rusefi
/
atbetaflight
mirror of https://github.com/rusefi/atbetaflight.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Merge pull request #530 from martinbudden/bf_acc_1g 

Cleanup of acc device drivers extern usage - CF PR#2117
This commit is contained in:
Martin Budden 2016-06-16 19:04:43 +01:00 committed by GitHub
parent 5e84431e7a e9a46c6ebb
commit ff5223f208
21 changed files with 41 additions and 44 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
src/main/blackbox/blackbox.c
View File

@ -1146,7 +1146,7 @@ static bool blackboxWriteSysinfo()
BLACKBOX_PRINT_HEADER_LINE("minthrottle:%d", masterConfig.escAndServoConfig.minthrottle);
BLACKBOX_PRINT_HEADER_LINE("maxthrottle:%d", masterConfig.escAndServoConfig.maxthrottle);
BLACKBOX_PRINT_HEADER_LINE("gyro.scale:0x%x", castFloatBytesToInt(gyro.scale));
BLACKBOX_PRINT_HEADER_LINE("acc_1G:%u", acc_1G);
BLACKBOX_PRINT_HEADER_LINE("acc_1G:%u", acc.acc_1G);
BLACKBOX_PRINT_HEADER_LINE_CUSTOM(
if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_VBAT)) {

5
src/main/drivers/accgyro.h
View File

@ -21,8 +21,6 @@
#define MPU_I2C_INSTANCE I2C_DEVICE
#endif
extern uint16_t acc_1G; // FIXME move into acc_t
typedef struct gyro_s {
sensorGyroInitFuncPtr init; // initialize function
sensorReadFuncPtr read; // read 3 axis data function
@ -32,7 +30,8 @@ typedef struct gyro_s {
} gyro_t;
typedef struct acc_s {
sensorInitFuncPtr init; // initialize function
sensorAccInitFuncPtr init; // initialize function
sensorReadFuncPtr read; // read 3 axis data function
uint16_t acc_1G;
char revisionCode; // a revision code for the sensor, if known
} acc_t;

6
src/main/drivers/accgyro_adxl345.c
View File

@ -56,7 +56,7 @@
#define ADXL345_RANGE_16G 0x03
#define ADXL345_FIFO_STREAM 0x80
static void adxl345Init(void);
static void adxl345Init(acc_t *acc);
static bool adxl345Read(int16_t *accelData);
static bool useFifo = false;
@ -78,7 +78,7 @@ bool adxl345Detect(drv_adxl345_config_t *init, acc_t *acc)
return true;
}
static void adxl345Init(void)
static void adxl345Init(acc_t *acc)
{
if (useFifo) {
uint8_t fifoDepth = 16;
@ -91,7 +91,7 @@ static void adxl345Init(void)
i2cWrite(MPU_I2C_INSTANCE, ADXL345_ADDRESS, ADXL345_DATA_FORMAT, ADXL345_FULL_RANGE | ADXL345_RANGE_8G);
i2cWrite(MPU_I2C_INSTANCE, ADXL345_ADDRESS, ADXL345_BW_RATE, ADXL345_RATE_100);
}
acc_1G = 265; // 3.3V operation // FIXME verify this is supposed to be 265, not 256. Typo?
acc->acc_1G = 256; // 3.3V operation
}
uint8_t acc_samples = 0;

6
src/main/drivers/accgyro_bma280.c
View File

@ -32,7 +32,7 @@
#define BMA280_PMU_BW 0x10
#define BMA280_PMU_RANGE 0x0F
static void bma280Init(void);
static void bma280Init(acc_t *acc);
static bool bma280Read(int16_t *accelData);
bool bma280Detect(acc_t *acc)
@ -49,12 +49,12 @@ bool bma280Detect(acc_t *acc)
return true;
}
static void bma280Init(void)
static void bma280Init(acc_t *acc)
{
i2cWrite(MPU_I2C_INSTANCE, BMA280_ADDRESS, BMA280_PMU_RANGE, 0x08); // +-8g range
i2cWrite(MPU_I2C_INSTANCE, BMA280_ADDRESS, BMA280_PMU_BW, 0x0E); // 500Hz BW
acc_1G = 512 * 8;
acc->acc_1G = 512 * 8;
}
static bool bma280Read(int16_t *accelData)

