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betaflight/src/main/drivers/gyro_sync.c
ProDrone 0275129c23 Ignore ACC sensor when setting looptime
IMU uses quaternions instead of euler (ACC speedup).
Faster trigonio & math functions activated.
2015-09-19 15:00:02 +02:00

110 lines
3 KiB
C

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