Merge pull request #7567 from fujin/RIP-32kHz-mode

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

src/main/blackbox/blackbox.c

@@ -1324,9 +1324,6 @@ static bool blackboxWriteSysinfo(void)
         BLACKBOX_PRINT_HEADER_LINE("yaw_deadband", "%d",                    rcControlsConfig()->yaw_deadband);
 
         BLACKBOX_PRINT_HEADER_LINE("gyro_hardware_lpf", "%d",               gyroConfig()->gyro_hardware_lpf);
-#ifdef USE_32K_CAPABLE_GYRO
-        BLACKBOX_PRINT_HEADER_LINE("gyro_32khz_hardware_lpf", "%d",         gyroConfig()->gyro_32khz_hardware_lpf);
-#endif
         BLACKBOX_PRINT_HEADER_LINE("gyro_lowpass_type", "%d",               gyroConfig()->gyro_lowpass_type);
         BLACKBOX_PRINT_HEADER_LINE("gyro_lowpass_hz", "%d",                 gyroConfig()->gyro_lowpass_hz);
         BLACKBOX_PRINT_HEADER_LINE("gyro_lowpass2_type", "%d",              gyroConfig()->gyro_lowpass2_type);

src/main/cli/settings.c

@@ -247,13 +247,6 @@ static const char * const lookupTableGyroHardwareLpf[] = {
 #endif
 };
 
-#if defined(USE_32K_CAPABLE_GYRO) && defined(USE_GYRO_DLPF_EXPERIMENTAL)
-static const char * const lookupTableGyro32khzHardwareLpf[] = {
-    "NORMAL",
-    "EXPERIMENTAL"
-};
-#endif
-
 #ifdef USE_CAMERA_CONTROL
 static const char * const lookupTableCameraControlMode[] = {
     "HARDWARE_PWM",
@@ -487,9 +480,6 @@ const lookupTableEntry_t lookupTables[] = {
     LOOKUP_TABLE_ENTRY(lookupTableRxSpi),
 #endif
     LOOKUP_TABLE_ENTRY(lookupTableGyroHardwareLpf),
-#if defined(USE_32K_CAPABLE_GYRO) && defined(USE_GYRO_DLPF_EXPERIMENTAL)
-    LOOKUP_TABLE_ENTRY(lookupTableGyro32khzHardwareLpf),
-#endif
     LOOKUP_TABLE_ENTRY(lookupTableAccHardware),
 #ifdef USE_BARO
     LOOKUP_TABLE_ENTRY(lookupTableBaroHardware),
@@ -579,9 +569,6 @@ const lookupTableEntry_t lookupTables[] = {
 const clivalue_t valueTable[] = {
 // PG_GYRO_CONFIG
     { "gyro_hardware_lpf",          VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_GYRO_HARDWARE_LPF }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_hardware_lpf) },
-#if defined(USE_32K_CAPABLE_GYRO) && defined(USE_GYRO_DLPF_EXPERIMENTAL)
-    { "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) },
-#endif
 #if defined(USE_GYRO_SPI_ICM20649)
     { "gyro_high_range",            VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_high_fsr) },
 #endif
@@ -609,9 +596,6 @@ const clivalue_t valueTable[] = {
     { "yaw_spin_threshold",         VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 500,  1950 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, yaw_spin_threshold) },
 #endif
 
-#if defined(GYRO_USES_SPI) && defined(USE_32K_CAPABLE_GYRO)
-    { "gyro_use_32khz",             VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_use_32khz) },
-#endif
 #ifdef USE_MULTI_GYRO
     { "gyro_to_use",                VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_GYRO }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_to_use) },
 #endif

src/main/cli/settings.h

@@ -52,9 +52,6 @@ typedef enum {
     TABLE_RX_SPI,
 #endif
     TABLE_GYRO_HARDWARE_LPF,
-#if defined(USE_32K_CAPABLE_GYRO) && defined(USE_GYRO_DLPF_EXPERIMENTAL)
-    TABLE_GYRO_32KHZ_HARDWARE_LPF,
-#endif
     TABLE_ACC_HARDWARE,
 #ifdef USE_BARO
     TABLE_BARO_HARDWARE,

