Deprecate gyro sync

Makefile

@@ -104,7 +104,7 @@ endif
 # silently ignore if the file is not present. Allows for target specific.
 -include $(ROOT)/src/main/target/$(BASE_TARGET)/target.mk
 
-F4_TARGETS      = $(F405_TARGETS) $(F411_TARGETS) $(F427_TARGETS)
+F4_TARGETS      = $(F405_TARGETS) $(F411_TARGETS) $(F427_TARGETS) $(F446_TARGETS)
 F7_TARGETS      = $(F7X2RE_TARGETS) $(F7X5XE_TARGETS) $(F7X5XG_TARGETS) $(F7X5XI_TARGETS) $(F7X6XG_TARGETS)
 
 ifeq ($(filter $(TARGET),$(VALID_TARGETS)),)
@@ -117,7 +117,7 @@ endif
 
 128K_TARGETS  = $(F1_TARGETS)
 256K_TARGETS  = $(F3_TARGETS)
-512K_TARGETS  = $(F411_TARGETS) $(F7X2RE_TARGETS) $(F7X5XE_TARGETS)
+512K_TARGETS  = $(F411_TARGETS) $(F446_TARGETS) $(F7X2RE_TARGETS) $(F7X5XE_TARGETS)
 1024K_TARGETS = $(F405_TARGETS) $(F7X5XG_TARGETS) $(F7X6XG_TARGETS)
 2048K_TARGETS = $(F427_TARGETS) $(F7X5XI_TARGETS)
 
@@ -253,6 +253,10 @@ ifeq ($(TARGET),$(filter $(TARGET), $(F427_TARGETS)))
 EXCLUDES += stm32f4xx_fsmc.c
 endif
 
+ifeq ($(TARGET),$(filter $(TARGET), $(F446_TARGETS)))
+EXCLUDES += stm32f4xx_fsmc.c
+endif
+
 STDPERIPH_SRC := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
 
 #USB
@@ -309,13 +313,18 @@ else ifeq ($(TARGET),$(filter $(TARGET),$(F405_TARGETS)))
 DEVICE_FLAGS    = -DSTM32F40_41xxx
 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f405.ld
 STARTUP_SRC     = startup_stm32f40xx.s
+else ifeq ($(TARGET),$(filter $(TARGET),$(F446_TARGETS)))
+DEVICE_FLAGS    = -DSTM32F446xx
+LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f446.ld
+STARTUP_SRC     = startup_stm32f446xx.s
 else ifeq ($(TARGET),$(filter $(TARGET),$(F427_TARGETS)))
 DEVICE_FLAGS    = -DSTM32F427_437xx
 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f427.ld
 STARTUP_SRC     = startup_stm32f427xx.s
 else
 $(error Unknown MCU for F4 target)
 endif
+
 DEVICE_FLAGS    += -DHSE_VALUE=$(HSE_VALUE)
 
 TARGET_FLAGS = -D$(TARGET)
@@ -575,7 +584,6 @@ COMMON_SRC = \
             drivers/display.c \
             drivers/exti.c \
             drivers/gps_i2cnav.c \
-            drivers/gyro_sync.c \
             drivers/io.c \
             drivers/io_pca9685.c \
             drivers/light_led.c \
@@ -758,6 +766,7 @@ endif
 
 STM32F10x_COMMON_SRC = \
             startup_stm32f10x_md_gcc.S \
+            drivers/accgyro/accgyro.c \
             drivers/adc_stm32f10x.c \
             drivers/bus_i2c_stm32f10x.c \
             drivers/dma.c \
@@ -771,6 +780,7 @@ STM32F10x_COMMON_SRC = \
 STM32F30x_COMMON_SRC = \
             startup_stm32f30x_md_gcc.S \
             target/system_stm32f30x.c \
+            drivers/accgyro/accgyro.c \
             drivers/adc_stm32f30x.c \
             drivers/bus_i2c_stm32f30x.c \
             drivers/dma.c \
@@ -781,6 +791,7 @@ STM32F30x_COMMON_SRC = \
 
