Moved xx_hardware out of sensorSelectionConfig into config for specific sensor

src/main/blackbox/blackbox.c

@@ -1271,9 +1271,9 @@ static bool blackboxWriteSysinfo()
         BLACKBOX_PRINT_HEADER_LINE("gyro_notch_cutoff:%d,%d",             gyroConfig()->gyro_soft_notch_cutoff_1,
                                                                           gyroConfig()->gyro_soft_notch_cutoff_2);
         BLACKBOX_PRINT_HEADER_LINE("acc_lpf_hz:%d",                 (int)(accelerometerConfig()->acc_lpf_hz * 100.0f));
-        BLACKBOX_PRINT_HEADER_LINE("acc_hardware:%d",                     sensorSelectionConfig()->acc_hardware);
+        BLACKBOX_PRINT_HEADER_LINE("acc_hardware:%d",                     accelerometerConfig()->acc_hardware);
-        BLACKBOX_PRINT_HEADER_LINE("baro_hardware:%d",                    sensorSelectionConfig()->baro_hardware);
+        BLACKBOX_PRINT_HEADER_LINE("baro_hardware:%d",                    barometerConfig()->baro_hardware);
-        BLACKBOX_PRINT_HEADER_LINE("mag_hardware:%d",                     sensorSelectionConfig()->mag_hardware);
+        BLACKBOX_PRINT_HEADER_LINE("mag_hardware:%d",                     compassConfig()->mag_hardware);
         BLACKBOX_PRINT_HEADER_LINE("gyro_cal_on_first_arm:%d",            armingConfig()->gyro_cal_on_first_arm);
         BLACKBOX_PRINT_HEADER_LINE("rc_interpolation:%d",                 rxConfig()->rcInterpolation);
         BLACKBOX_PRINT_HEADER_LINE("rc_interpolation_interval:%d",        rxConfig()->rcInterpolationInterval);

src/main/config/config_master.h

@@ -66,7 +66,6 @@
 #define servoConfig(x) (&masterConfig.servoConfig)
 #define servoMixerConfig(x) (&masterConfig.servoMixerConfig)
 #define gimbalConfig(x) (&masterConfig.gimbalConfig)
-#define sensorSelectionConfig(x) (&masterConfig.sensorSelectionConfig)
 #define sensorTrims(x) (&masterConfig.sensorTrims)
 #define boardAlignment(x) (&masterConfig.boardAlignment)
 #define imuConfig(x) (&masterConfig.imuConfig)
@@ -122,7 +121,6 @@ typedef struct master_s {
 #endif
 
     // global sensor-related stuff
-    sensorSelectionConfig_t sensorSelectionConfig;
     sensorTrims_t sensorTrims;
     boardAlignment_t boardAlignment;
 

src/main/fc/config.c

@@ -589,15 +589,15 @@ void createDefaultConfig(master_t *config)
     config->boardAlignment.rollDegrees = 0;
     config->boardAlignment.pitchDegrees = 0;
     config->boardAlignment.yawDegrees = 0;
-    config->sensorSelectionConfig.acc_hardware = ACC_DEFAULT;     // default/autodetect
+    config->accelerometerConfig.acc_hardware = ACC_DEFAULT;     // default/autodetect
     config->max_angle_inclination = 700;    // 70 degrees
     config->rcControlsConfig.yaw_control_direction = 1;
     config->gyroConfig.gyroMovementCalibrationThreshold = 32;
 
     // xxx_hardware: 0:default/autodetect, 1: disable
-    config->sensorSelectionConfig.mag_hardware = 1;
+    config->compassConfig.mag_hardware = 1;
 
-    config->sensorSelectionConfig.baro_hardware = 1;
+    config->barometerConfig.baro_hardware = 1;
 
     resetBatteryConfig(&config->batteryConfig);
 

src/main/fc/fc_msp.c

@@ -1125,9 +1125,9 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
         break;
 
     case MSP_SENSOR_CONFIG:
-        sbufWriteU8(dst, sensorSelectionConfig()->acc_hardware);
+        sbufWriteU8(dst, accelerometerConfig()->acc_hardware);
-        sbufWriteU8(dst, sensorSelectionConfig()->baro_hardware);
+        sbufWriteU8(dst, barometerConfig()->baro_hardware);
-        sbufWriteU8(dst, sensorSelectionConfig()->mag_hardware);
+        sbufWriteU8(dst, compassConfig()->mag_hardware);
         break;
 
     case MSP_REBOOT:
@@ -1487,9 +1487,9 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
         break;
 
     case MSP_SET_SENSOR_CONFIG:
-        sensorSelectionConfig()->acc_hardware = sbufReadU8(src);
+        accelerometerConfig()->acc_hardware = sbufReadU8(src);
-        sensorSelectionConfig()->baro_hardware = sbufReadU8(src);
+        barometerConfig()->baro_hardware = sbufReadU8(src);
-        sensorSelectionConfig()->mag_hardware = sbufReadU8(src);
+        compassConfig()->mag_hardware = sbufReadU8(src);
         break;
 
