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betaflight/src/main/sensors/gyro.c
Martin Budden c97c8998b1 Update PG version numbers
2017-09-07 21:35:37 +01:00

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/*
* This file is part of Cleanflight.
*
* Cleanflight is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* Cleanflight is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
*/
#include <stdbool.h>
#include <stdint.h>
#include <string.h>
#include <math.h>
#include "platform.h"
#include "build/debug.h"
#include "common/axis.h"
#include "common/maths.h"
#include "common/filter.h"
#include "config/parameter_group.h"
#include "config/parameter_group_ids.h"
#include "drivers/accgyro/accgyro.h"
#include "drivers/accgyro/accgyro_adxl345.h"
#include "drivers/accgyro/accgyro_bma280.h"
#include "drivers/accgyro/accgyro_fake.h"
#include "drivers/accgyro/accgyro_l3g4200d.h"
#include "drivers/accgyro/accgyro_l3gd20.h"
#include "drivers/accgyro/accgyro_lsm303dlhc.h"
#include "drivers/accgyro/accgyro_mma845x.h"
#include "drivers/accgyro/accgyro_mpu.h"
#include "drivers/accgyro/accgyro_mpu3050.h"
#include "drivers/accgyro/accgyro_mpu6050.h"
#include "drivers/accgyro/accgyro_mpu6500.h"
#include "drivers/accgyro/accgyro_spi_bmi160.h"
#include "drivers/accgyro/accgyro_spi_icm20649.h"
#include "drivers/accgyro/accgyro_spi_icm20689.h"
#include "drivers/accgyro/accgyro_spi_mpu6000.h"
#include "drivers/accgyro/accgyro_spi_mpu6500.h"
#include "drivers/accgyro/accgyro_spi_mpu9250.h"
#include "drivers/bus_spi.h"
#include "drivers/gyro_sync.h"
#include "drivers/io.h"
#include "fc/runtime_config.h"
#include "io/beeper.h"
#include "io/statusindicator.h"
#include "scheduler/scheduler.h"
#include "sensors/boardalignment.h"
#include "sensors/gyro.h"
#include "sensors/gyroanalyse.h"
#include "sensors/sensors.h"
#ifdef USE_HARDWARE_REVISION_DETECTION
#include "hardware_revision.h"
#endif
gyro_t gyro;
static uint8_t gyroDebugMode;
typedef struct gyroCalibration_s {
int32_t sum[XYZ_AXIS_COUNT];
stdev_t var[XYZ_AXIS_COUNT];
uint16_t calibratingG;
} gyroCalibration_t;
bool firstArmingCalibrationWasStarted = false;
typedef union gyroSoftFilter_u {
biquadFilter_t gyroFilterLpfState[XYZ_AXIS_COUNT];
pt1Filter_t gyroFilterPt1State[XYZ_AXIS_COUNT];
firFilterDenoise_t gyroDenoiseState[XYZ_AXIS_COUNT];
} gyroSoftLpfFilter_t;
typedef struct gyroSensor_s {
gyroDev_t gyroDev;
gyroCalibration_t calibration;
// gyro soft filter
filterApplyFnPtr softLpfFilterApplyFn;
gyroSoftLpfFilter_t softLpfFilter;
void *softLpfFilterPtr[XYZ_AXIS_COUNT];
// notch filters
filterApplyFnPtr notchFilter1ApplyFn;
biquadFilter_t notchFilter1[XYZ_AXIS_COUNT];
filterApplyFnPtr notchFilter2ApplyFn;
