRate = 800; // unused currently acc_params.dataRate = 800; // unused currently
#ifdef NAZE #ifdef NAZE
if (hardwareRevision < NAZE32_REV5 && adxl345Detect(&acc_params, &acc.dev)) { if (hardwareRevision < NAZE32_REV5 && adxl345Detect(&acc_params, dev)) {
#else #else
if (adxl345Detect(&acc_params, &acc.dev)) { if (adxl345Detect(&acc_params, dev)) {
#endif #endif
#ifdef ACC_ADXL345_ALIGN #ifdef ACC_ADXL345_ALIGN
acc.dev.accAlign = ACC_ADXL345_ALIGN; acc.dev.accAlign = ACC_ADXL345_ALIGN;
@ -327,7 +327,7 @@ retry:
; // fallthrough ; // fallthrough
case ACC_LSM303DLHC: case ACC_LSM303DLHC:
#ifdef USE_ACC_LSM303DLHC #ifdef USE_ACC_LSM303DLHC
if (lsm303dlhcAccDetect(&acc.dev)) { if (lsm303dlhcAccDetect(dev)) {
#ifdef ACC_LSM303DLHC_ALIGN #ifdef ACC_LSM303DLHC_ALIGN
acc.dev.accAlign = ACC_LSM303DLHC_ALIGN; acc.dev.accAlign = ACC_LSM303DLHC_ALIGN;
#endif #endif
@ -338,7 +338,7 @@ retry:
; // fallthrough ; // fallthrough
case ACC_MPU6050: // MPU6050 case ACC_MPU6050: // MPU6050
#ifdef USE_ACC_MPU6050 #ifdef USE_ACC_MPU6050
if (mpu6050AccDetect(&acc.dev)) { if (mpu6050AccDetect(dev)) {
#ifdef ACC_MPU6050_ALIGN #ifdef ACC_MPU6050_ALIGN
acc.dev.accAlign = ACC_MPU6050_ALIGN; acc.dev.accAlign = ACC_MPU6050_ALIGN;
#endif #endif
@ -351,9 +351,9 @@ retry:
#ifdef USE_ACC_MMA8452 #ifdef USE_ACC_MMA8452
#ifdef NAZE #ifdef NAZE
// Not supported with this frequency // Not supported with this frequency
if (hardwareRevision < NAZE32_REV5 && mma8452Detect(&acc.dev)) { if (hardwareRevision < NAZE32_REV5 && mma8452Detect(dev)) {
#else #else
if (mma8452Detect(&acc.dev)) { if (mma8452Detect(dev)) {
#endif #endif
#ifdef ACC_MMA8452_ALIGN #ifdef ACC_MMA8452_ALIGN
acc.dev.accAlign = ACC_MMA8452_ALIGN; acc.dev.accAlign = ACC_MMA8452_ALIGN;
@ -365,7 +365,7 @@ retry:
; // fallthrough ; // fallthrough
case ACC_BMA280: // BMA280 case ACC_BMA280: // BMA280
#ifdef USE_ACC_BMA280 #ifdef USE_ACC_BMA280
if (bma280Detect(&acc.dev)) { if (bma280Detect(dev)) {
#ifdef ACC_BMA280_ALIGN #ifdef ACC_BMA280_ALIGN
acc.dev.accAlign = ACC_BMA280_ALIGN; acc.dev.accAlign = ACC_BMA280_ALIGN;
#endif #endif
@ -376,7 +376,7 @@ retry:
; // fallthrough ; // fallthrough
case ACC_MPU6000: case ACC_MPU6000:
#ifdef USE_ACC_SPI_MPU6000 #ifdef USE_ACC_SPI_MPU6000
if (mpu6000SpiAccDetect(&acc.dev)) { if (mpu6000SpiAccDetect(dev)) {
#ifdef ACC_MPU6000_ALIGN #ifdef ACC_MPU6000_ALIGN
acc.dev.accAlign = ACC_MPU6000_ALIGN; acc.dev.accAlign = ACC_MPU6000_ALIGN;
#endif #endif
@ -388,9 +388,9 @@ retry:
case ACC_MPU6500: case ACC_MPU6500:
#if defined(USE_ACC_MPU6500) || defined(USE_ACC_SPI_MPU6500) #if defined(USE_ACC_MPU6500) || defined(USE_ACC_SPI_MPU6500)
#ifdef USE_ACC_SPI_MPU6500 #ifdef USE_ACC_SPI_MPU6500
if (mpu6500AccDetect(&acc.dev) || mpu6500SpiAccDetect(&acc.dev)) if (mpu6500AccDetect(dev) || mpu6500SpiAccDetect(dev))
#else #else
if (mpu6500AccDetect(&acc.dev)) if (mpu6500AccDetect(dev))
