Merge pull request #4771 from martinbudden/bfa_accgyro_struct_alignment

Improved accgyro device structure alignment

src/main/common/utils.h

@@ -97,10 +97,10 @@ static inline int32_t cmp32(uint32_t a, uint32_t b) { return (int32_t)(a-b); }
 
 // using memcpy_fn will force memcpy function call, instead of inlining it. In most cases function call takes fewer instructions
 //  than inlined version (inlining is cheaper for very small moves < 8 bytes / 2 store instructions)
-#ifdef UNIT_TEST
+#if defined(UNIT_TEST) || defined(SIMULATOR_BUILD)
 // Call memcpy when building unittest - this is easier that asm symbol name mangling (symbols start with _underscore on win32)
 #include <string.h>
-static inline void  memcpy_fn ( void * destination, const void * source, size_t num ) { memcpy(destination, source, num); };
+static inline void  memcpy_fn ( void * destination, const void * source, size_t num ) { memcpy(destination, source, num); }
 #else
 void * memcpy_fn ( void * destination, const void * source, size_t num ) asm("memcpy");
 #endif

src/main/drivers/accgyro/accgyro.h

@@ -18,13 +18,17 @@
 #pragma once
 
 #include "platform.h"
+
 #include "common/axis.h"
 #include "drivers/exti.h"
 #include "drivers/bus.h"
 #include "drivers/sensor.h"
 #include "drivers/accgyro/accgyro_mpu.h"
+#pragma GCC diagnostic push
 #if defined(SIMULATOR_BUILD) && defined(SIMULATOR_MULTITHREAD)
 #include <pthread.h>
+#else
+#pragma GCC diagnostic warning "-Wpadded"
 #endif
 
 #ifndef MPU_I2C_INSTANCE
@@ -50,6 +54,9 @@ typedef enum {
 } gyroRateKHz_e;
 
 typedef struct gyroDev_s {
+#if defined(SIMULATOR_BUILD) && defined(SIMULATOR_MULTITHREAD)
+    pthread_mutex_t lock;
+#endif
     sensorGyroInitFuncPtr initFn;                             // initialize function
     sensorGyroReadFuncPtr readFn;                             // read 3 axis data function
     sensorGyroReadDataFuncPtr temperatureFn;                  // read temperature if available
@@ -58,38 +65,36 @@ typedef struct gyroDev_s {
     float scale;                                            // scalefactor
     int32_t gyroZero[XYZ_AXIS_COUNT];
     int32_t gyroADC[XYZ_AXIS_COUNT];                        // gyro data after calibration and alignment
-    int16_t gyroADCRaw[XYZ_AXIS_COUNT];
     int32_t gyroADCRawPrevious[XYZ_AXIS_COUNT];
+    int16_t gyroADCRaw[XYZ_AXIS_COUNT];
     int16_t temperature;
-    uint8_t lpf;
-    gyroRateKHz_e gyroRateKHz;
-    uint8_t mpuDividerDrops;
-    bool dataReady;
-    sensor_align_e gyroAlign;
-    mpuDetectionResult_t mpuDetectionResult;
-    ioTag_t mpuIntExtiTag;
     mpuConfiguration_t mpuConfiguration;
+    mpuDetectionResult_t mpuDetectionResult;
+    sensor_align_e gyroAlign;
+    gyroRateKHz_e gyroRateKHz;
+    bool dataReady;
     bool gyro_high_fsr;
-#if defined(SIMULATOR_BUILD) && defined(SIMULATOR_MULTITHREAD)
-    pthread_mutex_t lock;
-#endif
+    uint8_t lpf;
+    uint8_t mpuDividerDrops;
+    ioTag_t mpuIntExtiTag;
+    uint8_t filler[3];
 } gyroDev_t;
 
 typedef struct accDev_s {
+#if defined(SIMULATOR_BUILD) && defined(SIMULATOR_MULTITHREAD)
+    pthread_mutex_t lock;
+#endif
     sensorAccInitFuncPtr initFn;                              // initialize function
     sensorAccReadFuncPtr readFn;                              // read 3 axis data function
     busDevice_t bus;
     uint16_t acc_1G;
     int16_t ADCRaw[XYZ_AXIS_COUNT];
-    char revisionCode;                                      // a revision code for the sensor, if known
-    bool dataReady;
-    sensor_align_e accAlign;
     mpuDetectionResult_t mpuDetectionResult;
-    mpuConfiguration_t mpuConfiguration;
+    sensor_align_e accAlign;
+    bool dataReady;
     bool acc_high_fsr;
-#if defined(SIMULATOR_BUILD) && defined(SIMULATOR_MULTITHREAD)
-    pthread_mutex_t lock;
-#endif
+    char revisionCode;                                      // a revision code for the sensor, if known
+    uint8_t filler[2];
 } accDev_t;
 
 static inline void accDevLock(accDev_t *acc)
@@ -127,3 +132,4 @@ static inline void gyroDevUnLock(gyroDev_t *gyro)
     (void)gyro;
 #endif
 }
+#pragma GCC diagnostic pop

src/main/drivers/light_ws2811strip.h

@@ -57,4 +57,4 @@ extern uint32_t ledStripDMABuffer[WS2811_DMA_BUFFER_SIZE];
 extern volatile uint8_t ws2811LedDataTransferInProgress;
 
 extern uint16_t BIT_COMPARE_1;
-extern uint16_t BIT_COMPARE_0;
+extern uint16_t BIT_COMPARE_0;

src/main/sensors/acceleration.c

@@ -319,7 +319,6 @@ bool accInit(uint32_t gyroSamplingInverval)
     memset(&acc, 0, sizeof(acc));
     // copy over the common gyro mpu settings
     acc.dev.bus = *gyroSensorBus();
-    acc.dev.mpuConfiguration = *gyroMpuConfiguration();
     acc.dev.mpuDetectionResult = *gyroMpuDetectionResult();
     acc.dev.acc_high_fsr = accelerometerConfig()->acc_high_fsr;
     if (!accDetect(&acc.dev, accelerometerConfig()->acc_hardware)) {