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Code Issues Wiki Activity

Moved gyro_sync into drivers/accgyro directory

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This commit is contained in:
Martin Budden 2017-12-16 10:32:42 +00:00
parent 7a7f1ceda5
commit ed30e9f5c7
13 changed files with 22 additions and 36 deletions
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3
src/main/drivers/accgyro/accgyro_mpu6050.c
View file

@ -28,7 +28,6 @@
#include "drivers/bus_i2c.h"
#include "drivers/exti.h"
#include "drivers/gyro_sync.h"
#include "drivers/nvic.h"
#include "drivers/sensor.h"
#include "drivers/time.h"
@ -80,7 +79,7 @@ static void mpu6050GyroInit(gyroDev_t *gyro)
busWriteRegister(&gyro->bus, MPU_RA_PWR_MGMT_1, 0x80); //PWR_MGMT_1 -- DEVICE_RESET 1
delay(100);
busWriteRegister(&gyro->bus, MPU_RA_PWR_MGMT_1, 0x03); //PWR_MGMT_1 -- SLEEP 0; CYCLE 0; TEMP_DIS 0; CLKSEL 3 (PLL with Z Gyro reference)
busWriteRegister(&gyro->bus, MPU_RA_SMPLRT_DIV, gyroMPU6xxxGetDividerDrops(gyro)); //SMPLRT_DIV -- SMPLRT_DIV = 0 Sample Rate = Gyroscope Output Rate / (1 + SMPLRT_DIV)
busWriteRegister(&gyro->bus, MPU_RA_SMPLRT_DIV, gyro->mpuDividerDrops); //SMPLRT_DIV -- SMPLRT_DIV = 0 Sample Rate = Gyroscope Output Rate / (1 + SMPLRT_DIV)
delay(15); //PLL Settling time when changing CLKSEL is max 10ms. Use 15ms to be sure
busWriteRegister(&gyro->bus, MPU_RA_CONFIG, gyro->lpf); //CONFIG -- EXT_SYNC_SET 0 (disable input pin for data sync) ; default DLPF_CFG = 0 => ACC bandwidth = 260Hz GYRO bandwidth = 256Hz)
busWriteRegister(&gyro->bus, MPU_RA_GYRO_CONFIG, INV_FSR_2000DPS << 3); //GYRO_CONFIG -- FS_SEL = 3: Full scale set to 2000 deg/sec

3
src/main/drivers/accgyro/accgyro_mpu6500.c
View file

@ -25,7 +25,6 @@
#include "common/maths.h"
#include "drivers/exti.h"
#include "drivers/gyro_sync.h"
#include "drivers/sensor.h"
#include "drivers/time.h"
@ -69,7 +68,7 @@ void mpu6500GyroInit(gyroDev_t *gyro)
delay(15);
busWriteRegister(&gyro->bus, MPU_RA_CONFIG, gyro->lpf);
delay(15);
busWriteRegister(&gyro->bus, MPU_RA_SMPLRT_DIV, gyroMPU6xxxGetDividerDrops(gyro)); // Get Divider Drops
busWriteRegister(&gyro->bus, MPU_RA_SMPLRT_DIV, gyro->mpuDividerDrops); // Get Divider Drops
delay(100);
// Data ready interrupt configuration

9
src/main/drivers/accgyro/accgyro_spi_icm20649.c
View file

@ -24,16 +24,15 @@
#include "common/axis.h"
#include "common/maths.h"
#include "drivers/accgyro/accgyro.h"
#include "drivers/accgyro/accgyro_mpu.h"
#include "drivers/accgyro/accgyro_spi_icm20649.h"
#include "drivers/bus_spi.h"
#include "drivers/exti.h"
#include "drivers/gyro_sync.h"
#include "drivers/io.h"
#include "drivers/sensor.h"
#include "drivers/time.h"
#include "accgyro.h"
#include "accgyro_mpu.h"
#include "accgyro_spi_icm20649.h"
static void icm20649SpiInit(const busDevice_t *bus)
{
@ -136,7 +135,7 @@ void icm20649GyroInit(gyroDev_t *gyro)
raGyroConfigData |= gyro_fsr << 1 | gyro->lpf << 3;
spiBusWriteRegister(&gyro->bus, ICM20649_RA_GYRO_CONFIG_1, raGyroConfigData);
delay(15);
spiBusWriteRegister(&gyro->bus, ICM20649_RA_GYRO_SMPLRT_DIV, gyroMPU6xxxGetDividerDrops(gyro)); // Get Divider Drops
spiBusWriteRegister(&gyro->bus, ICM20649_RA_GYRO_SMPLRT_DIV, gyro->mpuDividerDrops); // Get Divider Drops
delay(100);
// Data ready interrupt configuration

