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MPU6050 MPU DATA READY // gyro sync activated

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MPU6050 gets DATA READY pin based interrupt instad of i2c
SPI targets are still getting interrupt from SPI
This commit is contained in:
borisbstyle 2015-09-17 23:59:25 +02:00
parent 60053d5ea5
commit c45d3e1fdd
3 changed files with 35 additions and 17 deletions
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19
src/main/mw.c
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@ -92,7 +92,7 @@ enum {
#define VBATINTERVAL (6 * 3500)
/* IBat monitoring interval (in microseconds) - 6 default looptimes */
#define IBATINTERVAL (6 * 3500)
#define GYRO_WATCHDOG_DELAY 150 // Watchdog for boards without interrupt for gyro
#define GYRO_WATCHDOG_DELAY 100 // Watchdog for boards without interrupt for gyro
uint32_t currentTime = 0;
uint32_t previousTime = 0;
@ -738,6 +738,21 @@ void filterRc(void){
}
}
// Function for loop trigger
bool runLoop(uint32_t loopTime) {
bool loopTrigger = false;
if (masterConfig.syncGyroToLoop) {
if (gyroSyncCheckUpdate() || (int32_t)(currentTime - (loopTime + GYRO_WATCHDOG_DELAY)) >= 0) {
loopTrigger = true;
}
} else if ((int32_t)(currentTime - loopTime) >= 0){
loopTrigger = true;
}
return loopTrigger;
}
void loop(void)
{
static uint32_t loopTime;
@ -784,7 +799,7 @@ void loop(void)
}
currentTime = micros();
if ((!masterConfig.syncGyroToLoop && masterConfig.looptime == 0) || ((int32_t)(currentTime - loopTime) >= 0)) {
if (runLoop(loopTime)) {
loopTime = currentTime + targetLooptime;