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Merge pull request #3045 from martinbudden/bf_accgyro_fnptr_rename 

Add Fn suffix to accgyro function pointers
This commit is contained in:
Martin Budden 2017-05-08 06:55:13 +01:00 committed by GitHub
parent c31fb92ad5 83d49e503e
commit a518531c3f
20 changed files with 77 additions and 77 deletions
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14
src/main/drivers/accgyro/accgyro.h
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@ -47,11 +47,11 @@ typedef enum {
} gyroRateKHz_e;
typedef struct gyroDev_s {
sensorGyroInitFuncPtr init; // initialize function
sensorGyroReadFuncPtr read; // read 3 axis data function
sensorGyroReadDataFuncPtr temperature; // read temperature if available
sensorGyroInterruptStatusFuncPtr intStatus;
sensorGyroUpdateFuncPtr update;
sensorGyroInitFuncPtr initFn; // initialize function
sensorGyroReadFuncPtr readFn; // read 3 axis data function
sensorGyroReadDataFuncPtr temperatureFn; // read temperature if available
sensorGyroInterruptStatusFuncPtr intStatusFn;
sensorGyroUpdateFuncPtr updateFn;
extiCallbackRec_t exti;
busDevice_t bus;
float scale; // scalefactor
@ -72,8 +72,8 @@ typedef struct gyroDev_s {
} gyroDev_t;
typedef struct accDev_s {
sensorAccInitFuncPtr init; // initialize function
sensorAccReadFuncPtr read; // read 3 axis data function
sensorAccInitFuncPtr initFn; // initialize function
sensorAccReadFuncPtr readFn; // read 3 axis data function
busDevice_t bus;
uint16_t acc_1G;
int16_t ADCRaw[XYZ_AXIS_COUNT];

4
src/main/drivers/accgyro/accgyro_adxl345.c
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@ -128,7 +128,7 @@ bool adxl345Detect(drv_adxl345_config_t *init, accDev_t *acc)
// use ADXL345's fifo to filter data or not
useFifo = init->useFifo;
acc->init = adxl345Init;
acc->read = adxl345Read;
acc->initFn = adxl345Init;
acc->readFn = adxl345Read;
return true;
}

4
src/main/drivers/accgyro/accgyro_bma280.c
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@ -64,7 +64,7 @@ bool bma280Detect(accDev_t *acc)
if (!ack || sig != 0xFB)
return false;
acc->init = bma280Init;
acc->read = bma280Read;
acc->initFn = bma280Init;
acc->readFn = bma280Read;
return true;
}

12
src/main/drivers/accgyro/accgyro_fake.c
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@ -91,10 +91,10 @@ static bool fakeGyroInitStatus(gyroDev_t *gyro)
bool fakeGyroDetect(gyroDev_t *gyro)
{
gyro->init = fakeGyroInit;
gyro->intStatus = fakeGyroInitStatus;
gyro->read = fakeGyroRead;
gyro->temperature = fakeGyroReadTemperature;
gyro->initFn = fakeGyroInit;
gyro->intStatusFn = fakeGyroInitStatus;
gyro->readFn = fakeGyroRead;
gyro->temperatureFn = fakeGyroReadTemperature;
#if defined(SIMULATOR_BUILD)
gyro->scale = 1.0f / 16.4f;
#else
@ -152,8 +152,8 @@ static bool fakeAccRead(accDev_t *acc)
bool fakeAccDetect(accDev_t *acc)
{
acc->init = fakeAccInit;
acc->read = fakeAccRead;
acc->initFn = fakeAccInit;
acc->readFn = fakeAccRead;
acc->revisionCode = 0;
return true;
}

4
src/main/drivers/accgyro/accgyro_l3g4200d.c
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@ -112,8 +112,8 @@ bool l3g4200dDetect(gyroDev_t *gyro)
if (deviceid != L3G4200D_ID)
return false;
gyro->init = l3g4200dInit;
gyro->read = l3g4200dRead;
gyro->initFn = l3g4200dInit;
gyro->readFn = l3g4200dRead;
// 14.2857dps/lsb scalefactor
gyro->scale = 1.0f / 14.2857f;

