diff --git a/src/main/drivers/accgyro/accgyro.h b/src/main/drivers/accgyro/accgyro.h index c4a8028d3..6dddfb286 100644 --- a/src/main/drivers/accgyro/accgyro.h +++ b/src/main/drivers/accgyro/accgyro.h @@ -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]; diff --git a/src/main/drivers/accgyro/accgyro_adxl345.c b/src/main/drivers/accgyro/accgyro_adxl345.c index 1ecaea824..e6be5fee1 100644 --- a/src/main/drivers/accgyro/accgyro_adxl345.c +++ b/src/main/drivers/accgyro/accgyro_adxl345.c @@ -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; } diff --git a/src/main/drivers/accgyro/accgyro_bma280.c b/src/main/drivers/accgyro/accgyro_bma280.c index f18df0eac..eb222c6af 100644 --- a/src/main/drivers/accgyro/accgyro_bma280.c +++ b/src/main/drivers/accgyro/accgyro_bma280.c @@ -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; } diff --git a/src/main/drivers/accgyro/accgyro_fake.c b/src/main/drivers/accgyro/accgyro_fake.c index 9c60e743c..61feaa2d9 100644 --- a/src/main/drivers/accgyro/accgyro_fake.c +++ b/src/main/drivers/accgyro/accgyro_fake.c @@ -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; } diff --git a/src/main/drivers/accgyro/accgyro_l3g4200d.c b/src/main/drivers/accgyro/accgyro_l3g4200d.c index 9c3cfa475..9b3c2fcef 100644 --- a/src/main/drivers/accgyro/accgyro_l3g4200d.c +++ b/src/main/drivers/accgyro/accgyro_l3g4200d.c @@ -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; diff --git a/src/main/drivers/accgyro/accgyro_l3gd20.c b/src/main/drivers/accgyro/accgyro_l3gd20.c index fec1c9cfb..b3f46e313 100644 --- a/src/main/drivers/accgyro/accgyro_l3gd20.c +++ b/src/main/drivers/accgyro/accgyro_l3gd20.c @@ -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; diff --git a/src/main/drivers/accgyro/accgyro_lsm303dlhc.c b/src/main/drivers/accgyro/accgyro_lsm303dlhc.c index 71a5c63f1..ae7ce191e 100644 --- a/src/main/drivers/accgyro/accgyro_lsm303dlhc.c +++ b/src/main/drivers/accgyro/accgyro_lsm303dlhc.c @@ -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 diff --git a/src/main/drivers/accgyro/accgyro_mma845x.c b/src/main/drivers/accgyro/accgyro_mma845x.c index 2e541755f..47be311e6 100644 --- a/src/main/drivers/accgyro/accgyro_mma845x.c +++ b/src/main/drivers/accgyro/accgyro_mma845x.c @@ -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; } diff --git a/src/main/drivers/accgyro/accgyro_mpu.c b/src/main/drivers/accgyro/accgyro_mpu.c index e4b050a0d..0b6087ea7 100644 --- a/src/main/drivers/accgyro/accgyro_mpu.c +++ b/src/main/drivers/accgyro/accgyro_mpu.c @@ -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; } } diff --git a/src/main/drivers/accgyro/accgyro_mpu3050.c b/src/main/drivers/accgyro/accgyro_mpu3050.c index d97a35b06..335e8f2df 100644 --- a/src/main/drivers/accgyro/accgyro_mpu3050.c +++ b/src/main/drivers/accgyro/accgyro_mpu3050.c @@ -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; diff --git a/src/main/drivers/accgyro/accgyro_mpu6050.c b/src/main/drivers/accgyro/accgyro_mpu6050.c index 55898a74f..190f2109c 100644 --- a/src/main/drivers/accgyro/accgyro_mpu6050.c +++ b/src/main/drivers/accgyro/accgyro_mpu6050.c @@ -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; diff --git a/src/main/drivers/accgyro/accgyro_mpu6500.c b/src/main/drivers/accgyro/accgyro_mpu6500.c index af2d5d8f6..52edb3412 100644 --- a/src/main/drivers/accgyro/accgyro_mpu6500.c +++ b/src/main/drivers/accgyro/accgyro_mpu6500.c @@ -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; diff --git a/src/main/drivers/accgyro/accgyro_spi_bmi160.c b/src/main/drivers/accgyro/accgyro_spi_bmi160.c index ee7a9c49e..ef22644d2 100644 --- a/src/main/drivers/accgyro/accgyro_spi_bmi160.c +++ b/src/main/drivers/accgyro/accgyro_spi_bmi160.c @@ -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; diff --git a/src/main/drivers/accgyro/accgyro_spi_icm20689.c b/src/main/drivers/accgyro/accgyro_spi_icm20689.c index 136fde53f..329aae53c 100644 --- a/src/main/drivers/accgyro/accgyro_spi_icm20689.c +++ b/src/main/drivers/accgyro/accgyro_spi_icm20689.c @@ -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; diff --git a/src/main/drivers/accgyro/accgyro_spi_mpu6000.c b/src/main/drivers/accgyro/accgyro_spi_mpu6000.c index 2f199ba56..a876c0c8b 100644 --- a/src/main/drivers/accgyro/accgyro_spi_mpu6000.c +++ b/src/main/drivers/accgyro/accgyro_spi_mpu6000.c @@ -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; diff --git a/src/main/drivers/accgyro/accgyro_spi_mpu6500.c b/src/main/drivers/accgyro/accgyro_spi_mpu6500.c index 816733de6..bea575c04 100755 --- a/src/main/drivers/accgyro/accgyro_spi_mpu6500.c +++ b/src/main/drivers/accgyro/accgyro_spi_mpu6500.c @@ -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; diff --git a/src/main/drivers/accgyro/accgyro_spi_mpu9250.c b/src/main/drivers/accgyro/accgyro_spi_mpu9250.c index a884d77f5..3940a53d6 100644 --- a/src/main/drivers/accgyro/accgyro_spi_mpu9250.c +++ b/src/main/drivers/accgyro/accgyro_spi_mpu9250.c @@ -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; diff --git a/src/main/drivers/gyro_sync.c b/src/main/drivers/gyro_sync.c index a6a122651..a53591f8e 100644 --- a/src/main/drivers/gyro_sync.c +++ b/src/main/drivers/gyro_sync.c @@ -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) diff --git a/src/main/sensors/acceleration.c b/src/main/sensors/acceleration.c index e57a6d8ea..29b567e7d 100644 --- a/src/main/sensors/acceleration.c +++ b/src/main/sensors/acceleration.c @@ -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; diff --git a/src/main/sensors/gyro.c b/src/main/sensors/gyro.c index 88e728c8c..5c0b6e00c 100644 --- a/src/main/sensors/gyro.c +++ b/src/main/sensors/gyro.c @@ -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); } }