src/main/drivers/accgyro/accgyro_mpu.c

@@ -324,7 +324,7 @@ void mpuGyroInit(gyroDev_t *gyro)
 uint8_t mpuGyroDLPF(gyroDev_t *gyro)
 {
     uint8_t ret = 0;
-    
+
     // If gyro is in 32KHz mode then the DLPF bits aren't used
     if (gyro->gyroRateKHz <= GYRO_RATE_8_kHz) {
         switch (gyro->hardware_lpf) {
@@ -342,7 +342,7 @@ uint8_t mpuGyroDLPF(gyroDev_t *gyro)
             case GYRO_HARDWARE_LPF_1KHZ_SAMPLE:
                 ret = 1;
                 break;
-                
+
             case GYRO_HARDWARE_LPF_NORMAL:
             default:
                 ret = 0;
@@ -352,23 +352,6 @@ uint8_t mpuGyroDLPF(gyroDev_t *gyro)
     return ret;
 }
 
-uint8_t mpuGyroFCHOICE(gyroDev_t *gyro)
-{
-    if (gyro->gyroRateKHz > GYRO_RATE_8_kHz) {
-#ifdef USE_GYRO_DLPF_EXPERIMENTAL
-        if (gyro->hardware_32khz_lpf == GYRO_32KHZ_HARDWARE_LPF_EXPERIMENTAL) {
-            return FCB_8800_32;
-        } else {
-            return FCB_3600_32;
-        }
-#else
-        return FCB_3600_32;
-#endif
-    } else {
-        return FCB_DISABLED;  // Not in 32KHz mode, set FCHOICE to select 8KHz sampling
-    }
-}
-
 #ifdef USE_GYRO_REGISTER_DUMP
 uint8_t mpuGyroReadRegister(const busDevice_t *bus, uint8_t reg)
 {

src/main/drivers/accgyro/accgyro_mpu.h

@@ -156,12 +156,6 @@ enum icm_high_range_gyro_fsr_e {
     NUM_ICM_HIGH_RANGE_GYRO_FSR
 };
 
-enum fchoice_b {
-    FCB_DISABLED = 0x00,
-    FCB_8800_32 = 0x01,
-    FCB_3600_32 = 0x02
-};
-
 enum clock_sel_e {
     INV_CLK_INTERNAL = 0,
     INV_CLK_PLL,
@@ -226,7 +220,6 @@ bool mpuGyroReadSPI(struct gyroDev_s *gyro);
 void mpuPreInit(const struct gyroDeviceConfig_s *config);
 void mpuDetect(struct gyroDev_s *gyro, const struct gyroDeviceConfig_s *config);
 uint8_t mpuGyroDLPF(struct gyroDev_s *gyro);
-uint8_t mpuGyroFCHOICE(struct gyroDev_s *gyro);
 uint8_t mpuGyroReadRegister(const busDevice_t *bus, uint8_t reg);
 
 struct accDev_s;

src/main/drivers/accgyro/accgyro_mpu6500.c

@@ -72,7 +72,7 @@ void mpu6500GyroInit(gyroDev_t *gyro)
     delay(100);
     busWriteRegister(&gyro->bus, MPU_RA_PWR_MGMT_1, INV_CLK_PLL);
     delay(15);
-    busWriteRegister(&gyro->bus, MPU_RA_GYRO_CONFIG, gyro_range << 3 | mpuGyroFCHOICE(gyro));
+    busWriteRegister(&gyro->bus, MPU_RA_GYRO_CONFIG, gyro_range << 3);
     delay(15);
     busWriteRegister(&gyro->bus, MPU_RA_ACCEL_CONFIG, accel_range << 3);
     delay(15);