4
src/main/drivers/accgyro/accgyro_l3gd20.c
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@ -152,8 +152,8 @@ static bool l3gd20GyroRead(gyroDev_t *gyro)
bool l3gd20Detect(gyroDev_t *gyro)
{
gyro->init = l3gd20GyroInit;
gyro->read = l3gd20GyroRead;
gyro->initFn = l3gd20GyroInit;
gyro->readFn = l3gd20GyroRead;
gyro->scale = L3GD20_GYRO_SCALE_FACTOR;

4
src/main/drivers/accgyro/accgyro_lsm303dlhc.c
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@ -166,8 +166,8 @@ bool lsm303dlhcAccDetect(accDev_t *acc)
if (!ack)
return false;
acc->init = lsm303dlhcAccInit;
acc->read = lsm303dlhcAccRead;
acc->initFn = lsm303dlhcAccInit;
acc->readFn = lsm303dlhcAccRead;
return true;
}
#endif

4
src/main/drivers/accgyro/accgyro_mma845x.c
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@ -132,8 +132,8 @@ bool mma8452Detect(accDev_t *acc)
if (!ack || (sig != MMA8452_DEVICE_SIGNATURE && sig != MMA8451_DEVICE_SIGNATURE))
return false;
acc->init = mma8452Init;
acc->read = mma8452Read;
acc->initFn = mma8452Init;
acc->readFn = mma8452Read;
device_id = sig;
return true;
}

6
src/main/drivers/accgyro/accgyro_mpu.c
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@ -118,8 +118,8 @@ static void mpuIntExtiHandler(extiCallbackRec_t *cb)
#endif
gyroDev_t *gyro = container_of(cb, gyroDev_t, exti);
gyro->dataReady = true;
if (gyro->update) {
gyro->update(gyro);
if (gyro->updateFn) {
gyro->updateFn(gyro);
}
#ifdef DEBUG_MPU_DATA_READY_INTERRUPT
const uint32_t now2Us = micros();
@ -196,7 +196,7 @@ bool mpuAccRead(accDev_t *acc)
void mpuGyroSetIsrUpdate(gyroDev_t *gyro, sensorGyroUpdateFuncPtr updateFn)
{
ATOMIC_BLOCK(NVIC_PRIO_MPU_INT_EXTI) {
gyro->update = updateFn;
gyro->updateFn = updateFn;
}
}

8
src/main/drivers/accgyro/accgyro_mpu3050.c
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@ -80,10 +80,10 @@ bool mpu3050Detect(gyroDev_t *gyro)
if (gyro->mpuDetectionResult.sensor != MPU_3050) {
return false;
}
gyro->init = mpu3050Init;
gyro->read = mpuGyroRead;
gyro->temperature = mpu3050ReadTemperature;
gyro->intStatus = mpuCheckDataReady;
gyro->initFn = mpu3050Init;
gyro->readFn = mpuGyroRead;
gyro->temperatureFn = mpu3050ReadTemperature;
gyro->intStatusFn = mpuCheckDataReady;
// 16.4 dps/lsb scalefactor
gyro->scale = 1.0f / 16.4f;

10
src/main/drivers/accgyro/accgyro_mpu6050.c
View File

@ -68,8 +68,8 @@ bool mpu6050AccDetect(accDev_t *acc)
return false;
}
acc->init = mpu6050AccInit;
acc->read = mpuAccRead;
acc->initFn = mpu6050AccInit;
acc->readFn = mpuAccRead;
acc->revisionCode = (acc->mpuDetectionResult.resolution == MPU_HALF_RESOLUTION ? 'o' : 'n'); // es/non-es variance between MPU6050 sensors, half of the naze boards are mpu6000ES.
return true;
@ -104,9 +104,9 @@ bool mpu6050GyroDetect(gyroDev_t *gyro)
if (gyro->mpuDetectionResult.sensor != MPU_60x0) {
return false;
}
gyro->init = mpu6050GyroInit;
gyro->read = mpuGyroRead;
gyro->intStatus = mpuCheckDataReady;
gyro->initFn = mpu6050GyroInit;
gyro->readFn = mpuGyroRead;
gyro->intStatusFn = mpuCheckDataReady;
// 16.4 dps/lsb scalefactor
gyro->scale = 1.0f / 16.4f;

