Changed accRead to use accDev_t parameter

src/main/drivers/accgyro.h

@@ -36,7 +36,7 @@
 
 typedef struct gyroDev_s {
     sensorGyroInitFuncPtr init;                             // initialize function
-    sensorGyroReadFuncPtr read;                                 // read 3 axis data function
+    sensorGyroReadFuncPtr read;                             // read 3 axis data function
     sensorReadFuncPtr temperature;                          // read temperature if available
     sensorGyroInterruptStatusFuncPtr intStatus;
     float scale;                                            // scalefactor
@@ -48,9 +48,10 @@ typedef struct gyroDev_s {
 } gyroDev_t;
 
 typedef struct accDev_s {
-    sensorAccInitFuncPtr init;                                 // initialize function
+    sensorAccInitFuncPtr init;                              // initialize function
-    sensorReadFuncPtr read;                                 // read 3 axis data function
+    sensorAccReadFuncPtr read;                              // read 3 axis data function
     uint16_t acc_1G;
+    int16_t ADCRaw[XYZ_AXIS_COUNT];
     char revisionCode;                                      // a revision code for the sensor, if known
     sensor_align_e accAlign;
 } accDev_t;

src/main/drivers/accgyro_adxl345.c

@@ -76,7 +76,7 @@ static void adxl345Init(accDev_t *acc)
 
 uint8_t acc_samples = 0;
 
-static bool adxl345Read(int16_t *accelData)
+static bool adxl345Read(accDev_t *acc)
 {
     uint8_t buf[8];
 
@@ -99,9 +99,9 @@ static bool adxl345Read(int16_t *accelData)
             z += (int16_t)(buf[4] + (buf[5] << 8));
             samples_remaining = buf[7] & 0x7F;
         } while ((i < 32) && (samples_remaining > 0));
-        accelData[0] = x / i;
+        acc->ADCRaw[0] = x / i;
-        accelData[1] = y / i;
+        acc->ADCRaw[1] = y / i;
-        accelData[2] = z / i;
+        acc->ADCRaw[2] = z / i;
         acc_samples = i;
     } else {
 
@@ -109,9 +109,9 @@ static bool adxl345Read(int16_t *accelData)
             return false;
         }
 
-        accelData[0] = buf[0] + (buf[1] << 8);
+        acc->ADCRaw[0] = buf[0] + (buf[1] << 8);
-        accelData[1] = buf[2] + (buf[3] << 8);
+        acc->ADCRaw[1] = buf[2] + (buf[3] << 8);
-        accelData[2] = buf[4] + (buf[5] << 8);
+        acc->ADCRaw[2] = buf[4] + (buf[5] << 8);
     }
 
     return true;

src/main/drivers/accgyro_bma280.c

@@ -40,7 +40,7 @@ static void bma280Init(accDev_t *acc)
     acc->acc_1G = 512 * 8;
 }
 
-static bool bma280Read(int16_t *accelData)
+static bool bma280Read(accDev_t *acc)
 {
     uint8_t buf[6];
 
@@ -49,9 +49,9 @@ static bool bma280Read(int16_t *accelData)
     }
 
     // Data format is lsb<5:0><crap><new_data_bit> | msb<13:6>
-    accelData[0] = (int16_t)((buf[0] >> 2) + (buf[1] << 8));
+    acc->ADCRaw[0] = (int16_t)((buf[0] >> 2) + (buf[1] << 8));
-    accelData[1] = (int16_t)((buf[2] >> 2) + (buf[3] << 8));
+    acc->ADCRaw[1] = (int16_t)((buf[2] >> 2) + (buf[3] << 8));
-    accelData[2] = (int16_t)((buf[4] >> 2) + (buf[5] << 8));
+    acc->ADCRaw[2] = (int16_t)((buf[4] >> 2) + (buf[5] << 8));
 
     return true;
 }

src/main/drivers/accgyro_fake.c

@@ -91,11 +91,11 @@ void fakeAccSet(int16_t x, int16_t y, int16_t z)
     fakeAccData[Z] = z;
 }
 
-static bool fakeAccRead(int16_t *accData)
+static bool fakeAccRead(accDev_t *acc)
 {
-    accData[X] = fakeAccData[X];
+    acc->ADCRaw[X] = fakeAccData[X];
-    accData[Y] = fakeAccData[Y];
+    acc->ADCRaw[Y] = fakeAccData[Y];
-    accData[Z] = fakeAccData[Z];
+    acc->ADCRaw[Z] = fakeAccData[Z];
     return true;
 }
 

src/main/drivers/accgyro_mma845x.c

@@ -111,7 +111,7 @@ static void mma8452Init(accDev_t *acc)
     acc->acc_1G = 256;
 }
 
