Code Cleanup

More code cleanup and BUMP EEPROM

Code Cleanup

Fix loop trigger

src/main/config/config.c

@@ -128,7 +128,7 @@ static uint32_t activeFeaturesLatch = 0;
 static uint8_t currentControlRateProfileIndex = 0;
 controlRateConfig_t *currentControlRateProfile;
 
-static const uint8_t EEPROM_CONF_VERSION = 105;
+static const uint8_t EEPROM_CONF_VERSION = 106;
 
 static void resetAccelerometerTrims(flightDynamicsTrims_t *accelerometerTrims)
 {
@@ -453,9 +453,7 @@ static void resetConf(void)
 
     resetSerialConfig(&masterConfig.serialConfig);
 
-    masterConfig.looptime = 0;
     masterConfig.emf_avoidance = 0;
-    masterConfig.syncGyroToLoop = 1;
     masterConfig.rcSmoothing = 1;
 
     resetPidProfile(&currentProfile->pidProfile);

src/main/config/config_master.h

@@ -25,9 +25,7 @@ typedef struct master_t {
 
     uint8_t mixerMode;
     uint32_t enabledFeatures;
-    uint16_t looptime;                      // imu loop time in us
     uint8_t emf_avoidance;                   // change pll settings to avoid noise in the uhf band
-    uint8_t syncGyroToLoop;                 // Enable interrupt based loop
     uint8_t rcSmoothing;                    // Enable Interpolation of RC command
 
     motorMixer_t customMotorMixer[MAX_SUPPORTED_MOTORS];

src/main/drivers/gyro_sync.c

@@ -43,11 +43,10 @@ bool gyroSyncCheckUpdate(void) {
     return getMpuDataStatus(&gyro);
 }
 
-void gyroUpdateSampleRate(uint32_t looptime, uint8_t lpf, uint8_t syncGyroToLoop) {
+void gyroUpdateSampleRate(uint8_t lpf) {
     int gyroSamplePeriod;
     int minLooptime;
 
-    if (syncGyroToLoop) {
 #if defined(SPRACINGF3) || defined(ALIENWIIF3) || defined(NAZE32PRO) || defined(STM32F3DISCOVERY) || defined(CHEBUZZF3) || defined(PORT103R) || defined(MOTOLAB)  || defined(SPARKY)
         if (lpf == INV_FILTER_256HZ_NOLPF2) {
             gyroSamplePeriod = 125;
@@ -106,13 +105,8 @@ void gyroUpdateSampleRate(uint32_t looptime, uint8_t lpf, uint8_t syncGyroToLoop
             }
         }
 #endif
-        looptime = constrain(looptime, minLooptime, 4000);
+        mpuDividerDrops  = (minLooptime + gyroSamplePeriod -1 ) / gyroSamplePeriod - 1;
-        mpuDividerDrops  = (looptime + gyroSamplePeriod -1 ) / gyroSamplePeriod - 1;
         targetLooptime = (mpuDividerDrops + 1) * gyroSamplePeriod;
-    } else {
-    	mpuDividerDrops = 0;
-    	targetLooptime = looptime;
-    }
 }
 
 uint8_t gyroMPU6xxxGetDividerDrops(void) {

src/main/drivers/gyro_sync.h

@@ -9,4 +9,4 @@ extern uint32_t targetLooptime;
 
 bool gyroSyncCheckUpdate(void);
 uint8_t gyroMPU6xxxGetDividerDrops(void);
-void gyroUpdateSampleRate(uint32_t looptime, uint8_t lpf, uint8_t syncGyroToLoop);
+void gyroUpdateSampleRate(uint8_t lpf);

src/main/flight/pid.c

@@ -95,7 +95,7 @@ void pidResetErrorGyro(void)
 
 const angle_index_t rcAliasToAngleIndexMap[] = { AI_ROLL, AI_PITCH };
 
-static filterStatePt1_t PTermState[3], DTermState[3];
+static filterStatePt1_t DTermState[3];
 
 #ifdef AUTOTUNE
 bool shouldAutotune(void)

src/main/flight/pid.h

@@ -65,7 +65,6 @@ typedef struct pidProfile_s {
     uint8_t dterm_cut_hz;                   // (default 17Hz, Range 1-50Hz) Used for PT1 element in PID1, PID2 and PID5
     uint8_t pterm_cut_hz;                   // Used for fitlering Pterm noise on noisy frames
     uint8_t gyro_cut_hz;                    // Used for soft gyro filtering
-    uint8_t gyro_fir_filter_enable;         // Switches PT1 filter to 7TapFIRFilter for gyro
 } pidProfile_t;
 
 #define DEGREES_TO_DECIDEGREES(angle) (angle * 10)

src/main/io/serial_cli.c

@@ -324,8 +324,6 @@ typedef struct {
 } clivalue_t;
 
 const clivalue_t valueTable[] = {
-    { "looptime",                   VAR_UINT16 | MASTER_VALUE,  &masterConfig.looptime, 0, 4000 },
-	{ "sync_gyro_to_loop",          VAR_UINT8  | MASTER_VALUE,  &masterConfig.syncGyroToLoop, 0, 1 },
     { "emf_avoidance",              VAR_UINT8  | MASTER_VALUE,  &masterConfig.emf_avoidance, 0, 1 },
 	{ "rc_smoothing",               VAR_UINT8  | MASTER_VALUE,  &masterConfig.rcSmoothing, 0, 1 },
 

src/main/io/serial_msp.c

@@ -225,9 +225,6 @@ static const char * const boardIdentifier = TARGET_BOARD_IDENTIFIER;
 #define MSP_DATAFLASH_READ              71 //out message - get content of dataflash chip
 #define MSP_DATAFLASH_ERASE             72 //in message - erase dataflash chip
 