src/main/drivers/accgyro/accgyro_spi_icm20689.c

@@ -129,7 +129,7 @@ void icm20689GyroInit(gyroDev_t *gyro)
 //    delay(100);
     spiBusWriteRegister(&gyro->bus, MPU_RA_PWR_MGMT_1, INV_CLK_PLL);
     delay(15);
-    spiBusWriteRegister(&gyro->bus, MPU_RA_GYRO_CONFIG, INV_FSR_2000DPS << 3 | mpuGyroFCHOICE(gyro));
+    spiBusWriteRegister(&gyro->bus, MPU_RA_GYRO_CONFIG, INV_FSR_2000DPS << 3);
     delay(15);
     spiBusWriteRegister(&gyro->bus, MPU_RA_ACCEL_CONFIG, INV_FSR_16G << 3);
     delay(15);

src/main/drivers/accgyro/accgyro_spi_mpu9250.c

@@ -131,7 +131,7 @@ static void mpu9250AccAndGyroInit(gyroDev_t *gyro) {
 
     mpu9250SpiWriteRegisterVerify(&gyro->bus, MPU_RA_PWR_MGMT_1, INV_CLK_PLL);
 
-    mpu9250SpiWriteRegisterVerify(&gyro->bus, MPU_RA_GYRO_CONFIG, INV_FSR_2000DPS << 3 | mpuGyroFCHOICE(gyro));
+    mpu9250SpiWriteRegisterVerify(&gyro->bus, MPU_RA_GYRO_CONFIG, INV_FSR_2000DPS << 3);
 
     mpu9250SpiWriteRegisterVerify(&gyro->bus, MPU_RA_CONFIG, mpuGyroDLPF(gyro));
 

src/main/drivers/accgyro/gyro_sync.c

@@ -47,16 +47,12 @@ bool gyroSyncCheckUpdate(gyroDev_t *gyro)
     return ret;
 }
 
-uint32_t gyroSetSampleRate(gyroDev_t *gyro, uint8_t lpf, uint8_t gyroSyncDenominator, bool gyro_use_32khz)
+uint32_t gyroSetSampleRate(gyroDev_t *gyro, uint8_t lpf, uint8_t gyroSyncDenominator)
 {
     float gyroSamplePeriod;
 
     if (lpf != GYRO_HARDWARE_LPF_1KHZ_SAMPLE) {
-        if (gyro_use_32khz) {
+        switch (gyro->mpuDetectionResult.sensor) {
-            gyro->gyroRateKHz = GYRO_RATE_32_kHz;
-            gyroSamplePeriod = 31.25f;
-        } else {
-            switch (gyro->mpuDetectionResult.sensor) {
             case BMI_160_SPI:
                 gyro->gyroRateKHz = GYRO_RATE_3200_Hz;
                 gyroSamplePeriod = 312.0f;
@@ -69,7 +65,6 @@ uint32_t gyroSetSampleRate(gyroDev_t *gyro, uint8_t lpf, uint8_t gyroSyncDenomin
                 gyro->gyroRateKHz = GYRO_RATE_8_kHz;
                 gyroSamplePeriod = 125.0f;
                 break;
-            }
         }
     } else {
         switch (gyro->mpuDetectionResult.sensor) {

src/main/drivers/accgyro/gyro_sync.h

@@ -30,4 +30,4 @@
 #include "drivers/accgyro/accgyro.h"
 
 bool gyroSyncCheckUpdate(gyroDev_t *gyro);
-uint32_t gyroSetSampleRate(gyroDev_t *gyro, uint8_t lpf, uint8_t gyroSyncDenominator, bool gyro_use_32khz);
+uint32_t gyroSetSampleRate(gyroDev_t *gyro, uint8_t lpf, uint8_t gyroSyncDenominator);

src/main/fc/config.c

@@ -468,21 +468,11 @@ void validateAndFixGyroConfig(void)
     if (gyroConfig()->gyro_hardware_lpf == GYRO_HARDWARE_LPF_1KHZ_SAMPLE) {
         pidConfigMutable()->pid_process_denom = 1; // When gyro set to 1khz always set pid speed 1:1 to sampling speed
         gyroConfigMutable()->gyro_sync_denom = 1;
-        gyroConfigMutable()->gyro_use_32khz = false;
     }
 