     case MSP_RESET_CONF:

src/main/io/serial_cli.c

@@ -869,7 +869,7 @@ const clivalue_t valueTable[] = {
     { "rx_min_usec",                VAR_UINT16 | MASTER_VALUE,  &rxConfig()->rx_min_usec, .config.minmax = { PWM_PULSE_MIN,  PWM_PULSE_MAX } },
     { "rx_max_usec",                VAR_UINT16 | MASTER_VALUE,  &rxConfig()->rx_max_usec, .config.minmax = { PWM_PULSE_MIN,  PWM_PULSE_MAX } },
 
-    { "acc_hardware",               VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &sensorSelectionConfig()->acc_hardware, .config.lookup = { TABLE_ACC_HARDWARE } },
+    { "acc_hardware",               VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &accelerometerConfig()->acc_hardware, .config.lookup = { TABLE_ACC_HARDWARE } },
     { "acc_lpf_hz",                 VAR_UINT16 | MASTER_VALUE, &accelerometerConfig()->acc_lpf_hz, .config.minmax = { 0,  400 } },
     { "accxy_deadband",             VAR_UINT8  | MASTER_VALUE, &imuConfig()->accDeadband.xy, .config.minmax = { 0,  100 } },
     { "accz_deadband",              VAR_UINT8  | MASTER_VALUE, &imuConfig()->accDeadband.z, .config.minmax = { 0,  100 } },
@@ -882,11 +882,11 @@ const clivalue_t valueTable[] = {
     { "baro_noise_lpf",             VAR_FLOAT  | MASTER_VALUE, &barometerConfig()->baro_noise_lpf, .config.minmax = { 0 , 1 } },
     { "baro_cf_vel",                VAR_FLOAT  | MASTER_VALUE, &barometerConfig()->baro_cf_vel, .config.minmax = { 0 , 1 } },
     { "baro_cf_alt",                VAR_FLOAT  | MASTER_VALUE, &barometerConfig()->baro_cf_alt, .config.minmax = { 0 , 1 } },
-    { "baro_hardware",              VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &sensorSelectionConfig()->baro_hardware, .config.lookup = { TABLE_BARO_HARDWARE } },
+    { "baro_hardware",              VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &barometerConfig()->baro_hardware, .config.lookup = { TABLE_BARO_HARDWARE } },
 #endif
 
 #ifdef MAG
-    { "mag_hardware",               VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &sensorSelectionConfig()->mag_hardware, .config.lookup = { TABLE_MAG_HARDWARE } },
+    { "mag_hardware",               VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &compassConfig()->mag_hardware, .config.lookup = { TABLE_MAG_HARDWARE } },
     { "mag_declination",            VAR_INT16  | MASTER_VALUE, &compassConfig()->mag_declination, .config.minmax = { -18000,  18000 } },
 #endif
     { "dterm_lowpass_type",         VAR_UINT8  | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].pidProfile.dterm_filter_type, .config.lookup = { TABLE_LOWPASS_TYPE } },

src/main/main.c

@@ -422,11 +422,7 @@ void init(void)
 #else
     const void *sonarConfig = NULL;
 #endif
-    if (!sensorsAutodetect(sensorSelectionConfig(),
+    if (!sensorsAutodetect(gyroConfig(), accelerometerConfig(), compassConfig(), barometerConfig(), sonarConfig)) {
-            gyroConfig(),
-            accelerometerConfig(),
-            compassConfig(),
-            sonarConfig)) {
         // if gyro was not detected due to whatever reason, we give up now.
         failureMode(FAILURE_MISSING_ACC);
     }

src/main/sensors/acceleration.h

@@ -57,6 +57,7 @@ typedef union rollAndPitchTrims_u {
 typedef struct accelerometerConfig_s {
     uint16_t acc_lpf_hz;                    // cutoff frequency for the low pass filter used on the acc z-axis for althold in Hz
     sensor_align_e acc_align;               // acc alignment
+    uint8_t acc_hardware;                   // Which acc hardware to use on boards with more than one device
 } accelerometerConfig_t;
 
 void accInit(uint32_t gyroTargetLooptime);

src/main/sensors/barometer.h

@@ -30,6 +30,7 @@ typedef enum {
 #define BARO_SAMPLE_COUNT_MAX   48
 
 typedef struct barometerConfig_s {
+    uint8_t baro_hardware;                  // Barometer hardware to use
     uint8_t baro_sample_count;              // size of baro filter array
     float baro_noise_lpf;                   // additional LPF to reduce baro noise
     float baro_cf_vel;                      // apply Complimentary Filter to keep the calculated velocity based on baro velocity (i.e. near real velocity)

