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

Extracted sensor alignment variables to sensorAlignmentConfig

This commit marks the end of the sensor dependency cleanup.
This commit is contained in:
Dominic Clifton 2014-04-23 00:35:39 +01:00
parent e963496263
commit 9d56b4a00f
6 changed files with 80 additions and 38 deletions
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14
src/config.c
View File

@ -235,6 +235,13 @@ void resetBarometerConfig(barometerConfig_t *barometerConfig)
barometerConfig->baro_cf_alt = 0.965f;
}
void resetSensorAlignment(sensorAlignmentConfig_t *sensorAlignmentConfig)
{
sensorAlignmentConfig->gyro_align = ALIGN_DEFAULT;
sensorAlignmentConfig->acc_align = ALIGN_DEFAULT;
sensorAlignmentConfig->mag_align = ALIGN_DEFAULT;
}
// Default settings
static void resetConf(void)
{
@ -255,10 +262,11 @@ static void resetConf(void)
masterConfig.gyro_cmpf_factor = 600; // default MWC
masterConfig.gyro_cmpfm_factor = 250; // default MWC
masterConfig.gyro_lpf = 42; // supported by all gyro drivers now. In case of ST gyro, will default to 32Hz instead
resetAccelerometerTrims(&masterConfig.accZero);
masterConfig.gyro_align = ALIGN_DEFAULT;
masterConfig.acc_align = ALIGN_DEFAULT;
masterConfig.mag_align = ALIGN_DEFAULT;
resetSensorAlignment(&masterConfig.sensorAlignmentConfig);
masterConfig.boardAlignment.rollDegrees = 0;
masterConfig.boardAlignment.pitchDegrees = 0;
masterConfig.boardAlignment.yawDegrees = 0;

6
src/config_master.h
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@ -25,10 +25,10 @@ typedef struct master_t {
uint16_t servo_pwm_rate; // The update rate of servo outputs (50-498Hz)
// global sensor-related stuff
sensor_align_e gyro_align; // gyro alignment
sensor_align_e acc_align; // acc alignment
sensor_align_e mag_align; // mag alignment
sensorAlignmentConfig_t sensorAlignmentConfig;
boardAlignment_t boardAlignment;
int8_t yaw_control_direction; // change control direction of yaw (inverted, normal)
uint8_t acc_hardware; // Which acc hardware to use on boards with more than one device
uint16_t gyro_lpf; // gyro LPF setting - values are driver specific, in case of invalid number, a reasonable default ~30-40HZ is chosen.

4
src/main.c
View File

@ -55,7 +55,7 @@ void pwmInit(drv_pwm_config_t *init, failsafe_t *initialFailsafe);
void rxInit(rxConfig_t *rxConfig, failsafe_t *failsafe);
void buzzerInit(failsafe_t *initialFailsafe);
void gpsInit(uint8_t baudrateIndex, uint8_t initialGpsProvider, gpsProfile_t *initialGpsProfile, pidProfile_t *pidProfile);
void sensorsAutodetect(void);
void sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint16_t gyroLpf, uint8_t accHardwareToUse, int16_t magDeclinationFromConfig);
void imuInit(void);
void loop(void);
@ -160,7 +160,7 @@ int main(void)
LED1_OFF;
// drop out any sensors that don't seem to work, init all the others. halt if gyro is dead.
sensorsAutodetect();
sensorsAutodetect(&masterConfig.sensorAlignmentConfig, masterConfig.gyro_lpf, masterConfig.acc_hardware, currentProfile.mag_declination);
imuInit(); // Mag is initialized inside imuInit
// Check battery type/voltage

6
src/sensors_common.h
View File

@ -26,4 +26,10 @@ typedef enum {
CW270_DEG_FLIP = 8
} sensor_align_e;
typedef struct sensorAlignmentConfig_s {
sensor_align_e gyro_align; // gyro alignment
sensor_align_e acc_align; // acc alignment
sensor_align_e mag_align; // mag alignment
} sensorAlignmentConfig_t;
extern int16_t heading;