#endif #endif
{ {
#ifdef ACC_MPU6500_ALIGN #ifdef ACC_MPU6500_ALIGN
@ -404,7 +404,7 @@ retry:
case ACC_ICM20689: case ACC_ICM20689:
#ifdef USE_ACC_SPI_ICM20689 #ifdef USE_ACC_SPI_ICM20689
if (icm20689SpiAccDetect(&acc.dev)) if (icm20689SpiAccDetect(dev))
{ {
#ifdef ACC_ICM20689_ALIGN #ifdef ACC_ICM20689_ALIGN
acc.dev.accAlign = ACC_ICM20689_ALIGN; acc.dev.accAlign = ACC_ICM20689_ALIGN;
@ -416,7 +416,7 @@ retry:
; // fallthrough ; // fallthrough
case ACC_FAKE: case ACC_FAKE:
#ifdef USE_FAKE_ACC #ifdef USE_FAKE_ACC
if (fakeAccDetect(&acc.dev)) { if (fakeAccDetect(dev)) {
accHardware = ACC_FAKE; accHardware = ACC_FAKE;
break; break;
} }
@ -446,7 +446,7 @@ retry:
} }
#ifdef BARO #ifdef BARO
static bool detectBaro(baroSensor_e baroHardwareToUse) static bool baroDetect(baroDev_t *dev, baroSensor_e baroHardwareToUse)
{ {
// Detect what pressure sensors are available. baro->update() is set to sensor-specific update function // Detect what pressure sensors are available. baro->update() is set to sensor-specific update function
@ -476,7 +476,7 @@ static bool detectBaro(baroSensor_e baroHardwareToUse)
; // fallthough ; // fallthough
case BARO_BMP085: case BARO_BMP085:
#ifdef USE_BARO_BMP085 #ifdef USE_BARO_BMP085
if (bmp085Detect(bmp085Config, &baro.dev)) { if (bmp085Detect(bmp085Config, dev)) {
baroHardware = BARO_BMP085; baroHardware = BARO_BMP085;
break; break;
} }
@ -484,7 +484,7 @@ static bool detectBaro(baroSensor_e baroHardwareToUse)
; // fallthough ; // fallthough
case BARO_MS5611: case BARO_MS5611:
#ifdef USE_BARO_MS5611 #ifdef USE_BARO_MS5611
if (ms5611Detect(&baro.dev)) { if (ms5611Detect(dev)) {
baroHardware = BARO_MS5611; baroHardware = BARO_MS5611;
break; break;
} }
@ -492,7 +492,7 @@ static bool detectBaro(baroSensor_e baroHardwareToUse)
; // fallthough ; // fallthough
case BARO_BMP280: case BARO_BMP280:
#if defined(USE_BARO_BMP280) || defined(USE_BARO_SPI_BMP280) #if defined(USE_BARO_BMP280) || defined(USE_BARO_SPI_BMP280)
if (bmp280Detect(&baro.dev)) { if (bmp280Detect(dev)) {
baroHardware = BARO_BMP280; baroHardware = BARO_BMP280;
break; break;
} }
@ -514,7 +514,7 @@ static bool detectBaro(baroSensor_e baroHardwareToUse)
#endif #endif
#ifdef MAG #ifdef MAG
static bool detectMag(magSensor_e magHardwareToUse) static bool compassDetect(magDev_t *dev, magSensor_e magHardwareToUse)
{ {
magSensor_e magHardware; magSensor_e magHardware;
@ -555,7 +555,7 @@ retry:
case MAG_HMC5883: case MAG_HMC5883:
#ifdef USE_MAG_HMC5883 #ifdef USE_MAG_HMC5883
if (hmc5883lDetect(&mag.dev, hmc5883Config)) { if (hmc5883lDetect(dev, hmc5883Config)) {
#ifdef MAG_HMC5883_ALIGN #ifdef MAG_HMC5883_ALIGN
mag.dev.magAlign = MAG_HMC5883_ALIGN; mag.dev.magAlign = MAG_HMC5883_ALIGN;
#endif #endif
@ -567,7 +567,7 @@ retry:
case MAG_AK8975: case MAG_AK8975:
#ifdef USE_MAG_AK8975 #ifdef USE_MAG_AK8975
if (ak8975Detect(&mag.dev)) { if (ak8975Detect(dev)) {
