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Code Issues Wiki Activity

Gyro Sync separated by target

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This commit is contained in:
borisbstyle 2015-09-18 13:50:30 +02:00
parent aadbc94c9a
commit 074e389789
9 changed files with 65 additions and 37 deletions
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61
src/main/drivers/gyro_sync.c
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@ -29,7 +29,7 @@
extern gyro_t gyro;
uint32_t targetLooptime;
static uint8_t mpuDivider;
static uint8_t mpuDividerDrops;
bool getMpuDataStatus(gyro_t *gyro)
{
@ -48,52 +48,73 @@ void gyroUpdateSampleRate(uint32_t looptime, uint8_t lpf, uint8_t syncGyroToLoop
int minLooptime;
if (syncGyroToLoop) {
#ifdef STM32F303xC
#if defined(SPRACINGF3) || defined(ALIENWIIF3) || defined(NAZE32PRO) || defined(STM32F3DISCOVERY) || defined(CHEBUZZF3) || defined(EUSTM32F103RC) || defined(PORT103R) || defined(MOTOLAB)
if (lpf == INV_FILTER_256HZ_NOLPF2) {
gyroSamplePeriod = 125;
if(!sensors(SENSOR_ACC)) {
minLooptime = 500; // Max refresh 2khz
}
else {
} else {
minLooptime = 625; // Max refresh 1,6khz
}
}
else {
} else {
gyroSamplePeriod = 1000;
minLooptime = 1000; // Full sampling
}
#elif STM32F10X
#elif defined(CC3D)
if (lpf == INV_FILTER_256HZ_NOLPF2) {
gyroSamplePeriod = 125;
if(!sensors(SENSOR_ACC)) {
minLooptime = 625; // Max refresh 1,33khz
minLooptime = 890; // Max refresh 1,12khz
} else {
minLooptime = 1000; // Max refresh 1khz
}
else {
} else {
gyroSamplePeriod = 1000;
minLooptime = 1000; // Full sampling
}
#elif defined(COLIBRI_RACE)
if (lpf == INV_FILTER_256HZ_NOLPF2) {
gyroSamplePeriod = 125;
if(!sensors(SENSOR_ACC)) { // TODO - increase to 8khz when oneshot125 can be limited
minLooptime = 250; // Max refresh 4khz
} else {
minLooptime = 250; // Max refresh 4khz
}
} else {
gyroSamplePeriod = 1000;
minLooptime = 1000; // Full sampling
}
#else
if (lpf == INV_FILTER_256HZ_NOLPF2) {
gyroSamplePeriod = 125;
if(!sensors(SENSOR_ACC)) {
minLooptime = 625; // Max refresh 1,6khz
} else {
minLooptime = 1625; // Max refresh 615hz
}
}
else {
} else {
gyroSamplePeriod = 1000;
if(!sensors(SENSOR_ACC)) {
minLooptime = 1000; // Full sampling without ACC
}
else {
} else {
minLooptime = 2000;
}
}
#endif
looptime = constrain(looptime, minLooptime, 4000);
mpuDivider = (looptime + gyroSamplePeriod -1 ) / gyroSamplePeriod - 1;
targetLooptime = (mpuDivider + 1) * gyroSamplePeriod;
}
else {
mpuDivider = 0;
mpuDividerDrops = (looptime + gyroSamplePeriod -1 ) / gyroSamplePeriod - 1;
targetLooptime = (mpuDividerDrops + 1) * gyroSamplePeriod;
} else {
mpuDividerDrops = 0;
targetLooptime = looptime;
}
}
uint8_t gyroMPU6xxxGetDivider(void) {
return mpuDivider;
uint8_t gyroMPU6xxxGetDividerDrops(void) {
return mpuDividerDrops;
}