-static bool mma8452Read(int16_t *accelData)
+static bool mma8452Read(accDev_t *acc)
 {
     uint8_t buf[6];
 
@@ -119,9 +119,9 @@ static bool mma8452Read(int16_t *accelData)
         return false;
     }
 
-    accelData[0] = ((int16_t)((buf[0] << 8) | buf[1]) >> 2) / 4;
+    acc->ADCRaw[0] = ((int16_t)((buf[0] << 8) | buf[1]) >> 2) / 4;
-    accelData[1] = ((int16_t)((buf[2] << 8) | buf[3]) >> 2) / 4;
+    acc->ADCRaw[1] = ((int16_t)((buf[2] << 8) | buf[3]) >> 2) / 4;
-    accelData[2] = ((int16_t)((buf[4] << 8) | buf[5]) >> 2) / 4;
+    acc->ADCRaw[2] = ((int16_t)((buf[4] << 8) | buf[5]) >> 2) / 4;
 
     return true;
 }

src/main/drivers/accgyro_mpu.c

@@ -292,7 +292,7 @@ static bool mpuWriteRegisterI2C(uint8_t reg, uint8_t data)
     return ack;
 }
 
-bool mpuAccRead(int16_t *accData)
+bool mpuAccRead(accDev_t *acc)
 {
     uint8_t data[6];
 
@@ -301,9 +301,9 @@ bool mpuAccRead(int16_t *accData)
         return false;
     }
 
-    accData[0] = (int16_t)((data[0] << 8) | data[1]);
+    acc->ADCRaw[X] = (int16_t)((data[0] << 8) | data[1]);
-    accData[1] = (int16_t)((data[2] << 8) | data[3]);
+    acc->ADCRaw[Y] = (int16_t)((data[2] << 8) | data[3]);
-    accData[2] = (int16_t)((data[4] << 8) | data[5]);
+    acc->ADCRaw[Z] = (int16_t)((data[4] << 8) | data[5]);
 
     return true;
 }

src/main/drivers/accgyro_mpu.h

@@ -185,7 +185,8 @@ extern mpuDetectionResult_t mpuDetectionResult;
 
 struct gyroDev_s;
 void mpuGyroInit(struct gyroDev_s *gyro);
-bool mpuAccRead(int16_t *accData);
+struct accDev_s;
+bool mpuAccRead(struct accDev_s *acc);
 bool mpuGyroRead(struct gyroDev_s *gyro);
 mpuDetectionResult_t *mpuDetect(void);
 bool mpuCheckDataReady(struct gyroDev_s *gyro);

src/main/drivers/sensor.h

@@ -29,12 +29,13 @@ typedef enum {
     CW270_DEG_FLIP = 8
 } sensor_align_e;
 
-struct accDev_s;
 typedef bool (*sensorInitFuncPtr)(void);                    // sensor init prototype
 typedef bool (*sensorReadFuncPtr)(int16_t *data);           // sensor read and align prototype
-typedef void (*sensorAccInitFuncPtr)(struct accDev_s *acc);    // sensor init prototype
+typedef bool (*sensorInterruptFuncPtr)(void);
+struct accDev_s;
+typedef void (*sensorAccInitFuncPtr)(struct accDev_s *acc);
+typedef bool (*sensorAccReadFuncPtr)(struct accDev_s *acc);
 struct gyroDev_s;
 typedef void (*sensorGyroInitFuncPtr)(struct gyroDev_s *gyro);
 typedef bool (*sensorGyroReadFuncPtr)(struct gyroDev_s *gyro);
 typedef bool (*sensorGyroInterruptStatusFuncPtr)(struct gyroDev_s *gyro);
-typedef bool (*sensorInterruptFuncPtr)(void);

src/main/sensors/acceleration.c

@@ -62,7 +62,6 @@
 acc_t acc;                       // acc access functions
 
 static uint16_t calibratingA = 0;      // the calibration is done is the main loop. Calibrating decreases at each cycle down to 0, then we enter in a normal mode.
-static int16_t accADCRaw[XYZ_AXIS_COUNT];
 
 static flightDynamicsTrims_t * accZero;
 static flightDynamicsTrims_t * accGain;
@@ -359,12 +358,12 @@ static void applyAccelerationZero(const flightDynamicsTrims_t * accZero, const f
 
 void updateAccelerationReadings(void)
 {
-    if (!acc.dev.read(accADCRaw)) {
+    if (!acc.dev.read(&acc.dev)) {
         return;
     }
 
     for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
-        acc.accADC[axis] = accADCRaw[axis];
+        acc.accADC[axis] = acc.dev.ADCRaw[axis];
     }
 
     if (accLpfCutHz) {