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Merge pull request #3801 from wind0r/remove_gyro_isr_setting

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remove unused gyro isr setting
This commit is contained in:
Martin Budden 2017-08-12 06:25:37 +01:00 • committed by GitHub
commit f11e00de21
5 changed files with 0 additions and 15 deletions
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4
src/main/fc/config.c
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@ -453,10 +453,6 @@ void validateAndFixGyroConfig(void)
#endif #endif
} }
#if !defined(GYRO_USES_SPI) || !defined(USE_MPU_DATA_READY_SIGNAL)
gyroConfigMutable()->gyro_isr_update = false;
#endif
// check for looptime restrictions based on motor protocol. Motor times have safety margin // check for looptime restrictions based on motor protocol. Motor times have safety margin
const float pidLooptime = samplingTime * gyroConfig()->gyro_sync_denom * pidConfig()->pid_process_denom; const float pidLooptime = samplingTime * gyroConfig()->gyro_sync_denom * pidConfig()->pid_process_denom;
float motorUpdateRestriction; float motorUpdateRestriction;

6
src/main/fc/fc_msp.c
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@ -1125,8 +1125,6 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst)
sbufWriteU16(dst, motorConfig()->dev.motorPwmRate); sbufWriteU16(dst, motorConfig()->dev.motorPwmRate);
sbufWriteU16(dst, motorConfig()->digitalIdleOffsetValue); sbufWriteU16(dst, motorConfig()->digitalIdleOffsetValue);
sbufWriteU8(dst, gyroConfig()->gyro_use_32khz); sbufWriteU8(dst, gyroConfig()->gyro_use_32khz);
//!!TODO gyro_isr_update to be added pending decision
//sbufWriteU8(dst, gyroConfig()->gyro_isr_update);
sbufWriteU8(dst, motorConfig()->dev.motorPwmInversion); sbufWriteU8(dst, motorConfig()->dev.motorPwmInversion);
break; break;
@ -1520,10 +1518,6 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
if (sbufBytesRemaining(src)) { if (sbufBytesRemaining(src)) {
gyroConfigMutable()->gyro_use_32khz = sbufReadU8(src); gyroConfigMutable()->gyro_use_32khz = sbufReadU8(src);
} }
//!!TODO gyro_isr_update to be added pending decision
/*if (sbufBytesRemaining(src)) {
gyroConfigMutable()->gyro_isr_update = sbufReadU8(src);
}*/
validateAndFixGyroConfig(); validateAndFixGyroConfig();
if (sbufBytesRemaining(src)) { if (sbufBytesRemaining(src)) {

3
src/main/fc/settings.c
View file

@ -308,9 +308,6 @@ const clivalue_t valueTable[] = {
#if defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_MPU9250) || defined(USE_GYRO_SPI_ICM20689) #if defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_MPU9250) || defined(USE_GYRO_SPI_ICM20689)
{ "gyro_use_32khz", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_use_32khz) }, { "gyro_use_32khz", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_use_32khz) },
#endif #endif
#if defined(USE_MPU_DATA_READY_SIGNAL)
{ "gyro_isr_update", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_isr_update) },
#endif
#endif #endif
#ifdef USE_DUAL_GYRO #ifdef USE_DUAL_GYRO
{ "gyro_to_use", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, 1 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_to_use) }, { "gyro_to_use", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, 1 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_to_use) },

1
src/main/sensors/gyro.c
View file

@ -124,7 +124,6 @@ PG_RESET_TEMPLATE(gyroConfig_t, gyroConfig,
.gyro_lpf = GYRO_LPF_256HZ, .gyro_lpf = GYRO_LPF_256HZ,
.gyro_soft_lpf_type = FILTER_PT1, .gyro_soft_lpf_type = FILTER_PT1,
.gyro_soft_lpf_hz = 90, .gyro_soft_lpf_hz = 90,
.gyro_isr_update = false,
.gyro_use_32khz = false, .gyro_use_32khz = false,
.gyro_to_use = 0, .gyro_to_use = 0,
.gyro_soft_notch_hz_1 = 400, .gyro_soft_notch_hz_1 = 400,

1
src/main/sensors/gyro.h
View file

@ -54,7 +54,6 @@ typedef struct gyroConfig_s {
uint8_t gyro_lpf; // gyro LPF setting - values are driver specific, in case of invalid number, a reasonable default ~30-40HZ is chosen. uint8_t gyro_lpf; // gyro LPF setting - values are driver specific, in case of invalid number, a reasonable default ~30-40HZ is chosen.
uint8_t gyro_soft_lpf_type; uint8_t gyro_soft_lpf_type;
uint8_t gyro_soft_lpf_hz; uint8_t gyro_soft_lpf_hz;
bool gyro_isr_update;
bool gyro_use_32khz; bool gyro_use_32khz;
uint8_t gyro_to_use; uint8_t gyro_to_use;
uint16_t gyro_soft_notch_hz_1; uint16_t gyro_soft_notch_hz_1;