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Code Issues Wiki Activity

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

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In doing so accelerometer sensor and trim code had to be cleaned.
Added a new method to buzzer.c to avoid exposing toggleBeep.
Renamed current_profile to current_profile_index to avoid confusion.
This commit is contained in:
Dominic Clifton 2014-04-22 19:04:51 +01:00
parent 1092fa5b40
commit fbfb75b24a
15 changed files with 293 additions and 190 deletions
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24
src/mw.c
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@ -4,10 +4,12 @@
#include "common/maths.h"
#include "common/typeconversion.h"
#include "buzzer.h"
#include "sensors_sonar.h"
#include "sensors_gyro.h"
#include "sensors_compass.h"
#include "sensors_barometer.h"
#include "sensors_acceleration.h"
#include "flight_common.h"
#include "serial_cli.h"
#include "telemetry_common.h"
@ -34,7 +36,7 @@ uint16_t rssi; // range: [0;1023]
extern uint8_t dynP8[3], dynI8[3], dynD8[3];
extern failsafe_t *failsafe;
typedef void (* pidControllerFuncPtr)(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig, uint16_t max_angle_inclination, int16_t *angleTrim);
typedef void (* pidControllerFuncPtr)(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig, uint16_t max_angle_inclination, rollAndPitchTrims_t *accelerometerTrims);
extern pidControllerFuncPtr pid_controller;
@ -305,9 +307,9 @@ void loop(void)
} else {
AccInflightCalibrationArmed = !AccInflightCalibrationArmed;
if (AccInflightCalibrationArmed) {
toggleBeep = 2;
queueConfirmationBeep(2);
} else {
toggleBeep = 3;
queueConfirmationBeep(3);
}
}
}
@ -320,7 +322,7 @@ void loop(void)
else if (rcSticks == THR_LO + YAW_LO + PIT_CE + ROL_HI) // ROLL right -> Profile 3
i = 3;
if (i) {
masterConfig.current_profile = i - 1;
masterConfig.current_profile_index = i - 1;
writeEEPROM();
readEEPROM();
blinkLedAndSoundBeeper(2, 40, i);
@ -335,27 +337,27 @@ void loop(void)
mwArm();
// Calibrating Acc
else if (rcSticks == THR_HI + YAW_LO + PIT_LO + ROL_CE)
calibratingA = CALIBRATING_ACC_CYCLES;
accSetCalibrationCycles(CALIBRATING_ACC_CYCLES);
// Calibrating Mag
else if (rcSticks == THR_HI + YAW_HI + PIT_LO + ROL_CE)
f.CALIBRATE_MAG = 1;
i = 0;
// Acc Trim
if (rcSticks == THR_HI + YAW_CE + PIT_HI + ROL_CE) {
currentProfile.angleTrim[PITCH] += 2;
currentProfile.accelerometerTrims.trims.pitch += 2;
i = 1;
} else if (rcSticks == THR_HI + YAW_CE + PIT_LO + ROL_CE) {
currentProfile.angleTrim[PITCH] -= 2;
currentProfile.accelerometerTrims.trims.pitch -= 2;
i = 1;
} else if (rcSticks == THR_HI + YAW_CE + PIT_CE + ROL_HI) {
currentProfile.angleTrim[ROLL] += 2;
currentProfile.accelerometerTrims.trims.roll += 2;
i = 1;
} else if (rcSticks == THR_HI + YAW_CE + PIT_CE + ROL_LO) {
currentProfile.angleTrim[ROLL] -= 2;
currentProfile.accelerometerTrims.trims.roll -= 2;
i = 1;
}
if (i) {
copyCurrentProfileToProfileSlot(masterConfig.current_profile);
copyCurrentProfileToProfileSlot(masterConfig.current_profile_index);
writeEEPROM();
readEEPROMAndNotify();
rcDelayCommand = 0; // allow autorepetition
@ -602,7 +604,7 @@ void loop(void)
}
// PID - note this is function pointer set by setPIDController()
pid_controller(&currentProfile.pidProfile, &currentProfile.controlRateConfig, masterConfig.max_angle_inclination, currentProfile.angleTrim);
pid_controller(&currentProfile.pidProfile, &currentProfile.controlRateConfig, masterConfig.max_angle_inclination, &currentProfile.accelerometerTrims);
mixTable();
writeServos();