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Merge pull request #2014 from martinbudden/bf_gyro_isr

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Allow gyro read and filter in ISR for SPI gyros
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borisbstyle 2017-01-06 00:05:57 +01:00 • committed by GitHub
commit f0fc42b7f5
19 changed files with 193 additions and 51 deletions
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11
src/main/fc/fc_msp.c
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@ -1140,6 +1140,9 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
sbufWriteU8(dst, motorConfig()->motorPwmProtocol);
sbufWriteU16(dst, motorConfig()->motorPwmRate);
sbufWriteU16(dst, (uint16_t)(motorConfig()->digitalIdleOffsetPercent * 100));
sbufWriteU8(dst, gyroConfig()->gyro_use_32khz);
//!!TODO gyro_isr_update to be added pending decision
//sbufWriteU8(dst, gyroConfig()->gyro_isr_update);
break;
case MSP_FILTER_CONFIG :
@ -1483,6 +1486,14 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
if (dataSize > 7) {
motorConfig()->digitalIdleOffsetPercent = sbufReadU16(src) / 100.0f;
}
if (sbufBytesRemaining(src)) {
gyroConfig()->gyro_use_32khz = sbufReadU8(src);
}
//!!TODO gyro_isr_update to be added pending decision
/*if (sbufBytesRemaining(src)) {
gyroConfig()->gyro_isr_update = sbufReadU8(src);
}*/
validateAndFixGyroConfig();
break;
case MSP_SET_FILTER_CONFIG: