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Trigger gyro SPI DMA reads in EXTI handler if supported and lock gyroTask loop to gyro to eliminate missed updates and jitter

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This commit is contained in:
Steve Evans 2020-08-14 16:42:20 +01:00 • committed by Michael Keller
parent 415d4db5aa
commit d5f62be013
63 changed files with 755 additions and 379 deletions
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24
src/main/cli/cli.c
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@ -4782,6 +4782,19 @@ static void cliStatus(const char *cmdName, char *cmdline)
cliPrintf(" gyro %d", pos + 1);
}
}
#ifdef USE_SPI
#ifdef USE_GYRO_EXTI
if (gyroActiveDev()->gyroModeSPI != GYRO_EXTI_NO_INT) {
cliPrintf(" locked");
}
if (gyroActiveDev()->gyroModeSPI == GYRO_EXTI_INT_DMA) {
cliPrintf(" dma");
}
#endif
if (spiGetExtDeviceCount(&gyroActiveDev()->dev) > 1) {
cliPrintf(" shared");
}
#endif
cliPrintLinefeed();
#if defined(USE_SENSOR_NAMES)
@ -4867,7 +4880,6 @@ static void cliStatus(const char *cmdName, char *cmdline)
cliPrintLinefeed();
}
#if defined(USE_TASK_STATISTICS)
static void cliTasks(const char *cmdName, char *cmdline)
{
UNUSED(cmdName);
@ -4923,10 +4935,14 @@ static void cliTasks(const char *cmdName, char *cmdline)
getCheckFuncInfo(&checkFuncInfo);
cliPrintLinef("RX Check Function %19d %7d %25d", checkFuncInfo.maxExecutionTimeUs, checkFuncInfo.averageExecutionTimeUs, checkFuncInfo.totalExecutionTimeUs / 1000);
cliPrintLinef("Total (excluding SERIAL) %25d.%1d%% %4d.%1d%%", maxLoadSum/10, maxLoadSum%10, averageLoadSum/10, averageLoadSum%10);
if (debugMode == DEBUG_SCHEDULER_DETERMINISM) {
extern int32_t schedLoopStartCycles, taskGuardCycles;
cliPrintLinef("Scheduler start cycles %d guard cycles %d", schedLoopStartCycles, taskGuardCycles);
}
schedulerResetCheckFunctionMaxExecutionTime();
}
}
#endif
static void printVersion(const char *cmdName, bool printBoardInfo)
{
@ -6584,9 +6600,7 @@ const clicmd_t cmdTable[] = {
"\treverse <servo> <source> r|n", cliServoMix),
#endif
CLI_COMMAND_DEF("status", "show status", NULL, cliStatus),
#if defined(USE_TASK_STATISTICS)
CLI_COMMAND_DEF("tasks", "show task stats", NULL, cliTasks),
#endif
#ifdef USE_TIMER_MGMT
CLI_COMMAND_DEF("timer", "show/set timers", "<> | <pin> list | <pin> [af<alternate function>|none|<option(deprecated)>] | list | show", cliTimer),
#endif
@ -6832,8 +6846,6 @@ void cliEnter(serialPort_t *serialPort)
cliWriter = bufWriterInit(cliWriteBuffer, sizeof(cliWriteBuffer), (bufWrite_t)serialWriteBufShim, serialPort);
cliErrorWriter = cliWriter;
schedulerSetCalulateTaskStatistics(systemConfig()->task_statistics);
#ifndef MINIMAL_CLI
cliPrintLine("\r\nEntering CLI Mode, type 'exit' to return, or 'help'");
#else