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Code Issues Wiki Activity

Made gyroAnalyse reentrant

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This commit is contained in:
Andrey Mironov 2018-07-23 13:53:00 +03:00
parent 805b2f4b1e
commit 02eccab75b
4 changed files with 177 additions and 157 deletions
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16
src/main/sensors/gyro.c
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@ -72,7 +72,9 @@
#include "sensors/boardalignment.h"
#include "sensors/gyro.h"
#ifdef USE_GYRO_DATA_ANALYSE
#include "sensors/gyroanalyse.h"
#endif
#include "sensors/sensors.h"
#ifdef USE_HARDWARE_REVISION_DETECTION
@ -140,6 +142,10 @@ typedef struct gyroSensor_s {
timeUs_t yawSpinTimeUs;
bool yawSpinDetected;
#endif // USE_YAW_SPIN_RECOVERY
#ifdef USE_GYRO_DATA_ANALYSE
gyroAnalyseState_t gyroAnalyseState;
#endif
} gyroSensor_t;
STATIC_UNIT_TESTED FAST_RAM_ZERO_INIT gyroSensor_t gyroSensor1;
@ -503,8 +509,9 @@ static bool gyroInitSensor(gyroSensor_t *gyroSensor)
gyroInitSensorFilters(gyroSensor);
#ifdef USE_GYRO_DATA_ANALYSE
gyroDataAnalyseInit(gyro.targetLooptime);
gyroDataAnalyseStateInit(&gyroSensor->gyroAnalyseState, gyro.targetLooptime);
#endif
return true;
}
@ -520,6 +527,10 @@ bool gyroInit(void)
}
#endif
#ifdef USE_GYRO_DATA_ANALYSE
gyroDataAnalyseInit();
#endif
switch (debugMode) {
case DEBUG_FFT:
case DEBUG_FFT_FREQ:
@ -1066,9 +1077,10 @@ static FAST_CODE FAST_CODE_NOINLINE void gyroUpdateSensor(gyroSensor_t *gyroSens
} else {
filterGyroDebug(gyroSensor, sampleDeltaUs);
}
#ifdef USE_GYRO_DATA_ANALYSE
if (isDynamicFilterActive()) {
gyroDataAnalyse(gyroSensor->notchFilterDyn);
gyroDataAnalyse(&gyroSensor->gyroAnalyseState, gyroSensor->notchFilterDyn);
}
#endif
}