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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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14
src/main/sensors/gyro_init.c
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@ -78,6 +78,11 @@
#define ACTIVE_GYRO (&gyro.gyroSensor1)
#endif
// The gyro buffer is split 50/50, the first half for the transmit buffer, the second half for the receive buffer
// This buffer is large enough for the gyros currently supported in accgyro_mpu.c but should be reviewed id other
// gyro types are supported with SPI DMA.
#define GYRO_BUF_SIZE 32
static gyroDetectionFlags_t gyroDetectionFlags = GYRO_NONE_MASK;
static uint16_t calculateNyquistAdjustedNotchHz(uint16_t notchHz, uint16_t notchCutoffHz)
@ -635,6 +640,11 @@ bool gyroInit(void)
}
if (gyro.gyroToUse == GYRO_CONFIG_USE_GYRO_2 || gyro.gyroToUse == GYRO_CONFIG_USE_GYRO_BOTH) {
static DMA_DATA uint8_t gyroBuf2[GYRO_BUF_SIZE];
// SPI DMA buffer required per device
gyro.gyroSensor2.gyroDev.dev.txBuf = gyroBuf2;
gyro.gyroSensor2.gyroDev.dev.rxBuf = &gyroBuf2[GYRO_BUF_SIZE / 2];
gyroInitSensor(&gyro.gyroSensor2, gyroDeviceConfig(1));
gyro.gyroHasOverflowProtection = gyro.gyroHasOverflowProtection && gyro.gyroSensor2.gyroDev.gyroHasOverflowProtection;
detectedSensors[SENSOR_INDEX_GYRO] = gyro.gyroSensor2.gyroDev.gyroHardware;
@ -646,6 +656,10 @@ bool gyroInit(void)
}
if (gyro.gyroToUse == GYRO_CONFIG_USE_GYRO_1 || gyro.gyroToUse == GYRO_CONFIG_USE_GYRO_BOTH) {
static DMA_DATA uint8_t gyroBuf1[GYRO_BUF_SIZE];
// SPI DMA buffer required per device
gyro.gyroSensor1.gyroDev.dev.txBuf = gyroBuf1;
gyro.gyroSensor1.gyroDev.dev.rxBuf = &gyroBuf1[GYRO_BUF_SIZE / 2];
gyroInitSensor(&gyro.gyroSensor1, gyroDeviceConfig(0));
gyro.gyroHasOverflowProtection = gyro.gyroHasOverflowProtection && gyro.gyroSensor1.gyroDev.gyroHasOverflowProtection;
detectedSensors[SENSOR_INDEX_GYRO] = gyro.gyroSensor1.gyroDev.gyroHardware;