-    if (gyroConfig()->gyro_use_32khz) {
-        // F1 and F3 can't handle high sample speed.
 #if defined(STM32F1)
-        gyroConfigMutable()->gyro_sync_denom = MAX(gyroConfig()->gyro_sync_denom, 16);
+    gyroConfigMutable()->gyro_sync_denom = MAX(gyroConfig()->gyro_sync_denom, 3);
-#elif defined(STM32F3)
-        gyroConfigMutable()->gyro_sync_denom = MAX(gyroConfig()->gyro_sync_denom, 4);
 #endif
-    } else {
-#if defined(STM32F1)
-        gyroConfigMutable()->gyro_sync_denom = MAX(gyroConfig()->gyro_sync_denom, 3);
-#endif
-    }
 
     float samplingTime;
     switch (gyroMpuDetectionResult()->sensor) {
@@ -506,9 +496,7 @@ void validateAndFixGyroConfig(void)
             break;
         }
     }
-    if (gyroConfig()->gyro_use_32khz) {
+
-        samplingTime = 0.00003125;
-    }
 
     // check for looptime restrictions based on motor protocol. Motor times have safety margin
     float motorUpdateRestriction;

src/main/msp/msp.c

@@ -1370,7 +1370,7 @@ static bool mspProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst)
         sbufWriteU8(dst, motorConfig()->dev.motorPwmProtocol);
         sbufWriteU16(dst, motorConfig()->dev.motorPwmRate);
         sbufWriteU16(dst, motorConfig()->digitalIdleOffsetValue);
-        sbufWriteU8(dst, gyroConfig()->gyro_use_32khz);
+        sbufWriteU8(dst, 0); // DEPRECATED: gyro_use_32kHz
         sbufWriteU8(dst, motorConfig()->dev.motorPwmInversion);
         sbufWriteU8(dst, gyroConfig()->gyro_to_use);
         sbufWriteU8(dst, gyroConfig()->gyro_high_fsr);
@@ -1392,7 +1392,7 @@ static bool mspProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst)
         sbufWriteU16(dst, gyroConfig()->gyro_soft_notch_cutoff_2);
         sbufWriteU8(dst, currentPidProfile->dterm_filter_type);
         sbufWriteU8(dst, gyroConfig()->gyro_hardware_lpf);
-        sbufWriteU8(dst, gyroConfig()->gyro_32khz_hardware_lpf);
+        sbufWriteU8(dst, 0); // DEPRECATED: gyro_32khz_hardware_lpf
         sbufWriteU16(dst, gyroConfig()->gyro_lowpass_hz);
         sbufWriteU16(dst, gyroConfig()->gyro_lowpass2_hz);
         sbufWriteU8(dst, gyroConfig()->gyro_lowpass_type);
@@ -1979,7 +1979,7 @@ static mspResult_e mspProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
             motorConfigMutable()->digitalIdleOffsetValue = sbufReadU16(src);
         }
         if (sbufBytesRemaining(src)) {
-            gyroConfigMutable()->gyro_use_32khz = sbufReadU8(src);
+            sbufReadU8(src); // DEPRECATED: gyro_use_32khz
         }
         if (sbufBytesRemaining(src)) {
             motorConfigMutable()->dev.motorPwmInversion = sbufReadU8(src);
@@ -2015,7 +2015,7 @@ static mspResult_e mspProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
         }
         if (sbufBytesRemaining(src) >= 10) {
             gyroConfigMutable()->gyro_hardware_lpf = sbufReadU8(src);
-            gyroConfigMutable()->gyro_32khz_hardware_lpf = sbufReadU8(src);
+            sbufReadU8(src); // DEPRECATED: gyro_32khz_hardware_lpf
             gyroConfigMutable()->gyro_lowpass_hz = sbufReadU16(src);
             gyroConfigMutable()->gyro_lowpass2_hz = sbufReadU16(src);
             gyroConfigMutable()->gyro_lowpass_type = sbufReadU8(src);

