Merge pull request #637 from martinbudden/bf_tidy_sensors

Minor tidy of sensor code

src/main/drivers/accgyro_mpu6050.c

@@ -38,8 +38,6 @@
 #include "accgyro_mpu.h"
 #include "accgyro_mpu6050.h"
 
-extern uint8_t mpuLowPassFilter;
-
 //#define DEBUG_MPU_DATA_READY_INTERRUPT
 
 // MPU6050, Standard address 0x68

src/main/sensors/acceleration.h

@@ -29,10 +29,9 @@ typedef enum {
     ACC_MPU6000 = 7,
     ACC_MPU6500 = 8,
     ACC_FAKE = 9,
+    ACC_MAX = ACC_FAKE
 } accelerationSensor_e;
 
-#define ACC_MAX  ACC_FAKE
-
 extern sensor_align_e accAlign;
 extern acc_t acc;
 extern uint32_t accTargetLooptime;

src/main/sensors/barometer.h

@@ -22,11 +22,11 @@ typedef enum {
     BARO_NONE = 1,
     BARO_BMP085 = 2,
     BARO_MS5611 = 3,
-    BARO_BMP280 = 4
+    BARO_BMP280 = 4,
+    BARO_MAX = BARO_BMP280
 } baroSensor_e;
 
 #define BARO_SAMPLE_COUNT_MAX   48
-#define BARO_MAX BARO_MS5611
 
 typedef struct barometerConfig_s {
     uint8_t baro_sample_count;              // size of baro filter array
@@ -38,7 +38,6 @@ typedef struct barometerConfig_s {
 extern int32_t BaroAlt;
 extern int32_t baroTemperature;             // Use temperature for telemetry
 
-#ifdef BARO
 void useBarometerConfig(barometerConfig_t *barometerConfigToUse);
 bool isBaroCalibrationComplete(void);
 void baroSetCalibrationCycles(uint16_t calibrationCyclesRequired);
@@ -46,4 +45,3 @@ uint32_t baroUpdate(void);
 bool isBaroReady(void);
 int32_t baroCalculateAltitude(void);
 void performBaroCalibrationCycle(void);
-#endif

src/main/sensors/compass.h

@@ -23,15 +23,13 @@ typedef enum {
     MAG_NONE = 1,
     MAG_HMC5883 = 2,
     MAG_AK8975 = 3,
-    MAG_AK8963 = 4
+    MAG_AK8963 = 4,
+    MAG_MAX = MAG_AK8963
 } magSensor_e;
 
-#define MAG_MAX  MAG_AK8963
-
-#ifdef MAG
 void compassInit(void);
-void updateCompass(flightDynamicsTrims_t *magZero);
-#endif
+union flightDynamicsTrims_u;
+void updateCompass(union flightDynamicsTrims_u *magZero);
 
 extern int32_t magADC[XYZ_AXIS_COUNT];
 

src/main/sensors/gyro.c

@@ -41,7 +41,7 @@ sensor_align_e gyroAlign = 0;
 int32_t gyroADC[XYZ_AXIS_COUNT];
 float gyroADCf[XYZ_AXIS_COUNT];
 
-static int32_t gyroZero[FLIGHT_DYNAMICS_INDEX_COUNT] = { 0, 0, 0 };
+static int32_t gyroZero[XYZ_AXIS_COUNT] = { 0, 0, 0 };
 static const gyroConfig_t *gyroConfig;
 static biquad_t gyroFilterState[XYZ_AXIS_COUNT];
 static uint8_t gyroSoftLpfHz;
@@ -160,5 +160,9 @@ void gyroUpdate(void)
             gyroADCf[axis] = applyBiQuadFilter((float)gyroADC[axis], &gyroFilterState[axis]);
             gyroADC[axis] = lrintf(gyroADCf[axis]);
         }
+    } else {
+        for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
+            gyroADCf[axis] = gyroADC[axis];
+        }
     }
 }

src/main/sensors/gyro.h

@@ -27,7 +27,8 @@ typedef enum {
     GYRO_MPU6000,
     GYRO_MPU6500,
     GYRO_MPU9250,
-    GYRO_FAKE
+    GYRO_FAKE,
+    GYRO_MAX = GYRO_FAKE
 } gyroSensor_e;
 
 extern gyro_t gyro;

src/main/sensors/initialisation.c

@@ -81,7 +81,7 @@ extern baro_t baro;
 extern acc_t acc;
 extern sensor_align_e gyroAlign;
 
-uint8_t detectedSensors[MAX_SENSORS_TO_DETECT] = { GYRO_NONE, ACC_NONE, BARO_NONE, MAG_NONE };
+uint8_t detectedSensors[SENSOR_INDEX_COUNT] = { GYRO_NONE, ACC_NONE, BARO_NONE, MAG_NONE };
 
 
 const extiConfig_t *selectMPUIntExtiConfig(void)

src/main/sensors/sensors.h

@@ -21,12 +21,11 @@ typedef enum {
     SENSOR_INDEX_GYRO = 0,
     SENSOR_INDEX_ACC,
     SENSOR_INDEX_BARO,
-    SENSOR_INDEX_MAG
+    SENSOR_INDEX_MAG,
+    SENSOR_INDEX_COUNT
 } sensorIndex_e;
 
-#define MAX_SENSORS_TO_DETECT (SENSOR_INDEX_MAG + 1)
-
-extern uint8_t detectedSensors[MAX_SENSORS_TO_DETECT];
+extern uint8_t detectedSensors[SENSOR_INDEX_COUNT];
 
 typedef struct int16_flightDynamicsTrims_s {
     int16_t roll;
@@ -34,7 +33,7 @@ typedef struct int16_flightDynamicsTrims_s {
     int16_t yaw;
 } flightDynamicsTrims_def_t;
 
-typedef union {
+typedef union flightDynamicsTrims_u {
     int16_t raw[3];
     flightDynamicsTrims_def_t values;
 } flightDynamicsTrims_t;