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Moved xx_hardware out of sensorSelectionConfig into config for specific sensor

This commit is contained in:
Martin Budden 2016-12-04 22:15:41 +00:00
parent 60e2227396
commit 06e871406e
12 changed files with 31 additions and 42 deletions
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6
src/main/blackbox/blackbox.c
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@ -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("baro_hardware:%d", sensorSelectionConfig()->baro_hardware);
BLACKBOX_PRINT_HEADER_LINE("mag_hardware:%d", sensorSelectionConfig()->mag_hardware);
BLACKBOX_PRINT_HEADER_LINE("acc_hardware:%d", accelerometerConfig()->acc_hardware);
BLACKBOX_PRINT_HEADER_LINE("baro_hardware:%d", barometerConfig()->baro_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);

2
src/main/config/config_master.h
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@ -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;

6
src/main/fc/config.c
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@ -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);

12
src/main/fc/fc_msp.c
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@ -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, sensorSelectionConfig()->baro_hardware);
sbufWriteU8(dst, sensorSelectionConfig()->mag_hardware);
sbufWriteU8(dst, accelerometerConfig()->acc_hardware);
sbufWriteU8(dst, barometerConfig()->baro_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);
sensorSelectionConfig()->baro_hardware = sbufReadU8(src);
sensorSelectionConfig()->mag_hardware = sbufReadU8(src);
accelerometerConfig()->acc_hardware = sbufReadU8(src);
barometerConfig()->baro_hardware = sbufReadU8(src);
compassConfig()->mag_hardware = sbufReadU8(src);
break;
case MSP_RESET_CONF:

6
src/main/io/serial_cli.c
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@ -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 } },

6
src/main/main.c
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@ -422,11 +422,7 @@ void init(void)
#else
const void *sonarConfig = NULL;
#endif
if (!sensorsAutodetect(sensorSelectionConfig(),
gyroConfig(),
accelerometerConfig(),
compassConfig(),
sonarConfig)) {
if (!sensorsAutodetect(gyroConfig(), accelerometerConfig(), compassConfig(), barometerConfig(), sonarConfig)) {
// if gyro was not detected due to whatever reason, we give up now.
failureMode(FAILURE_MISSING_ACC);
}

1
src/main/sensors/acceleration.h
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@ -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);

1
src/main/sensors/barometer.h
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@ -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)

1
src/main/sensors/compass.h
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@ -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);

18
src/main/sensors/initialisation.c
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@ -623,10 +623,10 @@ static bool detectSonar(void)
}
#endif
bool sensorsAutodetect(const sensorSelectionConfig_t *sensorSelectionConfig,
const gyroConfig_t *gyroConfig,
const accelerometerConfig_t *accConfig,
bool sensorsAutodetect(const gyroConfig_t *gyroConfig,
const accelerometerConfig_t *accelerometerConfig,
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) {
acc.dev.accAlign = accConfig->acc_align;
if (accelerometerConfig->acc_align != ALIGN_DEFAULT) {
acc.dev.accAlign = accelerometerConfig->acc_align;
}
if (compassConfig->mag_align != ALIGN_DEFAULT) {
mag.dev.magAlign = compassConfig->mag_align;

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

6
src/main/sensors/sensors.h
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@ -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;