9
src/main/drivers/accgyro/accgyro_spi_icm20689.c
View file

@ -24,16 +24,15 @@
#include "common/axis.h"
#include "common/maths.h"
#include "drivers/accgyro/accgyro.h"
#include "drivers/accgyro/accgyro_mpu.h"
#include "drivers/accgyro/accgyro_spi_icm20689.h"
#include "drivers/bus_spi.h"
#include "drivers/exti.h"
#include "drivers/gyro_sync.h"
#include "drivers/io.h"
#include "drivers/sensor.h"
#include "drivers/time.h"
#include "accgyro.h"
#include "accgyro_mpu.h"
#include "accgyro_spi_icm20689.h"
static void icm20689SpiInit(const busDevice_t *bus)
{
@ -134,7 +133,7 @@ void icm20689GyroInit(gyroDev_t *gyro)
delay(15);
spiBusWriteRegister(&gyro->bus, MPU_RA_CONFIG, gyro->lpf);
delay(15);
spiBusWriteRegister(&gyro->bus, MPU_RA_SMPLRT_DIV, gyroMPU6xxxGetDividerDrops(gyro)); // Get Divider Drops
spiBusWriteRegister(&gyro->bus, MPU_RA_SMPLRT_DIV, gyro->mpuDividerDrops); // Get Divider Drops
delay(100);
// Data ready interrupt configuration

14
src/main/drivers/accgyro/accgyro_spi_mpu6000.c
View file

@ -27,23 +27,21 @@
#include "platform.h"
#if defined(USE_GYRO_SPI_MPU6000) || defined(USE_ACC_SPI_MPU6000)
#include "common/axis.h"
#include "common/maths.h"
#include "drivers/accgyro/accgyro.h"
#include "drivers/accgyro/accgyro_mpu.h"
#include "drivers/accgyro/accgyro_spi_mpu6000.h"
#include "drivers/bus_spi.h"
#include "drivers/exti.h"
#include "drivers/gyro_sync.h"
#include "drivers/io.h"
#include "drivers/time.h"
#include "drivers/sensor.h"
#include "drivers/system.h"
#include "accgyro.h"
#include "accgyro_mpu.h"
#if defined(USE_GYRO_SPI_MPU6000) || defined(USE_ACC_SPI_MPU6000)
#include "accgyro_spi_mpu6000.h"
static void mpu6000AccAndGyroInit(gyroDev_t *gyro);
@ -200,7 +198,7 @@ static void mpu6000AccAndGyroInit(gyroDev_t *gyro)
// Accel Sample Rate 1kHz
// Gyroscope Output Rate = 1kHz when the DLPF is enabled
spiBusWriteRegister(&gyro->bus, MPU_RA_SMPLRT_DIV, gyroMPU6xxxGetDividerDrops(gyro));
spiBusWriteRegister(&gyro->bus, MPU_RA_SMPLRT_DIV, gyro->mpuDividerDrops);
delayMicroseconds(15);
// Gyro +/- 1000 DPS Full Scale

