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Disable DLPF EXPERIMENTAL mode for MPU60x0; remove experimental support from F3
Officially Invensense lists the experimentl mode as "unsupported" on the MPU60x0 series. Previously it was added to allow testing. It's been determined that it's not a viable gyro filtering operational mode. Also change "experimental" DLPF support available for F4 or higher. Few F3 boards have gyros that can use this mode anyway. Saves 200 bytes.
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f463dad8bd
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0e8e5b3c16
7 changed files with 37 additions and 22 deletions
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@ -229,11 +229,13 @@ static const char * const lookupTableRxSpi[] = {
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static const char * const lookupTableGyroHardwareLpf[] = {
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"NORMAL",
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"EXPERIMENTAL",
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"1KHZ_SAMPLING"
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"1KHZ_SAMPLING",
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#ifdef USE_GYRO_DLPF_EXPERIMENTAL
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"EXPERIMENTAL"
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#endif
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};
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#ifdef USE_32K_CAPABLE_GYRO
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#if defined(USE_32K_CAPABLE_GYRO) && defined(USE_GYRO_DLPF_EXPERIMENTAL)
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static const char * const lookupTableGyro32khzHardwareLpf[] = {
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"NORMAL",
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"EXPERIMENTAL"
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@ -416,7 +418,7 @@ const lookupTableEntry_t lookupTables[] = {
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LOOKUP_TABLE_ENTRY(lookupTableRxSpi),
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#endif
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LOOKUP_TABLE_ENTRY(lookupTableGyroHardwareLpf),
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#ifdef USE_32K_CAPABLE_GYRO
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#if defined(USE_32K_CAPABLE_GYRO) && defined(USE_GYRO_DLPF_EXPERIMENTAL)
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LOOKUP_TABLE_ENTRY(lookupTableGyro32khzHardwareLpf),
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#endif
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LOOKUP_TABLE_ENTRY(lookupTableAccHardware),
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@ -491,7 +493,7 @@ const clivalue_t valueTable[] = {
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// PG_GYRO_CONFIG
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{ "align_gyro", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_ALIGNMENT }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_align) },
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{ "gyro_hardware_lpf", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_GYRO_HARDWARE_LPF }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_hardware_lpf) },
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#ifdef USE_32K_CAPABLE_GYRO
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#if defined(USE_32K_CAPABLE_GYRO) && defined(USE_GYRO_DLPF_EXPERIMENTAL)
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{ "gyro_32khz_hardware_lpf", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_GYRO_32KHZ_HARDWARE_LPF }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_32khz_hardware_lpf) },
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#endif
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#if defined(USE_GYRO_SPI_ICM20649)
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