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IMU uses quaternions instead of euler (ACC speedup). Faster trigonio & math functions activated.
110 lines
3 KiB
C
110 lines
3 KiB
C
/*
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* gyro_sync.c
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*
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* Created on: 3 aug. 2015
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* Author: borisb
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*/
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#include <stdbool.h>
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#include <stdint.h>
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#include <stdlib.h>
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#include "platform.h"
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#include "build_config.h"
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#include "common/axis.h"
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#include "common/maths.h"
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#include "drivers/sensor.h"
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#include "drivers/accgyro.h"
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#include "drivers/accgyro_mpu6050.h"
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#include "drivers/accgyro_spi_mpu6000.h"
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#include "drivers/gyro_sync.h"
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#include "sensors/sensors.h"
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#include "sensors/acceleration.h"
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#include "config/runtime_config.h"
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#include "config/config.h"
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extern gyro_t gyro;
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uint32_t targetLooptime;
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static uint8_t mpuDividerDrops;
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bool getMpuDataStatus(gyro_t *gyro)
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{
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bool mpuDataStatus;
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gyro->intStatus(&mpuDataStatus);
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return mpuDataStatus;
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}
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bool gyroSyncCheckUpdate(void) {
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return getMpuDataStatus(&gyro);
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}
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void gyroUpdateSampleRate(uint32_t looptime, uint8_t lpf, uint8_t syncGyroToLoop) {
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int gyroSamplePeriod;
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int minLooptime;
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if (syncGyroToLoop) {
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#if defined(SPRACINGF3) || defined(ALIENWIIF3) || defined(NAZE32PRO) || defined(STM32F3DISCOVERY) || defined(CHEBUZZF3) || defined(PORT103R) || defined(MOTOLAB)
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if (lpf == INV_FILTER_256HZ_NOLPF2) {
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gyroSamplePeriod = 125;
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if(!sensors(SENSOR_ACC)) {
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minLooptime = 500; // Max refresh 2khz
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} else {
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minLooptime = 625; // Max refresh 1,6khz
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}
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} else {
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gyroSamplePeriod = 1000;
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minLooptime = 1000; // Full sampling
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}
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#elif defined(CC3D)
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if (lpf == INV_FILTER_256HZ_NOLPF2) {
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gyroSamplePeriod = 125;
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if(!sensors(SENSOR_ACC)) {
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minLooptime = 890; // Max refresh 1,12khz
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} else {
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minLooptime = 1000; // Max refresh 1khz
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}
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} else {
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gyroSamplePeriod = 1000;
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minLooptime = 1000; // Full sampling
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}
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#elif defined(COLIBRI_RACE) || defined(EUSTM32F103RC)
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if (lpf == INV_FILTER_256HZ_NOLPF2) {
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gyroSamplePeriod = 125;
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if(!sensors(SENSOR_ACC)) { // TODO - increase to 8khz when oneshot125 can be limited
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minLooptime = 250; // Max refresh 4khz
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} else {
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minLooptime = 250; // Max refresh 4khz
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}
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} else {
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gyroSamplePeriod = 1000;
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minLooptime = 1000; // Full sampling
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}
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#else
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if (lpf == INV_FILTER_256HZ_NOLPF2) {
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gyroSamplePeriod = 125;
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minLooptime = 625; // Max refresh 1,6khz
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} else {
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gyroSamplePeriod = 1000;
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minLooptime = 1000; // Full sampling without ACC
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}
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#endif
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looptime = constrain(looptime, minLooptime, 4000);
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mpuDividerDrops = (looptime + gyroSamplePeriod -1 ) / gyroSamplePeriod - 1;
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targetLooptime = (mpuDividerDrops + 1) * gyroSamplePeriod;
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} else {
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mpuDividerDrops = 0;
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targetLooptime = looptime;
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}
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}
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uint8_t gyroMPU6xxxGetDividerDrops(void) {
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return mpuDividerDrops;
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}
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