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Code Issues Wiki Activity

Sonar initialisation cleanup - part 3

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This commit is contained in:
Martin Budden 2016-05-19 14:20:05 +01:00
parent f384cb6005
commit 533d272845
19 changed files with 208 additions and 193 deletions
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40
src/main/io/serial_cli.c
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@ -94,6 +94,7 @@ uint8_t cliMode = 0;
#ifdef USE_CLI
extern uint16_t cycleTime; // FIXME dependency on mw.c
extern uint8_t detectedSensors[SENSOR_INDEX_COUNT];
void gpsEnablePassthrough(serialPort_t *gpsPassthroughPort);
@ -201,16 +202,32 @@ static const char * const sensorTypeNames[] = {
"GYRO", "ACC", "BARO", "MAG", "SONAR", "GPS", "GPS+MAG", NULL
};
#define SENSOR_NAMES_MASK (SENSOR_GYRO | SENSOR_ACC | SENSOR_BARO | SENSOR_MAG)
#define SENSOR_NAMES_MASK (SENSOR_GYRO | SENSOR_ACC | SENSOR_BARO | SENSOR_MAG | SENSOR_SONAR)
#ifndef XXXX
// sync with gyroSensor_e
static const char * const gyroNames[] = { "", "None", "MPU6050", "L3G4200D", "MPU3050", "L3GD20", "MPU6000", "MPU6500", "FAKE"};
// sync with accelerationSensor_e
static const char * const accNames[] = { "", "None", "ADXL345", "MPU6050", "MMA845x", "BMA280", "LSM303DLHC", "MPU6000", "MPU6500", "FAKE"};
// sync with baroSensor_e
static const char * const baroNames[] = { "", "None", "BMP085", "MS5611", "BMP280", "FAKE"};
// sync with magSensor_e
static const char * const magNames[] = { "", "None", "HMC5883", "AK8975", "FAKE"};
// sycn with rangefinderType_e
static const char * const rangefinderNames[] = { "None", "HCSR04", "SRF10"};
static const char * const sensorHardwareNames[4][11] = {
static const char * const *sensorHardwareNames[] = {gyroNames, accNames, baroNames, magNames, rangefinderNames};
#else
static const char * const sensorHardwareNames[5][11] = {
{ "", "None", "MPU6050", "L3G4200D", "MPU3050", "L3GD20", "MPU6000", "MPU6500", "FAKE", NULL },
{ "", "None", "ADXL345", "MPU6050", "MMA845x", "BMA280", "LSM303DLHC", "MPU6000", "MPU6500", "FAKE", NULL },
{ "", "None", "BMP085", "MS5611", "BMP280", "FAKE", NULL },
{ "", "None", "HMC5883", "AK8975", "FAKE", NULL }
{ "", "None", "HMC5883", "AK8975", "FAKE", NULL },
{ "", "None", "HCSR04", "SRF10", NULL }
};
#endif
#endif // CJMCU
typedef struct {
const char *name;
#ifndef SKIP_CLI_COMMAND_HELP
@ -2485,19 +2502,14 @@ static void cliStatus(char *cmdline)
cliPrintf("CPU Clock=%dMHz", (SystemCoreClock / 1000000));
#ifndef CJMCU
uint8_t i;
uint32_t mask;
uint32_t detectedSensorsMask = sensorsMask();
const uint32_t detectedSensorsMask = sensorsMask();
for (i = 0; ; i++) {
for (int i = 0; i < SENSOR_INDEX_COUNT; i++) {
if (sensorTypeNames[i] == NULL)
break;
mask = (1 << i);
const uint32_t mask = (1 << i);
if ((detectedSensorsMask & mask) && (mask & SENSOR_NAMES_MASK)) {
const char *sensorHardware;
uint8_t sensorHardwareIndex = detectedSensors[i];
const int sensorHardwareIndex = detectedSensors[i];
sensorHardware = sensorHardwareNames[i][sensorHardwareIndex];
cliPrintf(", %s=%s", sensorTypeNames[i], sensorHardware);
@ -2511,9 +2523,9 @@ static void cliStatus(char *cmdline)
cliPrint("\r\n");
#ifdef USE_I2C
uint16_t i2cErrorCounter = i2cGetErrorCounter();
const uint16_t i2cErrorCounter = i2cGetErrorCounter();
#else
uint16_t i2cErrorCounter = 0;
const uint16_t i2cErrorCounter = 0;
#endif
cliPrintf("Cycle Time: %d, I2C Errors: %d, config size: %d\r\n", cycleTime, i2cErrorCounter, sizeof(master_t));