#ifdef MAG_AK8975_ALIGN #ifdef MAG_AK8975_ALIGN
mag.dev.magAlign = MAG_AK8975_ALIGN; mag.dev.magAlign = MAG_AK8975_ALIGN;
#endif #endif
@ -579,7 +579,7 @@ retry:
case MAG_AK8963: case MAG_AK8963:
#ifdef USE_MAG_AK8963 #ifdef USE_MAG_AK8963
if (ak8963Detect(&mag.dev)) { if (ak8963Detect(dev)) {
#ifdef MAG_AK8963_ALIGN #ifdef MAG_AK8963_ALIGN
mag.dev.magAlign = MAG_AK8963_ALIGN; mag.dev.magAlign = MAG_AK8963_ALIGN;
#endif #endif
@ -611,7 +611,7 @@ retry:
#endif #endif
#ifdef SONAR #ifdef SONAR
static bool detectSonar(void) static bool sonarDetect(void)
{ {
if (feature(FEATURE_SONAR)) { if (feature(FEATURE_SONAR)) {
// the user has set the sonar feature, so assume they have an HC-SR04 plugged in, // the user has set the sonar feature, so assume they have an HC-SR04 plugged in,
@ -640,7 +640,7 @@ bool sensorsAutodetect(const gyroConfig_t *gyroConfig,
UNUSED(mpuDetectionResult); UNUSED(mpuDetectionResult);
#endif #endif
if (!detectGyro()) { if (!gyroDetect(&gyro.dev)) {
return false; return false;
} }
@ -651,7 +651,7 @@ bool sensorsAutodetect(const gyroConfig_t *gyroConfig,
gyro.dev.init(&gyro.dev); // driver initialisation gyro.dev.init(&gyro.dev); // driver initialisation
gyroInit(gyroConfig); // sensor initialisation gyroInit(gyroConfig); // sensor initialisation
if (detectAcc(accelerometerConfig->acc_hardware)) { if (accDetect(&acc.dev, accelerometerConfig->acc_hardware)) {
acc.dev.acc_1G = 256; // set default acc.dev.acc_1G = 256; // set default
acc.dev.init(&acc.dev); // driver initialisation acc.dev.init(&acc.dev); // driver initialisation
accInit(gyro.targetLooptime); // sensor initialisation accInit(gyro.targetLooptime); // sensor initialisation
@ -661,7 +661,7 @@ bool sensorsAutodetect(const gyroConfig_t *gyroConfig,
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. 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.
#ifdef MAG #ifdef MAG
// FIXME extract to a method to reduce dependencies, maybe move to sensors_compass.c // FIXME extract to a method to reduce dependencies, maybe move to sensors_compass.c
if (detectMag(compassConfig->mag_hardware)) { if (compassDetect(&mag.dev, compassConfig->mag_hardware)) {
// calculate magnetic declination // calculate magnetic declination
const int16_t deg = compassConfig->mag_declination / 100; const int16_t deg = compassConfig->mag_declination / 100;
const int16_t min = compassConfig->mag_declination % 100; const int16_t min = compassConfig->mag_declination % 100;
@ -673,13 +673,13 @@ bool sensorsAutodetect(const gyroConfig_t *gyroConfig,
#endif #endif
#ifdef BARO #ifdef BARO
detectBaro(barometerConfig->baro_hardware); baroDetect(&baro.dev, barometerConfig->baro_hardware);
#else #else
UNUSED(barometerConfig); UNUSED(barometerConfig);
#endif #endif
#ifdef SONAR #ifdef SONAR
if (detectSonar()) { if (sonarDetect()) {
sonarInit(sonarConfig); sonarInit(sonarConfig);
} }
#else #else