4
src/main/drivers/accgyro_lsm303dlhc.c
View File

@ -113,7 +113,7 @@ int32_t accelSummedSamples100Hz[3];
int32_t accelSummedSamples500Hz[3];
void lsm303dlhcAccInit(void)
void lsm303dlhcAccInit(acc_t *acc)
{
i2cWrite(MPU_I2C_INSTANCE, LSM303DLHC_ACCEL_ADDRESS, CTRL_REG5_A, BOOT);
@ -127,7 +127,7 @@ void lsm303dlhcAccInit(void)
delay(100);
acc_1G = 512 * 8;
acc->acc_1G = 512 * 8;
}
// Read 3 gyro values into user-provided buffer. No overrun checking is done.

6
src/main/drivers/accgyro_mma845x.c
View File

@ -81,7 +81,7 @@
static uint8_t device_id;
static void mma8452Init(void);
static void mma8452Init(acc_t *acc);
static bool mma8452Read(int16_t *accelData);
bool mma8452Detect(acc_t *acc)
@ -114,7 +114,7 @@ static inline void mma8451ConfigureInterrupt(void)
i2cWrite(MPU_I2C_INSTANCE, MMA8452_ADDRESS, MMA8452_CTRL_REG5, 0); // DRDY routed to INT2
}
static void mma8452Init(void)
static void mma8452Init(acc_t *acc)
{
i2cWrite(MPU_I2C_INSTANCE, MMA8452_ADDRESS, MMA8452_CTRL_REG1, 0); // Put device in standby to configure stuff
@ -126,7 +126,7 @@ static void mma8452Init(void)
i2cWrite(MPU_I2C_INSTANCE, MMA8452_ADDRESS, MMA8452_CTRL_REG1, MMA8452_CTRL_REG1_LNOISE | MMA8452_CTRL_REG1_ACTIVE); // Turn on measurements, low noise at max scale mode, Data Rate 800Hz. LNoise mode makes range +-4G.
acc_1G = 256;
acc->acc_1G = 256;
}
static bool mma8452Read(int16_t *accelData)

8
src/main/drivers/accgyro_mpu6050.c
View File

@ -51,7 +51,7 @@ extern uint8_t mpuLowPassFilter;
#define MPU6050_SMPLRT_DIV 0 // 8000Hz
static void mpu6050AccInit(void);
static void mpu6050AccInit(acc_t *acc);
static void mpu6050GyroInit(uint8_t lpf);
bool mpu6050AccDetect(acc_t *acc)
@ -82,16 +82,16 @@ bool mpu6050GyroDetect(gyro_t *gyro)
return true;
}
static void mpu6050AccInit(void)
static void mpu6050AccInit(acc_t *acc)
{
mpuIntExtiInit();
switch (mpuDetectionResult.resolution) {
case MPU_HALF_RESOLUTION:
acc_1G = 256 * 4;
acc->acc_1G = 256 * 4;
break;
case MPU_FULL_RESOLUTION:
acc_1G = 512 * 4;
acc->acc_1G = 512 * 4;
break;
}
}

6
src/main/drivers/accgyro_mpu6500.c
View File

@ -35,8 +35,6 @@
#include "accgyro_mpu.h"
#include "accgyro_mpu6500.h"
extern uint16_t acc_1G;
bool mpu6500AccDetect(acc_t *acc)
{
if (mpuDetectionResult.sensor != MPU_65xx_I2C) {
@ -65,11 +63,11 @@ bool mpu6500GyroDetect(gyro_t *gyro)
return true;
}
void mpu6500AccInit(void)
void mpu6500AccInit(acc_t *acc)
{
mpuIntExtiInit();
acc_1G = 512 * 4;
acc->acc_1G = 512 * 4;
}
void mpu6500GyroInit(uint8_t lpf)

