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Merge pull request #2958 from iNavFlight/de_gyro_sync_rework
Deprecate gyro sync
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,127 @@ | ||
| /* | ||
| * This file is part of Cleanflight. | ||
| * | ||
| * Cleanflight is free software: you can redistribute it and/or modify | ||
| * it under the terms of the GNU General Public License as published by | ||
| * the Free Software Foundation, either version 3 of the License, or | ||
| * (at your option) any later version. | ||
| * | ||
| * Cleanflight is distributed in the hope that it will be useful, | ||
| * but WITHOUT ANY WARRANTY; without even the implied warranty of | ||
| * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | ||
| * GNU General Public License for more details. | ||
| * | ||
| * You should have received a copy of the GNU General Public License | ||
| * along with Cleanflight. If not, see <http://www.gnu.org/licenses/>. | ||
| */ | ||
|
|
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| #include <stdbool.h> | ||
| #include <stdint.h> | ||
| #include <stdlib.h> | ||
| #include <string.h> | ||
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| #include "platform.h" | ||
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| #include "build/atomic.h" | ||
| #include "build/build_config.h" | ||
| #include "build/debug.h" | ||
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| #include "common/maths.h" | ||
| #include "common/utils.h" | ||
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| #include "drivers/bus.h" | ||
| #include "drivers/exti.h" | ||
| #include "drivers/io.h" | ||
| #include "drivers/exti.h" | ||
| #include "drivers/nvic.h" | ||
| #include "drivers/sensor.h" | ||
| #include "drivers/system.h" | ||
| #include "drivers/time.h" | ||
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| #include "drivers/sensor.h" | ||
| #include "drivers/accgyro/accgyro.h" | ||
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| const gyroFilterAndRateConfig_t * chooseGyroConfig(uint8_t desiredLpf, uint16_t desiredRateHz, const gyroFilterAndRateConfig_t * configs, int count) | ||
| { | ||
| int i; | ||
| int8_t selectedLpf = configs[0].gyroLpf; | ||
| const gyroFilterAndRateConfig_t * candidate = &configs[0]; | ||
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| // Choose closest supported LPF value | ||
| for (i = 1; i < count; i++) { | ||
| if (ABS(desiredLpf - configs[i].gyroLpf) < ABS(desiredLpf - selectedLpf)) { | ||
| selectedLpf = configs[i].gyroLpf; | ||
| candidate = &configs[i]; | ||
| } | ||
| } | ||
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| // Now find the closest update rate | ||
| for (i = 0; i < count; i++) { | ||
| if ((configs[i].gyroLpf == selectedLpf) && (ABS(desiredRateHz - candidate->gyroRateHz) > ABS(desiredRateHz - configs[i].gyroRateHz))) { | ||
| candidate = &configs[i]; | ||
| } | ||
| } | ||
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| DEBUG_TRACE("GYRO CONFIG { %d, %d } -> { %d, %d}; regs 0x%02X, 0x%02X", | ||
| desiredLpf, desiredRateHz, | ||
| candidate->gyroLpf, candidate->gyroRateHz, | ||
| candidate->gyroConfigValues[0], candidate->gyroConfigValues[1]); | ||
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| return candidate; | ||
| } | ||
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| /* | ||
| * Gyro interrupt service routine | ||
| */ | ||
| #if defined(USE_MPU_DATA_READY_SIGNAL) && defined(USE_EXTI) | ||
| static void gyroIntExtiHandler(extiCallbackRec_t *cb) | ||
| { | ||
| gyroDev_t *gyro = container_of(cb, gyroDev_t, exti); | ||
| gyro->dataReady = true; | ||
| if (gyro->updateFn) { | ||
| gyro->updateFn(gyro); | ||
| } | ||
| } | ||
| #endif | ||
|
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| void gyroIntExtiInit(gyroDev_t *gyro) | ||
| { | ||
| if (!gyro->busDev->irqPin) { | ||
| return; | ||
| } | ||
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| #if defined(USE_MPU_DATA_READY_SIGNAL) && defined(USE_EXTI) | ||
| #ifdef ENSURE_MPU_DATA_READY_IS_LOW | ||
| uint8_t status = IORead(gyro->busDev->irqPin); | ||
| if (status) { | ||
| return; | ||
| } | ||
| #endif | ||
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| #if defined (STM32F7) | ||
| IOInit(gyro->busDev->irqPin, OWNER_MPU, RESOURCE_EXTI, 0); | ||
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| EXTIHandlerInit(&gyro->exti, gyroIntExtiHandler); | ||
| EXTIConfig(gyro->busDev->irqPin, &gyro->exti, NVIC_PRIO_GYRO_INT_EXTI, IO_CONFIG(GPIO_MODE_INPUT,0,GPIO_NOPULL)); // TODO - maybe pullup / pulldown ? | ||
| #else | ||
| IOInit(gyro->busDev->irqPin, OWNER_MPU, RESOURCE_EXTI, 0); | ||
| IOConfigGPIO(gyro->busDev->irqPin, IOCFG_IN_FLOATING); | ||
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| EXTIHandlerInit(&gyro->exti, gyroIntExtiHandler); | ||
| EXTIConfig(gyro->busDev->irqPin, &gyro->exti, NVIC_PRIO_GYRO_INT_EXTI, EXTI_Trigger_Rising); | ||
| EXTIEnable(gyro->busDev->irqPin, true); | ||
| #endif | ||
| #endif | ||
| } | ||
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| bool gyroCheckDataReady(gyroDev_t* gyro) | ||
| { | ||
| bool ret; | ||
| if (gyro->dataReady) { | ||
| ret = true; | ||
| gyro->dataReady = false; | ||
| } else { | ||
| ret = false; | ||
| } | ||
| return ret; | ||
| } |
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