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Code Issues Wiki Activity

Added runtime setting of gyro SPI pin

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This commit is contained in:
Martin Budden 2017-03-07 09:01:16 +00:00
parent 1281d30eba
commit 60c2b812d1
24 changed files with 360 additions and 292 deletions
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26
src/main/sensors/gyro.c
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@ -96,16 +96,19 @@ static void *notchFilter2[3];
PG_REGISTER_WITH_RESET_TEMPLATE(gyroConfig_t, gyroConfig, PG_GYRO_CONFIG, 0);
PG_RESET_TEMPLATE(gyroConfig_t, gyroConfig,
.gyro_lpf = GYRO_LPF_256HZ,
.gyro_align = ALIGN_DEFAULT,
.gyroMovementCalibrationThreshold = 48,
.gyro_sync_denom = GYRO_SYNC_DENOM_DEFAULT,
.gyro_lpf = GYRO_LPF_256HZ,
.gyro_soft_lpf_type = FILTER_PT1,
.gyro_soft_lpf_hz = 90,
.gyro_isr_update = false,
.gyro_use_32khz = false,
.gyro_to_use = 0,
.gyro_soft_notch_hz_1 = 400,
.gyro_soft_notch_cutoff_1 = 300,
.gyro_soft_notch_hz_2 = 200,
.gyro_soft_notch_cutoff_2 = 100,
.gyro_align = ALIGN_DEFAULT,
.gyroMovementCalibrationThreshold = 48
.gyro_soft_notch_cutoff_2 = 100
);
#if defined(USE_GYRO_MPU6050) || defined(USE_GYRO_MPU3050) || defined(USE_GYRO_MPU6500) || defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_MPU6000) || defined(USE_ACC_MPU6050) || defined(USE_GYRO_SPI_MPU9250) || defined(USE_GYRO_SPI_ICM20689)
@ -122,6 +125,11 @@ static const extiConfig_t *selectMPUIntExtiConfig(void)
}
#endif
const busDevice_t *gyroSensorBus(void)
{
return &gyroDev0.bus;
}
const mpuConfiguration_t *gyroMpuConfiguration(void)
{
return &gyroDev0.mpuConfiguration;
@ -283,8 +291,14 @@ bool gyroInit(void)
memset(&gyro, 0, sizeof(gyro));
#if defined(USE_GYRO_MPU6050) || defined(USE_GYRO_MPU3050) || defined(USE_GYRO_MPU6500) || defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_MPU6000) || defined(USE_ACC_MPU6050) || defined(USE_GYRO_SPI_MPU9250) || defined(USE_GYRO_SPI_ICM20689)
gyroDev0.mpuIntExtiConfig = selectMPUIntExtiConfig();
#ifdef USE_DUAL_GYRO
// set cnsPin using GYRO_n_CS_PIN defined in target.h
gyroDev0.bus.spi.csnPin = gyroConfig()->gyro_to_use == 0 ? IOGetByTag(IO_TAG(GYRO_0_CS_PIN)) : IOGetByTag(IO_TAG(GYRO_1_CS_PIN));
#else
gyroDev0.bus.spi.csnPin = IO_NONE; // set cnsPin to IO_NONE so mpuDetect will set it according to value defined in target.h
#endif // USE_DUAL_GYRO
mpuDetect(&gyroDev0);
mpuResetFn = gyroDev0.mpuConfiguration.resetFn;
mpuResetFn = gyroDev0.mpuConfiguration.resetFn; // must be set after mpuDetect
#endif
const gyroSensor_e gyroHardware = gyroDetect(&gyroDev0);
if (gyroHardware == GYRO_NONE) {
@ -305,7 +319,7 @@ bool gyroInit(void)
break;
}
// Must set gyro sample rate before initialisation
// Must set gyro targetLooptime before gyroDev.init and initialisation of filters
gyro.targetLooptime = gyroSetSampleRate(&gyroDev0, gyroConfig()->gyro_lpf, gyroConfig()->gyro_sync_denom, gyroConfig()->gyro_use_32khz);
gyroDev0.lpf = gyroConfig()->gyro_lpf;
gyroDev0.init(&gyroDev0);