2
src/main/drivers/accgyro_mpu6500.h
View File

@ -26,5 +26,5 @@
bool mpu6500AccDetect(acc_t *acc);
bool mpu6500GyroDetect(gyro_t *gyro);
void mpu6500AccInit(void);
void mpu6500AccInit(acc_t *acc);
void mpu6500GyroInit(uint8_t lpf);

4
src/main/drivers/accgyro_spi_mpu6000.c
View File

@ -144,11 +144,11 @@ void mpu6000SpiGyroInit(uint8_t lpf)
}
}
void mpu6000SpiAccInit(void)
void mpu6000SpiAccInit(acc_t *acc)
{
mpuIntExtiInit();
acc_1G = 512 * 4;
acc->acc_1G = 512 * 4;
}
bool mpu6000SpiDetect(void)

2
src/main/drivers/accgyro_spi_mpu6500.c
View File

@ -40,8 +40,6 @@
static IO_t mpuSpi6500CsPin = IO_NONE;
extern uint16_t acc_1G;
bool mpu6500WriteRegister(uint8_t reg, uint8_t data)
{
ENABLE_MPU6500;

4
src/main/drivers/accgyro_spi_mpu9250.c
View File

@ -116,11 +116,11 @@ void mpu9250SpiGyroInit(uint8_t lpf)
}
}
void mpu9250SpiAccInit(void)
void mpu9250SpiAccInit(acc_t *acc)
{
mpuIntExtiInit();
acc_1G = 512 * 8;
acc->acc_1G = 512 * 8;
}

4
src/main/drivers/sensor.h
View File

@ -17,7 +17,9 @@
#pragma once
struct acc_s;
typedef void (*sensorInitFuncPtr)(void); // sensor init prototype
typedef bool (*sensorReadFuncPtr)(int16_t *data); // sensor read and align prototype
typedef void (*sensorGyroInitFuncPtr)(uint8_t lpf); // gyro sensor init prototype
typedef void (*sensorAccInitFuncPtr)(struct acc_s *acc); // sensor init prototype
typedef void (*sensorGyroInitFuncPtr)(uint8_t lpf); // gyro sensor init prototype
typedef void (*sensorInterruptFuncPtr)(bool *data); // sensor Interrupt Data Ready

6
src/main/flight/imu.c
View File

@ -124,7 +124,7 @@ void imuInit(void)
{
smallAngleCosZ = cos_approx(degreesToRadians(imuRuntimeConfig->small_angle));
gyroScale = gyro.scale * (M_PIf / 180.0f); // gyro output scaled to rad per second
accVelScale = 9.80665f / acc_1G / 10000.0f;
accVelScale = 9.80665f / acc.acc_1G / 10000.0f;
imuComputeRotationMatrix();
}
@ -189,7 +189,7 @@ void imuCalculateAcceleration(uint32_t deltaT)
}
accel_ned.V.Z -= accZoffset / 64; // compensate for gravitation on z-axis
} else
accel_ned.V.Z -= acc_1G;
accel_ned.V.Z -= acc.acc_1G;
accz_smooth = accz_smooth + (dT / (fc_acc + dT)) * (accel_ned.V.Z - accz_smooth); // low pass filter
@ -362,7 +362,7 @@ static bool imuIsAccelerometerHealthy(void)
accMagnitude += (int32_t)accSmooth[axis] * accSmooth[axis];
}
accMagnitude = accMagnitude * 100 / (sq((int32_t)acc_1G));
accMagnitude = accMagnitude * 100 / (sq((int32_t)acc.acc_1G));
// Accept accel readings only in range 0.90g - 1.10g
return (81 < accMagnitude) && (accMagnitude < 121);

2
src/main/io/serial_msp.c
View File

@ -764,7 +764,7 @@ static bool processOutCommand(uint8_t cmdMSP)
headSerialReply(18);
// Hack scale due to choice of units for sensor data in multiwii
uint8_t scale = (acc_1G > 1024) ? 8 : 1;
uint8_t scale = (acc.acc_1G > 1024) ? 8 : 1;
for (i = 0; i < 3; i++)
serialize16(accSmooth[i] / scale);