-#define MSP_LOOP_TIME                   73 //out message         Returns FC cycle time i.e looptime parameter
-#define MSP_SET_LOOP_TIME               74 //in message          Sets FC cycle time i.e looptime parameter
-
 #define MSP_FAILSAFE_CONFIG             75 //out message         Returns FC Fail-Safe settings
 #define MSP_SET_FAILSAFE_CONFIG         76 //in message          Sets FC Fail-Safe settings
 
@@ -929,10 +926,6 @@ static bool processOutCommand(uint8_t cmdMSP)
         serialize8(masterConfig.auto_disarm_delay); 
         serialize8(masterConfig.disarm_kill_switch);
         break;
-    case MSP_LOOP_TIME:
-        headSerialReply(2);
-        serialize16(masterConfig.looptime);
-        break;
     case MSP_RC_TUNING:
         headSerialReply(11);
         serialize8(currentControlRateProfile->rcRate8);
@@ -1350,9 +1343,6 @@ static bool processInCommand(void)
         masterConfig.auto_disarm_delay = read8();
         masterConfig.disarm_kill_switch = read8();
         break;
-    case MSP_SET_LOOP_TIME:
-        masterConfig.looptime = read16();
-        break;
     case MSP_SET_PID_CONTROLLER:
         currentProfile->pidProfile.pidController = read8();
         pidSetController(currentProfile->pidProfile.pidController);

src/main/main.c

@@ -371,7 +371,7 @@ void init(void)
     }
 #endif
 
-    if (!sensorsAutodetect(&masterConfig.sensorAlignmentConfig, masterConfig.gyro_lpf, masterConfig.acc_hardware, masterConfig.mag_hardware, masterConfig.baro_hardware, currentProfile->mag_declination, masterConfig.looptime, masterConfig.syncGyroToLoop)) {
+    if (!sensorsAutodetect(&masterConfig.sensorAlignmentConfig, masterConfig.gyro_lpf, masterConfig.acc_hardware, masterConfig.mag_hardware, masterConfig.baro_hardware, currentProfile->mag_declination)) {
         // if gyro was not detected due to whatever reason, we give up now.
         failureMode(FAILURE_MISSING_ACC);
     }

src/main/mw.c

@@ -723,21 +723,6 @@ void filterRc(void){
     }
 }
 
-// Function for loop trigger
-bool runLoop(uint32_t loopTime) {
-	bool loopTrigger = false;
-
-    if (masterConfig.syncGyroToLoop) {
-        if (gyroSyncCheckUpdate() || (int32_t)(currentTime - (loopTime + GYRO_WATCHDOG_DELAY)) >= 0) {
-            loopTrigger = true;
-        }
-    } else if (masterConfig.looptime == 0 || (int32_t)(currentTime - loopTime) >= 0){
-        loopTrigger = true;
-    }
-
-    return loopTrigger;
-}
-
 void loop(void)
 {
     static uint32_t loopTime;
@@ -784,7 +769,7 @@ void loop(void)
     }
 
     currentTime = micros();
-    if (runLoop(loopTime)) {
+    if (gyroSyncCheckUpdate() || (int32_t)(currentTime - (loopTime + GYRO_WATCHDOG_DELAY)) >= 0) {
 
         loopTime = currentTime + targetLooptime;
 

src/main/sensors/initialisation.c

@@ -633,7 +633,7 @@ void reconfigureAlignment(sensorAlignmentConfig_t *sensorAlignmentConfig)
     }
 }
 
-bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint16_t gyroLpf, uint8_t accHardwareToUse, uint8_t magHardwareToUse, uint8_t baroHardwareToUse, int16_t magDeclinationFromConfig, uint32_t looptime, uint8_t syncGyroToLoop)
+bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint16_t gyroLpf, uint8_t accHardwareToUse, uint8_t magHardwareToUse, uint8_t baroHardwareToUse, int16_t magDeclinationFromConfig)
 {
     int16_t deg, min;
 
@@ -651,7 +651,7 @@ bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint16_t
     if (sensors(SENSOR_ACC))
         acc.init();
     // this is safe because either mpu6050 or mpu3050 or lg3d20 sets it, and in case of fail, we never get here.
-    gyroUpdateSampleRate(looptime, gyroLpf, syncGyroToLoop);  // Set gyro refresh rate before initialisation
+    gyroUpdateSampleRate(gyroLpf);  // Set gyro refresh rate before initialisation
     gyro.init();
 
     detectMag(magHardwareToUse);

src/main/sensors/initialisation.h

@@ -17,4 +17,4 @@
 
 #pragma once
 
-bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint16_t gyroLpf, uint8_t accHardwareToUse, uint8_t magHardwareToUse, uint8_t baroHardwareToUse, int16_t magDeclinationFromConfig, uint32_t looptime, uint8_t syncGyroToLoop);
+bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint16_t gyroLpf, uint8_t accHardwareToUse, uint8_t magHardwareToUse, uint8_t baroHardwareToUse, int16_t magDeclinationFromConfig);