Merge pull request #1 from betaflight/master

Rebase test

Author: spatzengr

src/main/drivers/accgyro/accgyro.h

@@ -27,7 +27,7 @@
 #include "drivers/bus.h"
 #include "drivers/sensor.h"
 #include "drivers/accgyro/accgyro_mpu.h"
-#include "sensors/gyro.h"
+
 #pragma GCC diagnostic push
 #if defined(SIMULATOR_BUILD) && defined(SIMULATOR_MULTITHREAD)
 #include <pthread.h>
@@ -39,6 +39,25 @@
 #define MPU_I2C_INSTANCE I2C_DEVICE
 #endif
 
+typedef enum {
+    GYRO_NONE = 0,
+    GYRO_DEFAULT,
+    GYRO_MPU6050,
+    GYRO_L3G4200D,
+    GYRO_MPU3050,
+    GYRO_L3GD20,
+    GYRO_MPU6000,
+    GYRO_MPU6500,
+    GYRO_MPU9250,
+    GYRO_ICM20601,
+    GYRO_ICM20602,
+    GYRO_ICM20608G,
+    GYRO_ICM20649,
+    GYRO_ICM20689,
+    GYRO_BMI160,
+    GYRO_FAKE
+} gyroHardware_e;
+
 typedef enum {
     GYRO_HARDWARE_LPF_NORMAL,
     GYRO_HARDWARE_LPF_1KHZ_SAMPLE,
@@ -77,7 +96,6 @@ typedef struct gyroDev_s {
     int32_t gyroADCRawPrevious[XYZ_AXIS_COUNT];
     int16_t gyroADCRaw[XYZ_AXIS_COUNT];
     int16_t temperature;
-    mpuConfiguration_t mpuConfiguration;
     mpuDetectionResult_t mpuDetectionResult;
     sensor_align_e gyroAlign;
     gyroRateKHz_e gyroRateKHz;
@@ -88,7 +106,7 @@ typedef struct gyroDev_s {
     uint8_t mpuDividerDrops;
     ioTag_t mpuIntExtiTag;
     uint8_t gyroHasOverflowProtection;
-    gyroSensor_e gyroHardware;
+    gyroHardware_e gyroHardware;
 } gyroDev_t;
 
 typedef struct accDev_s {

src/main/drivers/accgyro/accgyro_mpu.c

@@ -54,8 +54,6 @@
 #include "drivers/accgyro/accgyro_spi_mpu9250.h"
 #include "drivers/accgyro/accgyro_mpu.h"
 
-mpuResetFnPtr mpuResetFn;
-
 #ifndef MPU_I2C_INSTANCE
 #define MPU_I2C_INSTANCE I2C_DEVICE
 #endif
@@ -250,7 +248,6 @@ static bool detectSPISensorsAndUpdateDetectionResult(gyroDev_t *gyro)
     sensor = mpu9250SpiDetect(&gyro->bus);
     if (sensor != MPU_NONE) {
         gyro->mpuDetectionResult.sensor = sensor;
-        gyro->mpuConfiguration.resetFn = mpu9250SpiResetGyro;
         return true;
     }
 #endif

src/main/drivers/accgyro/accgyro_mpu.h

@@ -140,14 +140,6 @@
 // RF = Register Flag
 #define MPU_RF_DATA_RDY_EN (1 << 0)
 
-typedef void (*mpuResetFnPtr)(void);
-
-extern mpuResetFnPtr mpuResetFn;
-
-typedef struct mpuConfiguration_s {
-    mpuResetFnPtr resetFn;
-} mpuConfiguration_t;
-
 enum gyro_fsr_e {
     INV_FSR_250DPS = 0,
     INV_FSR_500DPS,

src/main/drivers/accgyro/accgyro_spi_mpu9250.c

@@ -75,19 +75,6 @@ static bool mpu9250SpiSlowReadRegisterBuffer(const busDevice_t *bus, uint8_t reg
     return true;
 }
 
-void mpu9250SpiResetGyro(void)
-{
-#if 0
-// XXX This doesn't work. Need a proper busDevice_t.
-    // Device Reset
-#ifdef MPU9250_CS_PIN
-    busDevice_t bus = { .spi = { .csnPin = IOGetByTag(IO_TAG(MPU9250_CS_PIN)) } };
-    mpu9250SpiWriteRegister(&bus, MPU_RA_PWR_MGMT_1, MPU9250_BIT_RESET);
-    delay(150);
-#endif
-#endif
-}
-
 void mpu9250SpiGyroInit(gyroDev_t *gyro)
 {
     mpuGyroInit(gyro);

src/main/drivers/system_stm32f4xx.c

@@ -34,10 +34,6 @@ void SetSysClock(void);
 
 void systemReset(void)
 {
-    if (mpuResetFn) {
-        mpuResetFn();
-    }
-
     __disable_irq();
     NVIC_SystemReset();
 }
@@ -47,10 +43,6 @@ PERSISTENT uint32_t bootloaderRequest = 0;
 
 void systemResetToBootloader(void)
 {
-    if (mpuResetFn) {
-        mpuResetFn();
-    }
-
     bootloaderRequest = BOOTLOADER_REQUEST_COOKIE;
 