82
src/sensors_initialisation.c
View File

@ -1,12 +1,39 @@
#include "board.h"
#include "mw.h"
#include <stdbool.h>
#include <stdint.h>
#include <string.h>
#include "platform.h"
#include "common/axis.h"
#include "drivers/accgyro_common.h"
#ifdef FY90Q
#include "drivers/accgyro_fy90q.h"
#else
#include "drivers/accgyro_adxl345.h"
#include "drivers/accgyro_bma280.h"
#include "drivers/accgyro_l3g4200d.h"
#include "drivers/accgyro_mma845x.h"
#include "drivers/accgyro_mpu3050.h"
#include "drivers/accgyro_mpu6050.h"
#endif
#include "drivers/barometer_common.h"
#include "drivers/barometer_bmp085.h"
#include "drivers/barometer_ms5611.h"
#include "drivers/compass_hmc5883l.h"
#include "drivers/sonar_hcsr04.h"
#include "drivers/system_common.h"
#include "flight_common.h"
#include "runtime_config.h"
#include "sensors_common.h"
#include "sensors_acceleration.h"
#include "sensors_barometer.h"
#include "sensors_gyro.h"
#include "sensors_compass.h"
#include "sensors_common.h"
#include "sensors_sonar.h"
extern uint16_t batteryWarningVoltage;
extern uint8_t batteryCellCount;
@ -18,15 +45,14 @@ extern acc_t acc;
#ifdef FY90Q
// FY90Q analog gyro/acc
void sensorsAutodetect(void)
void sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint16_t gyroLpf, uint8_t accHardwareToUse, int16_t magDeclinationFromConfig)
{
memset(&acc, sizeof(acc), 0);
memset(&gyro, sizeof(gyro), 0);
adcSensorInit(&acc, &gyro);
}
#else
// AfroFlight32 i2c sensors
void sensorsAutodetect(void)
void sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint16_t gyroLpf, uint8_t accHardwareToUse, int16_t magDeclinationFromConfig)
{
int16_t deg, min;
drv_adxl345_config_t acc_params;
@ -36,12 +62,12 @@ void sensorsAutodetect(void)
memset(&gyro, sizeof(gyro), 0);
// Autodetect gyro hardware. We have MPU3050 or MPU6050.
if (mpu6050Detect(&acc, &gyro, masterConfig.gyro_lpf)) {
if (mpu6050Detect(&acc, &gyro, gyroLpf)) {
haveMpu6k = true;
gyroAlign = CW0_DEG; // default NAZE alignment
} else if (l3g4200dDetect(&gyro, masterConfig.gyro_lpf)) {
} else if (l3g4200dDetect(&gyro, gyroLpf)) {
gyroAlign = CW0_DEG;
} else if (mpu3050Detect(&gyro, masterConfig.gyro_lpf)) {
} else if (mpu3050Detect(&gyro, gyroLpf)) {
gyroAlign = CW0_DEG;
} else {
// if this fails, we get a beep + blink pattern. we're doomed, no gyro or i2c error.
@ -50,7 +76,7 @@ void sensorsAutodetect(void)
// Accelerometer. Fuck it. Let user break shit.
retry:
switch (masterConfig.acc_hardware) {
switch (accHardwareToUse) {
case ACC_NONE: // disable ACC
sensorsClear(SENSOR_ACC);
break;
@ -62,15 +88,15 @@ retry:
accHardware = ACC_ADXL345;
accAlign = CW270_DEG; // default NAZE alignment
}
if (masterConfig.acc_hardware == ACC_ADXL345)
if (accHardwareToUse == ACC_ADXL345)
break;
; // fallthrough
case ACC_MPU6050: // MPU6050
if (haveMpu6k) {
mpu6050Detect(&acc, &gyro, masterConfig.gyro_lpf); // yes, i'm rerunning it again. re-fill acc struct
mpu6050Detect(&acc, &gyro, gyroLpf); // yes, i'm rerunning it again. re-fill acc struct
accHardware = ACC_MPU6050;
accAlign = CW0_DEG; // default NAZE alignment
if (masterConfig.acc_hardware == ACC_MPU6050)
if (accHardwareToUse == ACC_MPU6050)
break;
}
; // fallthrough
@ -79,7 +105,7 @@ retry:
if (mma8452Detect(&acc)) {
accHardware = ACC_MMA8452;
accAlign = CW90_DEG; // default NAZE alignment
if (masterConfig.acc_hardware == ACC_MMA8452)
if (accHardwareToUse == ACC_MMA8452)
break;
}
; // fallthrough
@ -87,7 +113,7 @@ retry:
if (bma280Detect(&acc)) {
accHardware = ACC_BMA280;
accAlign = CW0_DEG; //
if (masterConfig.acc_hardware == ACC_BMA280)
if (accHardwareToUse == ACC_BMA280)
break;
}
#endif
@ -95,9 +121,9 @@ retry:
// Found anything? Check if user fucked up or ACC is really missing.
if (accHardware == ACC_DEFAULT) {
if (masterConfig.acc_hardware > ACC_DEFAULT) {
if (accHardwareToUse > ACC_DEFAULT) {
// Nothing was found and we have a forced sensor type. Stupid user probably chose a sensor that isn't present.
masterConfig.acc_hardware = ACC_DEFAULT;
accHardwareToUse = ACC_DEFAULT;
goto retry;
} else {
// We're really screwed
@ -116,14 +142,15 @@ retry:
}
#endif
if (masterConfig.gyro_align != ALIGN_DEFAULT) {
gyroAlign = masterConfig.gyro_align;
if (sensorAlignmentConfig->gyro_align != ALIGN_DEFAULT) {
gyroAlign = sensorAlignmentConfig->gyro_align;
}
if (masterConfig.acc_align != ALIGN_DEFAULT) {
accAlign = masterConfig.acc_align;
if (sensorAlignmentConfig->acc_align != ALIGN_DEFAULT) {
accAlign = sensorAlignmentConfig->acc_align;
}
if (masterConfig.mag_align != ALIGN_DEFAULT) {
magAlign = masterConfig.mag_align;
if (sensorAlignmentConfig->mag_align != ALIGN_DEFAULT) {
magAlign = sensorAlignmentConfig->mag_align;
}
@ -141,10 +168,11 @@ retry:
}
#endif
// FIXME extract to a method to reduce dependencies, maybe move to sensors_compass.c
if (sensors(SENSOR_MAG)) {
// calculate magnetic declination
deg = currentProfile.mag_declination / 100;
min = currentProfile.mag_declination % 100;
// calculate magnetic declination
deg = magDeclinationFromConfig / 100;
min = magDeclinationFromConfig % 100;
magneticDeclination = (deg + ((float)min * (1.0f / 60.0f))) * 10; // heading is in 0.1deg units
} else {

