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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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10
src/main/fc/serial_cli.c
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@ -600,7 +600,13 @@ const clivalue_t valueTable[] = {
{ "align_board_yaw", VAR_INT16 | MASTER_VALUE, &boardAlignment()->yawDegrees, .config.minmax = { -180, 360 } },
{ "gyro_lpf", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &gyroConfig()->gyro_lpf, .config.lookup = { TABLE_GYRO_LPF } },
{ "gyro_sync_denom", VAR_UINT8 | MASTER_VALUE, &gyroConfig()->gyro_sync_denom, .config.minmax = { 1, 8 } },
{ "gyro_sync_denom", VAR_UINT8 | MASTER_VALUE, &gyroConfig()->gyro_sync_denom, .config.minmax = { 1, 32 } },
#if defined(GYRO_USES_SPI) && defined(USE_MPU_DATA_READY_SIGNAL)
{ "gyro_isr_update", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &gyroConfig()->gyro_isr_update, .config.lookup = { TABLE_OFF_ON } },
#ifdef GYRO_SUPPORTS_32KHZ
{ "gyro_use_32khz", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &gyroConfig()->gyro_use_32khz, .config.lookup = { TABLE_OFF_ON } },
#endif
#endif
{ "gyro_lowpass_type", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &gyroConfig()->gyro_soft_lpf_type, .config.lookup = { TABLE_LOWPASS_TYPE } },
{ "gyro_lowpass", VAR_UINT8 | MASTER_VALUE, &gyroConfig()->gyro_soft_lpf_hz, .config.minmax = { 0, 255 } },
{ "gyro_notch1_hz", VAR_UINT16 | MASTER_VALUE, &gyroConfig()->gyro_soft_notch_hz_1, .config.minmax = { 0, 1000 } },
@ -3223,7 +3229,7 @@ static void cliTasks(char *cmdline)
int averageLoadSum = 0;
#ifndef CLI_MINIMAL_VERBOSITY
cliPrintf("Task list rate/hz max/us avg/us maxload avgload total/ms\r\n");
cliPrintf("Task list rate/hz max/us avg/us maxload avgload total/ms\r\n");
#endif
for (cfTaskId_e taskId = 0; taskId < TASK_COUNT; taskId++) {
cfTaskInfo_t taskInfo;