 STM32F4xx_COMMON_SRC = \
             target/system_stm32f4xx.c \
+            drivers/accgyro/accgyro.c \
             drivers/accgyro/accgyro_mpu.c \
             drivers/adc_stm32f4xx.c \
             drivers/adc_stm32f4xx.c \
@@ -795,6 +806,7 @@ STM32F4xx_COMMON_SRC = \
 
 STM32F7xx_COMMON_SRC = \
             target/system_stm32f7xx.c \
+            drivers/accgyro/accgyro.c \
             drivers/accgyro/accgyro_mpu.c \
             drivers/adc_stm32f7xx.c \
             drivers/bus_i2c_hal.c \
@@ -1034,7 +1046,7 @@ targets-group-rest: $(GROUP_OTHER_TARGETS)
 $(VALID_TARGETS):
 	$(V0) echo "" && \
 	echo "Building $@" && \
-	$(MAKE) -j 4 TARGET=$@ && \
+	$(MAKE) -j 8 TARGET=$@ && \
 	echo "Building $@ succeeded."
 
 ## clean             : clean up all temporary / machine-generated files
@@ -1051,11 +1063,11 @@ clean_test:
 
 ## clean_<TARGET>    : clean up one specific target
 $(CLEAN_TARGETS) :
-	$(V0) $(MAKE) -j 4 TARGET=$(subst clean_,,$@) clean
+	$(V0) $(MAKE) -j 8 TARGET=$(subst clean_,,$@) clean
 
 ## <TARGET>_clean    : clean up one specific target (alias for above)
 $(TARGETS_CLEAN) :
-	$(V0) $(MAKE) -j 4 TARGET=$(subst _clean,,$@) clean
+	$(V0) $(MAKE) -j 8 TARGET=$(subst _clean,,$@) clean
 
 ## clean_all         : clean all valid targets
 clean_all:$(CLEAN_TARGETS)

src/main/blackbox/blackbox.c

@@ -1381,7 +1381,6 @@ static bool blackboxWriteSysinfo(void)
             );
 
         BLACKBOX_PRINT_HEADER_LINE("looptime", "%d",                        getPidUpdateRate());
-        BLACKBOX_PRINT_HEADER_LINE("gyro_sync_denom", "%d",                 gyroConfig()->gyroSyncDenominator);
         BLACKBOX_PRINT_HEADER_LINE("rc_rate", "%d",                         100); //For compatibility reasons write rc_rate 100
         BLACKBOX_PRINT_HEADER_LINE("rc_expo", "%d",                         currentControlRateProfile->stabilized.rcExpo8);
         BLACKBOX_PRINT_HEADER_LINE("rc_yaw_expo", "%d",                     currentControlRateProfile->stabilized.rcYawExpo8);

src/main/cms/cms_menu_imu.c

@@ -423,7 +423,6 @@ static const OSD_Entry cmsx_menuGyroEntries[] =
     OSD_LABEL_DATA_ENTRY("-- GYRO GLB --", profileIndexString),
 
     OSD_SETTING_ENTRY("GYRO SYNC", SETTING_GYRO_SYNC),
-    OSD_SETTING_ENTRY("GYRO DENOM", SETTING_GYRO_SYNC_DENOM),
     OSD_SETTING_ENTRY("GYRO LPF", SETTING_GYRO_HARDWARE_LPF),
 
     OSD_BACK_ENTRY,

src/main/config/config_streamer.c

@@ -37,11 +37,13 @@ extern uint8_t __config_end;
 #  define FLASH_PAGE_SIZE                 (0x800)
 // F4
 # elif defined(STM32F40_41xxx)
-#  define FLASH_PAGE_SIZE                 ((uint32_t)0x20000)
+#  define FLASH_PAGE_SIZE                 ((uint32_t)0x4000)
 # elif defined (STM32F411xE)
-#  define FLASH_PAGE_SIZE                 ((uint32_t)0x20000)
+#  define FLASH_PAGE_SIZE                 ((uint32_t)0x4000)
+# elif defined(STM32F446xx)
+#  define FLASH_PAGE_SIZE                 ((uint32_t)0x4000)
 # elif defined(STM32F427_437xx)
-#  define FLASH_PAGE_SIZE                 ((uint32_t)0x20000) // 128K sectors
+#  define FLASH_PAGE_SIZE                 ((uint32_t)0x4000)
 // F7
 #elif defined(STM32F722xx)
 #  define FLASH_PAGE_SIZE                 ((uint32_t)0x4000) // 16K sectors

src/main/drivers/accgyro/accgyro.c

@@ -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/>.
+ */
+
+#include <stdbool.h>
+#include <stdint.h>
+#include <stdlib.h>
+#include <string.h>
+
+#include "platform.h"
+
+#include "build/atomic.h"
+#include "build/build_config.h"
+#include "build/debug.h"
+
+#include "common/maths.h"
+#include "common/utils.h"
+
+#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"
+
+#include "drivers/sensor.h"
+#include "drivers/accgyro/accgyro.h"
+
+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];
+
+    // 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];
+        }
+    }
+
+    // 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];
+        }
+    }
+
+    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]);
+
+    return candidate;
+}
+
+/*
+ * 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
+
+void gyroIntExtiInit(gyroDev_t *gyro)
+{
+    if (!gyro->busDev->irqPin) {
+        return;
+    }
+
+#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
+
+#if defined (STM32F7)
+    IOInit(gyro->busDev->irqPin, OWNER_MPU, RESOURCE_EXTI, 0);
+
+    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);
+
+    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
+}
+
+bool gyroCheckDataReady(gyroDev_t* gyro)
+{
+    bool ret;
+    if (gyro->dataReady) {
+        ret = true;
+        gyro->dataReady = false;
+    } else {
+        ret = false;
+    }
+    return ret;
+}

src/main/drivers/accgyro/accgyro.h

@@ -21,7 +21,6 @@
 #include "common/axis.h"
 #include "drivers/exti.h"
 #include "drivers/sensor.h"
-#include "drivers/accgyro/accgyro_mpu.h"
 
 #define GYRO_LPF_256HZ      0
 #define GYRO_LPF_188HZ      1
@@ -32,11 +31,11 @@
 #define GYRO_LPF_5HZ        6
 #define GYRO_LPF_NONE       7
 
-typedef enum {
-    GYRO_RATE_1_kHz,
-    GYRO_RATE_8_kHz,
-    GYRO_RATE_32_kHz,
-} gyroRateKHz_e;
+typedef struct {
+    uint8_t gyroLpf;
+    uint16_t gyroRateHz;
+    uint8_t gyroConfigValues[2];
+} gyroFilterAndRateConfig_t;
 
 typedef struct gyroDev_s {
     busDevice_t * busDev;
@@ -49,11 +48,11 @@ typedef struct gyroDev_s {
     float scale;                                        // scalefactor
     int16_t gyroADCRaw[XYZ_AXIS_COUNT];
     int16_t gyroZero[XYZ_AXIS_COUNT];
-    uint8_t lpf;
     uint8_t imuSensorToUse;
-    gyroRateKHz_e gyroRateKHz;
-    uint8_t mpuDividerDrops;
+    uint8_t lpf;                                        // Configuration value: Hardware LPF setting
+    uint32_t requestedSampleIntervalUs;                 // Requested sample interval
     volatile bool dataReady;
+    uint32_t sampleRateIntervalUs;                      // Gyro driver should set this to actual sampling rate as signaled by IRQ
     sensor_align_e gyroAlign;
 } gyroDev_t;
 
@@ -66,3 +65,7 @@ typedef struct accDev_s {
     uint8_t imuSensorToUse;
     sensor_align_e accAlign;
 } accDev_t;
+
+const gyroFilterAndRateConfig_t * chooseGyroConfig(uint8_t desiredLpf, uint16_t desiredRateHz, const gyroFilterAndRateConfig_t * configs, int count);
+void gyroIntExtiInit(struct gyroDev_s *gyro);
+bool gyroCheckDataReady(struct gyroDev_s *gyro);