3
src/main/drivers/accgyro/accgyro_spi_mpu9250.c
View file

@ -38,7 +38,6 @@
#include "drivers/accgyro/accgyro_spi_mpu9250.h"
#include "drivers/bus_spi.h"
#include "drivers/exti.h"
#include "drivers/gyro_sync.h"
#include "drivers/io.h"
#include "drivers/light_led.h"
#include "drivers/sensor.h"
@ -155,7 +154,7 @@ static void mpu9250AccAndGyroInit(gyroDev_t *gyro) {
mpu9250SpiWriteRegisterVerify(&gyro->bus, MPU_RA_CONFIG, 0); //8KHz, 250DLPF
}
mpu9250SpiWriteRegisterVerify(&gyro->bus, MPU_RA_SMPLRT_DIV, gyroMPU6xxxGetDividerDrops(gyro));
mpu9250SpiWriteRegisterVerify(&gyro->bus, MPU_RA_SMPLRT_DIV, gyro->mpuDividerDrops);
mpu9250SpiWriteRegisterVerify(&gyro->bus, MPU_RA_ACCEL_CONFIG, INV_FSR_8G << 3);
mpu9250SpiWriteRegisterVerify(&gyro->bus, MPU_RA_INT_PIN_CFG, 0 << 7 | 0 << 6 | 0 << 5 | 1 << 4 | 0 << 3 | 0 << 2 | 1 << 1 | 0 << 0); // INT_ANYRD_2CLEAR, BYPASS_EN

7
src/main/drivers/gyro_sync.c → src/main/drivers/accgyro/gyro_sync.c
View file

@ -12,7 +12,7 @@
#include "drivers/sensor.h"
#include "drivers/accgyro/accgyro.h"
#include "drivers/gyro_sync.h"
#include "drivers/accgyro/gyro_sync.h"
bool gyroSyncCheckUpdate(gyroDev_t *gyro)
@ -70,8 +70,3 @@ uint32_t gyroSetSampleRate(gyroDev_t *gyro, uint8_t lpf, uint8_t gyroSyncDenomin
const uint32_t targetLooptime = (uint32_t)(gyroSyncDenominator * gyroSamplePeriod);
return targetLooptime;
}
uint8_t gyroMPU6xxxGetDividerDrops(const gyroDev_t *gyro)
{
return gyro->mpuDividerDrops;
}

1
src/main/drivers/gyro_sync.h → src/main/drivers/accgyro/gyro_sync.h
View file

@ -10,5 +10,4 @@
#include "drivers/accgyro/accgyro.h"
bool gyroSyncCheckUpdate(gyroDev_t *gyro);
uint8_t gyroMPU6xxxGetDividerDrops(const gyroDev_t *gyro);
uint32_t gyroSetSampleRate(gyroDev_t *gyro, uint8_t lpf, uint8_t gyroSyncDenominator, bool gyro_use_32khz);

1
src/main/fc/fc_core.c
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@ -34,7 +34,6 @@
#include "config/parameter_group.h"
#include "config/parameter_group_ids.h"
#include "drivers/gyro_sync.h"
#include "drivers/light_led.h"
#include "drivers/system.h"
#include "drivers/time.h"

2
src/main/sensors/gyro.c
View file

@ -50,8 +50,8 @@
#include "drivers/accgyro/accgyro_spi_mpu6000.h"
#include "drivers/accgyro/accgyro_spi_mpu6500.h"
#include "drivers/accgyro/accgyro_spi_mpu9250.h"
#include "drivers/accgyro/gyro_sync.h"
#include "drivers/bus_spi.h"
#include "drivers/gyro_sync.h"
#include "drivers/io.h"
#include "fc/runtime_config.h"

2
src/test/Makefile
View file

@ -74,7 +74,7 @@ blackbox_unittest_SRC := \
$(USER_DIR)/common/printf.c \
$(USER_DIR)/common/maths.c \
$(USER_DIR)/common/typeconversion.c \
$(USER_DIR)/drivers/gyro_sync.c
$(USER_DIR)/drivers/accgyro/gyro_sync.c
blackbox_encoding_unittest_SRC := \
$(USER_DIR)/blackbox/blackbox_encoding.c \

2
src/test/unit/blackbox_unittest.cc
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@ -27,7 +27,7 @@ extern "C" {
#include "config/parameter_group_ids.h"
#include "drivers/accgyro/accgyro.h"
#include "drivers/gyro_sync.h"
#include "drivers/accgyro/gyro_sync.h"
#include "drivers/serial.h"
#include "flight/failsafe.h"