5
src/main/sensors/acceleration.c
View File

@ -43,7 +43,6 @@ int32_t accSmooth[XYZ_AXIS_COUNT];
acc_t acc; // acc access functions
sensor_align_e accAlign = 0;
uint16_t acc_1G = 256; // this is the 1G measured acceleration.
uint32_t accTargetLooptime;
uint16_t calibratingA = 0; // the calibration is done is the main loop. Calibrating decreases at each cycle down to 0, then we enter in a normal mode.
@ -109,7 +108,7 @@ void performAcclerationCalibration(rollAndPitchTrims_t *rollAndPitchTrims)
// Calculate average, shift Z down by acc_1G and store values in EEPROM at end of calibration
accelerationTrims->raw[X] = (a[X] + (CALIBRATING_ACC_CYCLES / 2)) / CALIBRATING_ACC_CYCLES;
accelerationTrims->raw[Y] = (a[Y] + (CALIBRATING_ACC_CYCLES / 2)) / CALIBRATING_ACC_CYCLES;
accelerationTrims->raw[Z] = (a[Z] + (CALIBRATING_ACC_CYCLES / 2)) / CALIBRATING_ACC_CYCLES - acc_1G;
accelerationTrims->raw[Z] = (a[Z] + (CALIBRATING_ACC_CYCLES / 2)) / CALIBRATING_ACC_CYCLES - acc.acc_1G;
resetRollAndPitchTrims(rollAndPitchTrims);
@ -164,7 +163,7 @@ void performInflightAccelerationCalibration(rollAndPitchTrims_t *rollAndPitchTri
AccInflightCalibrationSavetoEEProm = false;
accelerationTrims->raw[X] = b[X] / 50;
accelerationTrims->raw[Y] = b[Y] / 50;
accelerationTrims->raw[Z] = b[Z] / 50 - acc_1G; // for nunchuck 200=1G
accelerationTrims->raw[Z] = b[Z] / 50 - acc.acc_1G; // for nunchuck 200=1G
resetRollAndPitchTrims(rollAndPitchTrims);

1
src/main/sensors/acceleration.h
View File

@ -35,7 +35,6 @@ typedef enum {
extern sensor_align_e accAlign;
extern acc_t acc;
extern uint16_t acc_1G;
extern uint32_t accTargetLooptime;
extern int32_t accSmooth[XYZ_AXIS_COUNT];

6
src/main/sensors/initialisation.c
View File

@ -627,8 +627,10 @@ bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint8_t a
// Now time to init things, acc first
if (sensors(SENSOR_ACC))
acc.init();
if (sensors(SENSOR_ACC)) {
acc.acc_1G = 256; // set default
acc.init(&acc);
}
// this is safe because either mpu6050 or mpu3050 or lg3d20 sets it, and in case of fail, we never get here.
gyroUpdateSampleRate(gyroLpf, gyroSyncDenominator); // Set gyro refresh rate before initialisation
gyro.init(gyroLpf);

2
src/main/target/COLIBRI_RACE/i2c_bst.c
View File

@ -606,7 +606,7 @@ static bool bstSlaveProcessFeedbackCommand(uint8_t bstRequest)
case BST_RAW_IMU:
{
// Hack scale due to choice of units for sensor data in multiwii
uint8_t scale = (acc_1G > 1024) ? 8 : 1;
uint8_t scale = (acc.acc_1G > 1024) ? 8 : 1;
for (i = 0; i < 3; i++)
bstWrite16(accSmooth[i] / scale);

2
src/main/telemetry/frsky.c
View File

@ -166,7 +166,7 @@ static void sendAccel(void)
for (i = 0; i < 3; i++) {
sendDataHead(ID_ACC_X + i);
serialize16(((float)accSmooth[i] / acc_1G) * 1000);
serialize16(((float)accSmooth[i] / acc.acc_1G) * 1000);
}
}

2
src/test/unit/flight_imu_unittest.cc
View File

@ -79,7 +79,7 @@ uint32_t rcModeActivationMask;
int16_t rcCommand[4];
int16_t rcData[MAX_SUPPORTED_RC_CHANNEL_COUNT];
uint16_t acc_1G;
acc_t acc;
int16_t heading;
gyro_t gyro;
int16_t magADC[XYZ_AXIS_COUNT];