Mirror/inav
1
0
Fork 0
mirror of https://github.com/iNavFlight/inav.git synced 2025-07-23 16:25:26 +03:00
Code Issues Wiki Activity

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

Browse source 
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
Download patch file Download diff file Expand all files Collapse all files

21
src/serial_msp.c
View file

@ -8,6 +8,7 @@
#include "telemetry_common.h"
#include "flight_common.h"
#include "sensors_compass.h"
#include "sensors_acceleration.h"
// Multiwii Serial Protocol 0
#define MSP_VERSION 0
@ -294,8 +295,8 @@ static void evaluateCommand(void)
headSerialReply(0);
break;
case MSP_SET_ACC_TRIM:
currentProfile.angleTrim[PITCH] = read16();
currentProfile.angleTrim[ROLL] = read16();
currentProfile.accelerometerTrims.trims.pitch = read16();
currentProfile.accelerometerTrims.trims.roll = read16();
headSerialReply(0);
break;
case MSP_SET_RAW_GPS:
@ -353,9 +354,9 @@ static void evaluateCommand(void)
break;
case MSP_SELECT_SETTING:
if (!f.ARMED) {
masterConfig.current_profile = read8();
if (masterConfig.current_profile > 2) {
masterConfig.current_profile = 0;
masterConfig.current_profile_index = read8();
if (masterConfig.current_profile_index > 2) {
masterConfig.current_profile_index = 0;
}
writeEEPROM();
readEEPROM();
@ -402,7 +403,7 @@ static void evaluateCommand(void)
junk |= 1 << i;
}
serialize32(junk);
serialize8(masterConfig.current_profile);
serialize8(masterConfig.current_profile_index);
break;
case MSP_RAW_IMU:
headSerialReply(18);
@ -609,7 +610,7 @@ static void evaluateCommand(void)
break;
case MSP_ACC_CALIBRATION:
if (!f.ARMED)
calibratingA = CALIBRATING_ACC_CYCLES;
accSetCalibrationCycles(CALIBRATING_ACC_CYCLES);
headSerialReply(0);
break;
case MSP_MAG_CALIBRATION:
@ -621,7 +622,7 @@ static void evaluateCommand(void)
if (f.ARMED) {
headSerialError(0);
} else {
copyCurrentProfileToProfileSlot(masterConfig.current_profile);
copyCurrentProfileToProfileSlot(masterConfig.current_profile_index);
writeEEPROM();
readEEPROM();
headSerialReply(0);
@ -638,8 +639,8 @@ static void evaluateCommand(void)
// Additional commands that are not compatible with MultiWii
case MSP_ACC_TRIM:
headSerialReply(4);
serialize16(currentProfile.angleTrim[PITCH]);
serialize16(currentProfile.angleTrim[ROLL]);
serialize16(currentProfile.accelerometerTrims.trims.pitch);
serialize16(currentProfile.accelerometerTrims.trims.roll);
break;
case MSP_UID:
headSerialReply(12);