src/main/sensors/gyro.c

@@ -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

src/main/sensors/gyro.h

@@ -72,10 +72,8 @@ typedef struct gyroConfig_s {
     uint8_t  gyroMovementCalibrationThreshold; // people keep forgetting that moving model while init results in wrong gyro offsets. and then they never reset gyro. so this is now on by default.
     uint8_t  gyro_sync_denom;                  // Gyro sample divider
     uint8_t  gyro_hardware_lpf;                // gyro DLPF setting
-    uint8_t  gyro_32khz_hardware_lpf;          // gyro 32khz DLPF setting
 
     uint8_t  gyro_high_fsr;
-    uint8_t  gyro_use_32khz;
     uint8_t  gyro_to_use;
 
     uint16_t gyro_lowpass_hz;

src/main/target/ALIENWHOOP/config.c

@@ -104,13 +104,6 @@ void targetConfiguration(void)
 
     systemConfigMutable()->cpu_overclock = 2; //216MHZ
 
-    /* Default to 32kHz enabled at 16/16 */
-    gyroConfigMutable()->gyro_use_32khz = 1; // enable 32kHz sampling
-    gyroConfigMutable()->gyroMovementCalibrationThreshold = 200; // aka moron_threshold
-    gyroConfigMutable()->gyro_sync_denom = 2;  // 16kHz gyro
-    pidConfigMutable()->pid_process_denom = 1; // 16kHz PID
-    gyroConfigMutable()->gyro_lowpass2_hz = 751;
-
     pidConfigMutable()->runaway_takeoff_prevention = false;
 
     featureEnable((FEATURE_DYNAMIC_FILTER | FEATURE_AIRMODE | FEATURE_ANTI_GRAVITY) ^ FEATURE_RX_PARALLEL_PWM);

src/main/target/DALRCF722DUAL/config.c

@@ -20,20 +20,4 @@
 
 #include <stdint.h>
 
-#include "platform.h" 
+#include "platform.h"
-
-
-#ifdef TARGET_VALIDATECONFIG
-
-#include "fc/config.h"
-
-#include "sensors/gyro.h"
-
-void targetValidateConfiguration(void)
-{
-    if (gyroConfig()->gyro_use_32khz && gyroConfig()->gyroMovementCalibrationThreshold < 148) {
-        gyroConfigMutable()->gyroMovementCalibrationThreshold = 148;
-    }
-}
-
-#endif

src/main/target/DALRCF722DUAL/target.h

@@ -19,7 +19,6 @@
  */
 
 #pragma once
-#define TARGET_VALIDATECONFIG
 
 #define TARGET_BOARD_IDENTIFIER "DLF7"
 #define USBD_PRODUCT_STRING  "DALRCF722DUAL"

src/main/target/common_post.h

@@ -164,10 +164,6 @@
 #define USE_USB_ADVANCED_PROFILES
 #endif
 
-// Determine if the target could have a 32KHz capable gyro
-#if defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_MPU9250) || defined(USE_GYRO_SPI_ICM20689)
-#define USE_32K_CAPABLE_GYRO
-#endif
 
 #if defined(USE_FLASH_W25M512)
 #define USE_FLASH_W25M

src/test/unit/blackbox_unittest.cc

@@ -73,7 +73,7 @@ TEST(BlackboxTest, TestInitIntervals)
     EXPECT_EQ(4096, blackboxSInterval);
 
     // 1kHz PIDloop
-    gyro.targetLooptime = gyroSetSampleRate(&gyroDev, GYRO_HARDWARE_LPF_1KHZ_SAMPLE, 1, false);
+    gyro.targetLooptime = gyroSetSampleRate(&gyroDev, GYRO_HARDWARE_LPF_1KHZ_SAMPLE, 1);
     targetPidLooptime = gyro.targetLooptime * 1;
     blackboxInit();
     EXPECT_EQ(32, blackboxIInterval);