10
src/main/drivers/accgyro/accgyro_mpu6500.c
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@ -45,8 +45,8 @@ bool mpu6500AccDetect(accDev_t *acc)
return false;
}
acc->init = mpu6500AccInit;
acc->read = mpuAccRead;
acc->initFn = mpu6500AccInit;
acc->readFn = mpuAccRead;
return true;
}
@ -93,9 +93,9 @@ bool mpu6500GyroDetect(gyroDev_t *gyro)
return false;
}
gyro->init = mpu6500GyroInit;
gyro->read = mpuGyroRead;
gyro->intStatus = mpuCheckDataReady;
gyro->initFn = mpu6500GyroInit;
gyro->readFn = mpuGyroRead;
gyro->intStatusFn = mpuCheckDataReady;
// 16.4 dps/lsb scalefactor
gyro->scale = 1.0f / 16.4f;

10
src/main/drivers/accgyro/accgyro_spi_bmi160.c
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@ -437,8 +437,8 @@ bool bmi160SpiAccDetect(accDev_t *acc)
return false;
}
acc->init = bmi160SpiAccInit;
acc->read = bmi160AccRead;
acc->initFn = bmi160SpiAccInit;
acc->readFn = bmi160AccRead;
return true;
}
@ -450,9 +450,9 @@ bool bmi160SpiGyroDetect(gyroDev_t *gyro)
return false;
}
gyro->init = bmi160SpiGyroInit;
gyro->read = bmi160GyroRead;
gyro->intStatus = checkBMI160DataReady;
gyro->initFn = bmi160SpiGyroInit;
gyro->readFn = bmi160GyroRead;
gyro->intStatusFn = checkBMI160DataReady;
gyro->scale = 1.0f / 16.4f;
return true;

10
src/main/drivers/accgyro/accgyro_spi_icm20689.c
View File

@ -115,8 +115,8 @@ bool icm20689SpiAccDetect(accDev_t *acc)
return false;
}
acc->init = icm20689AccInit;
acc->read = mpuAccRead;
acc->initFn = icm20689AccInit;
acc->readFn = mpuAccRead;
return true;
}
@ -164,9 +164,9 @@ bool icm20689SpiGyroDetect(gyroDev_t *gyro)
return false;
}
gyro->init = icm20689GyroInit;
gyro->read = mpuGyroRead;
gyro->intStatus = mpuCheckDataReady;
gyro->initFn = icm20689GyroInit;
gyro->readFn = mpuGyroRead;
gyro->intStatusFn = mpuCheckDataReady;
// 16.4 dps/lsb scalefactor
gyro->scale = 1.0f / 16.4f;

10
src/main/drivers/accgyro/accgyro_spi_mpu6000.c
View File

@ -255,8 +255,8 @@ bool mpu6000SpiAccDetect(accDev_t *acc)
return false;
}
acc->init = mpu6000SpiAccInit;
acc->read = mpuAccRead;
acc->initFn = mpu6000SpiAccInit;
acc->readFn = mpuAccRead;
return true;
}
@ -267,9 +267,9 @@ bool mpu6000SpiGyroDetect(gyroDev_t *gyro)
return false;
}
gyro->init = mpu6000SpiGyroInit;
gyro->read = mpuGyroRead;
gyro->intStatus = mpuCheckDataReady;
gyro->initFn = mpu6000SpiGyroInit;
gyro->readFn = mpuGyroRead;
gyro->intStatusFn = mpuCheckDataReady;
// 16.4 dps/lsb scalefactor
gyro->scale = 1.0f / 16.4f;

10
src/main/drivers/accgyro/accgyro_spi_mpu6500.c
View File

@ -147,8 +147,8 @@ bool mpu6500SpiAccDetect(accDev_t *acc)
return false;
}
acc->init = mpu6500SpiAccInit;
acc->read = mpuAccRead;
acc->initFn = mpu6500SpiAccInit;
acc->readFn = mpuAccRead;
return true;
}
@ -166,9 +166,9 @@ bool mpu6500SpiGyroDetect(gyroDev_t *gyro)
return false;
}
gyro->init = mpu6500SpiGyroInit;
gyro->read = mpuGyroRead;
gyro->intStatus = mpuCheckDataReady;
gyro->initFn = mpu6500SpiGyroInit;
gyro->readFn = mpuGyroRead;
gyro->intStatusFn = mpuCheckDataReady;
// 16.4 dps/lsb scalefactor
gyro->scale = 1.0f / 16.4f;