     __disable_irq();

src/main/drivers/system_stm32f7xx.c

@@ -38,20 +38,12 @@ void SystemClock_Config(void);
 
 void systemReset(void)
 {
-    if (mpuResetFn) {
-        mpuResetFn();
-    }
-
     __disable_irq();
     NVIC_SystemReset();
 }
 
 void systemResetToBootloader(void)
 {
-    if (mpuResetFn) {
-        mpuResetFn();
-    }
-
     (*(__IO uint32_t *) (BKPSRAM_BASE + 4)) = 0xDEADBEEF;   // flag that will be readable after reboot
 
     __disable_irq();

src/main/drivers/usb_msc_f4xx.c

@@ -147,10 +147,6 @@ void mscWaitForButton(void)
 
 void systemResetToMsc(void)
 {
-    if (mpuResetFn) {
-        mpuResetFn();
-    }
-
     *((uint32_t *)0x2001FFF0) = MSC_MAGIC;
 
     __disable_irq();

src/main/drivers/usb_msc_f7xx.c

@@ -153,10 +153,6 @@ void mscWaitForButton(void)
 
 void systemResetToMsc(void)
 {
-    if (mpuResetFn) {
-        mpuResetFn();
-    }
-
     *((__IO uint32_t*) BKPSRAM_BASE + 16) = MSC_MAGIC;
 
     __disable_irq();

src/main/sensors/gyro.c

@@ -241,19 +241,6 @@ const busDevice_t *gyroSensorBusByDevice(uint8_t whichSensor)
 }
 #endif // USE_GYRO_REGISTER_DUMP
 
-const mpuConfiguration_t *gyroMpuConfiguration(void)
-{
-#ifdef USE_DUAL_GYRO
-    if (gyroToUse == GYRO_CONFIG_USE_GYRO_2) {
-        return &gyroSensor2.gyroDev.mpuConfiguration;
-    } else {
-        return &gyroSensor1.gyroDev.mpuConfiguration;
-    }
-#else
-    return &gyroSensor1.gyroDev.mpuConfiguration;
-#endif
-}
-
 const mpuDetectionResult_t *gyroMpuDetectionResult(void)
 {
 #ifdef USE_DUAL_GYRO
@@ -267,9 +254,9 @@ const mpuDetectionResult_t *gyroMpuDetectionResult(void)
 #endif
 }
 
-STATIC_UNIT_TESTED gyroSensor_e gyroDetect(gyroDev_t *dev)
+STATIC_UNIT_TESTED gyroHardware_e gyroDetect(gyroDev_t *dev)
 {
-    gyroSensor_e gyroHardware = GYRO_DEFAULT;
+    gyroHardware_e gyroHardware = GYRO_DEFAULT;
 
     switch (gyroHardware) {
     case GYRO_DEFAULT:
@@ -447,10 +434,9 @@ static bool gyroInitSensor(gyroSensor_t *gyroSensor)
  || defined(USE_ACC_MPU6050) || defined(USE_GYRO_SPI_MPU9250) || defined(USE_GYRO_SPI_ICM20601) || defined(USE_GYRO_SPI_ICM20649) || defined(USE_GYRO_SPI_ICM20689)
 
     mpuDetect(&gyroSensor->gyroDev);
-    mpuResetFn = gyroSensor->gyroDev.mpuConfiguration.resetFn; // must be set after mpuDetect
 #endif
 
-    const gyroSensor_e gyroHardware = gyroDetect(&gyroSensor->gyroDev);
+    const gyroHardware_e gyroHardware = gyroDetect(&gyroSensor->gyroDev);
     gyroSensor->gyroDev.gyroHardware = gyroHardware;
     if (gyroHardware == GYRO_NONE) {
         return false;

src/main/sensors/gyro.h

@@ -29,25 +29,6 @@
 
 #include "pg/pg.h"
 
-typedef enum {
-    GYRO_NONE = 0,
-    GYRO_DEFAULT,
-    GYRO_MPU6050,
-    GYRO_L3G4200D,
-    GYRO_MPU3050,
-    GYRO_L3GD20,
-    GYRO_MPU6000,
-    GYRO_MPU6500,
-    GYRO_MPU9250,
-    GYRO_ICM20601,
-    GYRO_ICM20602,
-    GYRO_ICM20608G,
-    GYRO_ICM20649,
-    GYRO_ICM20689,
-    GYRO_BMI160,
-    GYRO_FAKE
-} gyroSensor_e;
-
 typedef struct gyro_s {
     uint32_t targetLooptime;
     float gyroADCf[XYZ_AXIS_COUNT];
@@ -124,8 +105,6 @@ void gyroInitFilters(void);
 void gyroUpdate(timeUs_t currentTimeUs);
 bool gyroGetAccumulationAverage(float *accumulation);
 const busDevice_t *gyroSensorBus(void);
-struct mpuConfiguration_s;
-const struct mpuConfiguration_s *gyroMpuConfiguration(void);
 struct mpuDetectionResult_s;
 const struct mpuDetectionResult_s *gyroMpuDetectionResult(void);
 void gyroStartCalibration(bool isFirstArmingCalibration);