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Code Issues Wiki Activity

Gyro Sensors: Remove 32kHz gyro sampling mode(s) and associated code

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This commit is contained in:
AJ Christensen 2019-02-12 15:15:44 +13:00
parent 988d0a9b5c
commit 4fdee6ec1c
19 changed files with 17 additions and 128 deletions
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20
src/main/sensors/gyro.c
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@ -201,13 +201,11 @@ void pgResetFn_gyroConfig(gyroConfig_t *gyroConfig)
gyroConfig->gyroMovementCalibrationThreshold = 48;
gyroConfig->gyro_sync_denom = GYRO_SYNC_DENOM_DEFAULT;
gyroConfig->gyro_hardware_lpf = GYRO_HARDWARE_LPF_NORMAL;
gyroConfig->gyro_32khz_hardware_lpf = GYRO_32KHZ_HARDWARE_LPF_NORMAL;
gyroConfig->gyro_lowpass_type = FILTER_PT1;
gyroConfig->gyro_lowpass_hz = 100;
gyroConfig->gyro_lowpass2_type = FILTER_PT1;
gyroConfig->gyro_lowpass2_hz = 300;
gyroConfig->gyro_high_fsr = false;
gyroConfig->gyro_use_32khz = false;
gyroConfig->gyro_to_use = GYRO_CONFIG_USE_GYRO_DEFAULT;
gyroConfig->gyro_soft_notch_hz_1 = 0;
gyroConfig->gyro_soft_notch_cutoff_1 = 0;
@ -432,25 +430,9 @@ static bool gyroInitSensor(gyroSensor_t *gyroSensor, const gyroDeviceConfig_t *c
return false;
}
switch (gyroHardware) {
case GYRO_MPU6500:
case GYRO_MPU9250:
case GYRO_ICM20601:
case GYRO_ICM20602:
case GYRO_ICM20608G:
case GYRO_ICM20689:
// do nothing, as gyro supports 32kHz
break;
default:
// gyro does not support 32kHz
gyroConfigMutable()->gyro_use_32khz = false;
break;
}
// Must set gyro targetLooptime before gyroDev.init and initialisation of filters
gyro.targetLooptime = gyroSetSampleRate(&gyroSensor->gyroDev, gyroConfig()->gyro_hardware_lpf, gyroConfig()->gyro_sync_denom, gyroConfig()->gyro_use_32khz);
gyro.targetLooptime = gyroSetSampleRate(&gyroSensor->gyroDev, gyroConfig()->gyro_hardware_lpf, gyroConfig()->gyro_sync_denom);
gyroSensor->gyroDev.hardware_lpf = gyroConfig()->gyro_hardware_lpf;
gyroSensor->gyroDev.hardware_32khz_lpf = gyroConfig()->gyro_32khz_hardware_lpf;
gyroSensor->gyroDev.initFn(&gyroSensor->gyroDev);
// As new gyros are supported, be sure to add them below based on whether they are subject to the overflow/inversion bug