10
src/main/drivers/accgyro/accgyro_spi_mpu9250.c
View File

@ -214,8 +214,8 @@ bool mpu9250SpiAccDetect(accDev_t *acc)
return false;
}
acc->init = mpu9250SpiAccInit;
acc->read = mpuAccRead;
acc->initFn = mpu9250SpiAccInit;
acc->readFn = mpuAccRead;
return true;
}
@ -226,9 +226,9 @@ bool mpu9250SpiGyroDetect(gyroDev_t *gyro)
return false;
}
gyro->init = mpu9250SpiGyroInit;
gyro->read = mpuGyroRead;
gyro->intStatus = mpuCheckDataReady;
gyro->initFn = mpu9250SpiGyroInit;
gyro->readFn = mpuGyroRead;
gyro->intStatusFn = mpuCheckDataReady;
// 16.4 dps/lsb scalefactor
gyro->scale = 1.0f / 16.4f;

4
src/main/drivers/gyro_sync.c
View File

@ -17,9 +17,9 @@
bool gyroSyncCheckUpdate(gyroDev_t *gyro)
{
if (!gyro->intStatus)
if (!gyro->intStatusFn)
return false;
return gyro->intStatus(gyro);
return gyro->intStatusFn(gyro);
}
uint32_t gyroSetSampleRate(gyroDev_t *gyro, uint8_t lpf, uint8_t gyroSyncDenominator, bool gyro_use_32khz)

4
src/main/sensors/acceleration.c
View File

@ -311,7 +311,7 @@ bool accInit(uint32_t gyroSamplingInverval)
return false;
}
acc.dev.acc_1G = 256; // set default
acc.dev.init(&acc.dev); // driver initialisation
acc.dev.initFn(&acc.dev); // driver initialisation
// set the acc sampling interval according to the gyro sampling interval
switch (gyroSamplingInverval) { // Switch statement kept in place to change acc sampling interval in the future
case 500:
@ -453,7 +453,7 @@ static void applyAccelerationTrims(const flightDynamicsTrims_t *accelerationTrim
void accUpdate(rollAndPitchTrims_t *rollAndPitchTrims)
{
if (!acc.dev.read(&acc.dev)) {
if (!acc.dev.readFn(&acc.dev)) {
return;
}
acc.isAccelUpdatedAtLeastOnce = true;

12
src/main/sensors/gyro.c
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@ -329,7 +329,7 @@ bool gyroInit(void)
// Must set gyro targetLooptime before gyroDev.init and initialisation of filters
gyro.targetLooptime = gyroSetSampleRate(&gyroDev0, gyroConfig()->gyro_lpf, gyroConfig()->gyro_sync_denom, gyroConfig()->gyro_use_32khz);
gyroDev0.lpf = gyroConfig()->gyro_lpf;
gyroDev0.init(&gyroDev0);
gyroDev0.initFn(&gyroDev0);
if (gyroConfig()->gyro_align != ALIGN_DEFAULT) {
gyroDev0.gyroAlign = gyroConfig()->gyro_align;
}
@ -481,7 +481,7 @@ STATIC_UNIT_TESTED void performGyroCalibration(gyroDev_t *gyroDev, gyroCalibrati
#if defined(GYRO_USES_SPI) && defined(USE_MPU_DATA_READY_SIGNAL)
static bool gyroUpdateISR(gyroDev_t* gyroDev)
{
if (!gyroDev->dataReady || !gyroDev->read(gyroDev)) {
if (!gyroDev->dataReady || !gyroDev->readFn(gyroDev)) {
return false;
}
#ifdef DEBUG_MPU_DATA_READY_INTERRUPT
@ -513,11 +513,11 @@ static bool gyroUpdateISR(gyroDev_t* gyroDev)
void gyroUpdate(void)
{
// range: +/- 8192; +/- 2000 deg/sec
if (gyroDev0.update) {
if (gyroDev0.updateFn) {
// if the gyro update function is set then return, since the gyro is read in gyroUpdateISR
return;
}
if (!gyroDev0.read(&gyroDev0)) {
if (!gyroDev0.readFn(&gyroDev0)) {
return;
}
gyroDev0.dataReady = false;
@ -571,8 +571,8 @@ void gyroUpdate(void)
void gyroReadTemperature(void)
{
if (gyroDev0.temperature) {
gyroDev0.temperature(&gyroDev0, &gyroTemperature0);
if (gyroDev0.temperatureFn) {
gyroDev0.temperatureFn(&gyroDev0, &gyroTemperature0);
}
}