6
src/serial_cli.c
View File

@ -154,9 +154,9 @@ const clivalue_t valueTable[] = {
{ "vbatmaxcellvoltage", VAR_UINT8, &masterConfig.batteryConfig.vbatmaxcellvoltage, 10, 50 },
{ "vbatmincellvoltage", VAR_UINT8, &masterConfig.batteryConfig.vbatmincellvoltage, 10, 50 },
{ "power_adc_channel", VAR_UINT8, &masterConfig.power_adc_channel, 0, 9 },
{ "align_gyro", VAR_UINT8, &masterConfig.gyro_align, 0, 8 },
{ "align_acc", VAR_UINT8, &masterConfig.acc_align, 0, 8 },
{ "align_mag", VAR_UINT8, &masterConfig.mag_align, 0, 8 },
{ "align_gyro", VAR_UINT8, &masterConfig.sensorAlignmentConfig.gyro_align, 0, 8 },
{ "align_acc", VAR_UINT8, &masterConfig.sensorAlignmentConfig.acc_align, 0, 8 },
{ "align_mag", VAR_UINT8, &masterConfig.sensorAlignmentConfig.mag_align, 0, 8 },
{ "align_board_roll", VAR_INT16, &masterConfig.boardAlignment.rollDegrees, -180, 360 },
{ "align_board_pitch", VAR_INT16, &masterConfig.boardAlignment.pitchDegrees, -180, 360 },
{ "align_board_yaw", VAR_INT16, &masterConfig.boardAlignment.yawDegrees, -180, 360 },