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Gyro native rate sampling, filtering, and scheduler restructuring

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This commit is contained in:
Bruce Luckcuck 2020-01-06 07:52:35 -05:00
parent b11565efbe
commit f584780944
42 changed files with 718 additions and 421 deletions
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9
src/main/msp/msp.c
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@ -655,6 +655,9 @@ static bool mspCommonProcessOutCommand(int16_t cmdMSP, sbuf_t *dst, mspPostProce
// Added in API version 1.42
sbufWriteU8(dst, systemConfig()->configurationState);
//Added in API version 1.43
sbufWriteU16(dst, gyro.sampleRateHz); // informational so the configurator can display the correct gyro/pid frequencies in the drop-down
break;
}
@ -971,7 +974,7 @@ static bool mspProcessOutCommand(int16_t cmdMSP, sbuf_t *dst)
boxBitmask_t flightModeFlags;
const int flagBits = packFlightModeFlags(&flightModeFlags);
sbufWriteU16(dst, getTaskDeltaTime(TASK_GYROPID));
sbufWriteU16(dst, getTaskDeltaTime(TASK_PID));
#ifdef USE_I2C
sbufWriteU16(dst, i2cGetErrorCounter());
#else
@ -1634,7 +1637,7 @@ static bool mspProcessOutCommand(int16_t cmdMSP, sbuf_t *dst)
break;
}
case MSP_ADVANCED_CONFIG:
sbufWriteU8(dst, gyroConfig()->gyro_sync_denom);
sbufWriteU8(dst, 1); // was gyroConfig()->gyro_sync_denom - removed in API 1.43
sbufWriteU8(dst, pidConfig()->pid_process_denom);
sbufWriteU8(dst, motorConfig()->dev.useUnsyncedPwm);
sbufWriteU8(dst, motorConfig()->dev.motorPwmProtocol);
@ -2424,7 +2427,7 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, int16_t cmdMSP,
}
case MSP_SET_ADVANCED_CONFIG:
gyroConfigMutable()->gyro_sync_denom = sbufReadU8(src);
sbufReadU8(src); // was gyroConfigMutable()->gyro_sync_denom - removed in API 1.43
pidConfigMutable()->pid_process_denom = sbufReadU8(src);
motorConfigMutable()->dev.useUnsyncedPwm = sbufReadU8(src);
#ifdef USE_DSHOT