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Code Issues Wiki Activity

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

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Moved pidControllers out of mw.c into flight_common.c/h.
Moved appropriate code into rc_controls.c/h.
This commit is contained in:
Dominic Clifton 2014-04-22 01:58:23 +01:00
parent 2c80094b0e
commit fe89d40fa0
28 changed files with 333 additions and 232 deletions
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51
src/main.c
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@ -1,23 +1,51 @@
#include "board.h"
#include <stdbool.h>
#include <stdint.h>
#include "platform.h"
#include "common/axis.h"
#include "drivers/system_common.h"
#include "drivers/gpio_common.h"
#include "drivers/light_led.h"
#include "drivers/sound_beeper.h"
#include "drivers/timer_common.h"
#include "drivers/serial_common.h"
#include "drivers/serial_softserial.h"
#include "drivers/serial_uart.h"
#include "drivers/accgyro_common.h"
#include "drivers/pwm_common.h"
#include "drivers/adc_common.h"
#include "flight_common.h"
#include "flight_mixer.h"
#include "serial_common.h"
#include "failsafe.h"
#include "mw.h"
#include "gps_common.h"
#include "rc_controls.h"
#include "rx_common.h"
#include "gimbal.h"
#include "sensors_common.h"
#include "drivers/accgyro_common.h"
#include "drivers/serial_common.h"
#include "sensors_sonar.h"
#include "sensors_barometer.h"
#include "sensors_acceleration.h"
#include "sensors_gyro.h"
#include "telemetry_common.h"
#include "battery.h"
#include "boardalignment.h"
#include "runtime_config.h"
#include "config.h"
#include "config_profile.h"
#include "config_master.h"
#include "build_config.h"
extern rcReadRawDataPtr rcReadRawFunc;
extern uint32_t previousTime;
failsafe_t *failsafe;
void initTelemetry(serialPorts_t *serialPorts);
@ -27,6 +55,10 @@ void pwmInit(drv_pwm_config_t *init, failsafe_t *initialFailsafe);
void rxInit(rxConfig_t *rxConfig, failsafe_t *failsafe);
void buzzerInit(failsafe_t *initialFailsafe);
void gpsInit(uint8_t baudrateIndex, uint8_t initialGpsProvider, gpsProfile_t *initialGpsProfile, pidProfile_t *pidProfile);
void sensorsAutodetect(void);
void imuInit(void);
void loop(void);
int main(void)
{
@ -159,10 +191,13 @@ int main(void)
initTelemetry(&serialPorts);
previousTime = micros();
if (masterConfig.mixerConfiguration == MULTITYPE_GIMBAL)
calibratingA = CALIBRATING_ACC_CYCLES;
calibratingG = CALIBRATING_GYRO_CYCLES;
calibratingB = CALIBRATING_BARO_CYCLES; // 10 seconds init_delay + 200 * 25 ms = 15 seconds before ground pressure settles
if (masterConfig.mixerConfiguration == MULTITYPE_GIMBAL) {
ACC_SetCalibrationCycles(CALIBRATING_ACC_CYCLES);
}
GYRO_SetCalibrationCycles(CALIBRATING_GYRO_CYCLES);
Baro_SetCalibrationCycles(CALIBRATING_BARO_CYCLES);
f.SMALL_ANGLE = 1;
// loopy