Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-16 12:55:19 +03:00
Code Issues Wiki Activity

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

Browse source
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
Download patch file Download diff file Expand all files Collapse all files

15
src/main/drivers/system.c
View file

@ -68,7 +68,7 @@ void cycleCounterInit(void)
#if defined(DWT_LAR_UNLOCK_VALUE)
#if defined(STM32F7) || defined(STM32H7)
DWT->LAR = DWT_LAR_UNLOCK_VALUE;
ITM->LAR = DWT_LAR_UNLOCK_VALUE;
#elif defined(STM32F3) || defined(STM32F4)
// Note: DWT_Type does not contain LAR member.
#define DWT_LAR
@ -146,7 +146,7 @@ uint32_t micros(void)
return (ms * 1000) + (usTicks * 1000 - cycle_cnt) / usTicks;
}
inline uint32_t getCycleCounter(void)
uint32_t getCycleCounter(void)
{
return DWT->CYCCNT;
}
@ -156,6 +156,17 @@ uint32_t clockCyclesToMicros(uint32_t clockCycles)
return clockCycles / usTicks;
}
// Note that this conversion is signed as this is used for periods rather than absolute timestamps
int32_t clockCyclesTo10thMicros(int32_t clockCycles)
{
return 10 * clockCycles / (int32_t)usTicks;
}
uint32_t clockMicrosToCycles(uint32_t micros)
{
return micros * usTicks;
}
// Return system uptime in milliseconds (rollover in 49 days)
uint32_t millis(void)
{