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Added support for 32kHz gyro updates

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This commit is contained in:
Martin Budden 2017-01-05 18:15:37 +00:00
parent a1c14320bf
commit 95111483d8
14 changed files with 83 additions and 33 deletions
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7
src/main/fc/serial_cli.c
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@ -600,9 +600,12 @@ const clivalue_t valueTable[] = {
{ "align_board_yaw", VAR_INT16 | MASTER_VALUE, &boardAlignment()->yawDegrees, .config.minmax = { -180, 360 } },
{ "gyro_lpf", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &gyroConfig()->gyro_lpf, .config.lookup = { TABLE_GYRO_LPF } },
{ "gyro_sync_denom", VAR_UINT8 | MASTER_VALUE, &gyroConfig()->gyro_sync_denom, .config.minmax = { 1, 8 } },
{ "gyro_sync_denom", VAR_UINT8 | MASTER_VALUE, &gyroConfig()->gyro_sync_denom, .config.minmax = { 1, 32 } },
#if defined(GYRO_USES_SPI) && defined(USE_MPU_DATA_READY_SIGNAL)
{ "gyro_isr_update", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &gyroConfig()->gyro_isr_update, .config.lookup = { TABLE_OFF_ON } },
#ifdef GYRO_SUPPORTS_32KHZ
{ "gyro_use_32khz", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &gyroConfig()->gyro_use_32khz, .config.lookup = { TABLE_OFF_ON } },
#endif
#endif
{ "gyro_lowpass_type", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &gyroConfig()->gyro_soft_lpf_type, .config.lookup = { TABLE_LOWPASS_TYPE } },
{ "gyro_lowpass", VAR_UINT8 | MASTER_VALUE, &gyroConfig()->gyro_soft_lpf_hz, .config.minmax = { 0, 255 } },
@ -3226,7 +3229,7 @@ static void cliTasks(char *cmdline)
int averageLoadSum = 0;
#ifndef CLI_MINIMAL_VERBOSITY
cliPrintf("Task list rate/hz max/us avg/us maxload avgload total/ms\r\n");
cliPrintf("Task list rate/hz max/us avg/us maxload avgload total/ms\r\n");
#endif
for (cfTaskId_e taskId = 0; taskId < TASK_COUNT; taskId++) {
cfTaskInfo_t taskInfo;