src/main/sensors/compass.h

@@ -43,6 +43,7 @@ typedef struct compassConfig_s {
     int16_t mag_declination;                // Get your magnetic decliniation from here : http://magnetic-declination.com/
                                             // For example, -6deg 37min, = -637 Japan, format is [sign]dddmm (degreesminutes) default is zero.
     sensor_align_e mag_align;               // mag alignment
+    uint8_t mag_hardware;                   // Which mag hardware to use on boards with more than one device
 } compassConfig_t;
 
 void compassInit(void);

src/main/sensors/initialisation.c

@@ -623,10 +623,10 @@ static bool detectSonar(void)
 }
 #endif
 
-bool sensorsAutodetect(const sensorSelectionConfig_t *sensorSelectionConfig,
+bool sensorsAutodetect(const gyroConfig_t *gyroConfig,
-        const gyroConfig_t *gyroConfig,
+        const accelerometerConfig_t *accelerometerConfig,
-        const accelerometerConfig_t *accConfig,
         const compassConfig_t *compassConfig,
+        const barometerConfig_t *barometerConfig,
         const sonarConfig_t *sonarConfig)
 {
     memset(&acc, 0, sizeof(acc));
@@ -651,7 +651,7 @@ bool sensorsAutodetect(const sensorSelectionConfig_t *sensorSelectionConfig,
     gyro.dev.init(&gyro.dev); // driver initialisation
     gyroInit(gyroConfig); // sensor initialisation
 
-    if (detectAcc(sensorSelectionConfig->acc_hardware)) {
+    if (detectAcc(accelerometerConfig->acc_hardware)) {
         acc.dev.acc_1G = 256; // set default
         acc.dev.init(&acc.dev); // driver initialisation
         accInit(gyro.targetLooptime); // sensor initialisation
@@ -661,7 +661,7 @@ bool sensorsAutodetect(const sensorSelectionConfig_t *sensorSelectionConfig,
     mag.magneticDeclination = 0.0f; // TODO investigate if this is actually needed if there is no mag sensor or if the value stored in the config should be used.
 #ifdef MAG
     // FIXME extract to a method to reduce dependencies, maybe move to sensors_compass.c
-    if (detectMag(sensorSelectionConfig->mag_hardware)) {
+    if (detectMag(compassConfig->mag_hardware)) {
         // calculate magnetic declination
         const int16_t deg = compassConfig->mag_declination / 100;
         const int16_t min = compassConfig->mag_declination % 100;
@@ -673,7 +673,9 @@ bool sensorsAutodetect(const sensorSelectionConfig_t *sensorSelectionConfig,
 #endif
 
 #ifdef BARO
-    detectBaro(sensorSelectionConfig->baro_hardware);
+    detectBaro(barometerConfig->baro_hardware);
+#else
+    UNUSED(barometerConfig);
 #endif
 
 #ifdef SONAR
@@ -687,8 +689,8 @@ bool sensorsAutodetect(const sensorSelectionConfig_t *sensorSelectionConfig,
     if (gyroConfig->gyro_align != ALIGN_DEFAULT) {
         gyro.dev.gyroAlign = gyroConfig->gyro_align;
     }
-    if (accConfig->acc_align != ALIGN_DEFAULT) {
+    if (accelerometerConfig->acc_align != ALIGN_DEFAULT) {
-        acc.dev.accAlign = accConfig->acc_align;
+        acc.dev.accAlign = accelerometerConfig->acc_align;
     }
     if (compassConfig->mag_align != ALIGN_DEFAULT) {
         mag.dev.magAlign = compassConfig->mag_align;

src/main/sensors/initialisation.h

@@ -17,12 +17,8 @@
 
 #pragma once
 
-struct sensorAlignmentConfig_s;
+bool sensorsAutodetect(const gyroConfig_t *gyroConfig,
-struct sensorSelectionConfig_s;
-struct gyroConfig_s;
-struct sonarConfig_s;
-bool sensorsAutodetect(const sensorSelectionConfig_t *sensorSelectionConfig,
-        const gyroConfig_t *gyroConfig,
         const accelerometerConfig_t *accConfig,
         const compassConfig_t *compassConfig,
+        const barometerConfig_t *baroConfig,
         const sonarConfig_t *sonarConfig);

src/main/sensors/sensors.h

@@ -52,12 +52,6 @@ typedef enum {
     SENSOR_GPSMAG = 1 << 6
 } sensors_e;
 
-typedef struct sensorSelectionConfig_s {
-    uint8_t acc_hardware;                   // Which acc hardware to use on boards with more than one device
-    uint8_t baro_hardware;                  // Barometer hardware to use
-    uint8_t mag_hardware;                   // Which mag hardware to use on boards with more than one device
-} sensorSelectionConfig_t;
-
 typedef struct sensorTrims_s {
     flightDynamicsTrims_t accZero;
     flightDynamicsTrims_t magZero;