biquadFilter_t notchFilter2[XYZ_AXIS_COUNT];
filterApplyFnPtr notchFilterDynApplyFn;
biquadFilter_t notchFilterDyn[XYZ_AXIS_COUNT];
} gyroSensor_t;
static gyroSensor_t gyroSensor1;
static void gyroInitSensorFilters(gyroSensor_t *gyroSensor);
#define DEBUG_GYRO_CALIBRATION 3
#ifdef STM32F10X
#define GYRO_SYNC_DENOM_DEFAULT 8
#elif defined(USE_GYRO_SPI_MPU6000) || defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_ICM20601) || defined(USE_GYRO_SPI_ICM20649) \
|| defined(USE_GYRO_SPI_ICM20689)
#define GYRO_SYNC_DENOM_DEFAULT 1
#else
#define GYRO_SYNC_DENOM_DEFAULT 4
#endif
PG_REGISTER_WITH_RESET_TEMPLATE(gyroConfig_t, gyroConfig, PG_GYRO_CONFIG, 1);
PG_RESET_TEMPLATE(gyroConfig_t, gyroConfig,
.gyro_align = ALIGN_DEFAULT,
.gyroMovementCalibrationThreshold = 48,
.gyro_sync_denom = GYRO_SYNC_DENOM_DEFAULT,
.gyro_lpf = GYRO_LPF_256HZ,
.gyro_soft_lpf_type = FILTER_PT1,
.gyro_soft_lpf_hz = 90,
.gyro_use_32khz = false,
.gyro_to_use = 0,
.gyro_soft_notch_hz_1 = 400,
.gyro_soft_notch_cutoff_1 = 300,
.gyro_soft_notch_hz_2 = 200,
.gyro_soft_notch_cutoff_2 = 100
);
const busDevice_t *gyroSensorBus(void)
{
return &gyroSensor1.gyroDev.bus;
}
const mpuConfiguration_t *gyroMpuConfiguration(void)
{
return &gyroSensor1.gyroDev.mpuConfiguration;
}
const mpuDetectionResult_t *gyroMpuDetectionResult(void)
{
return &gyroSensor1.gyroDev.mpuDetectionResult;
}
STATIC_UNIT_TESTED gyroSensor_e gyroDetect(gyroDev_t *dev)
{
gyroSensor_e gyroHardware = GYRO_DEFAULT;
dev->gyroAlign = ALIGN_DEFAULT;
switch (gyroHardware) {
case GYRO_DEFAULT:
#ifdef USE_GYRO_MPU6050
case GYRO_MPU6050:
if (mpu6050GyroDetect(dev)) {
gyroHardware = GYRO_MPU6050;
#ifdef GYRO_MPU6050_ALIGN
dev->gyroAlign = GYRO_MPU6050_ALIGN;
#endif
break;
}
#endif
#ifdef USE_GYRO_L3G4200D
case GYRO_L3G4200D:
if (l3g4200dDetect(dev)) {
gyroHardware = GYRO_L3G4200D;
#ifdef GYRO_L3G4200D_ALIGN
dev->gyroAlign = GYRO_L3G4200D_ALIGN;
#endif
break;
}
#endif
#ifdef USE_GYRO_MPU3050
case GYRO_MPU3050:
if (mpu3050Detect(dev)) {
gyroHardware = GYRO_MPU3050;
#ifdef GYRO_MPU3050_ALIGN
dev->gyroAlign = GYRO_MPU3050_ALIGN;
#endif
break;
}
#endif
#ifdef USE_GYRO_L3GD20
case GYRO_L3GD20:
if (l3gd20Detect(dev)) {
gyroHardware = GYRO_L3GD20;
#ifdef GYRO_L3GD20_ALIGN
dev->gyroAlign = GYRO_L3GD20_ALIGN;
#endif
break;
}
#endif
#ifdef USE_GYRO_SPI_MPU6000
case GYRO_MPU6000:
if (mpu6000SpiGyroDetect(dev)) {
gyroHardware = GYRO_MPU6000;
#ifdef GYRO_MPU6000_ALIGN
dev->gyroAlign = GYRO_MPU6000_ALIGN;
#endif
break;
}
#endif
#if defined(USE_GYRO_MPU6500) || defined(USE_GYRO_SPI_MPU6500)
case GYRO_MPU6500:
case GYRO_ICM20601:
case GYRO_ICM20602:
case GYRO_ICM20608G:
#ifdef USE_GYRO_SPI_MPU6500
if (mpu6500GyroDetect(dev) || mpu6500SpiGyroDetect(dev)) {
#else
if (mpu6500GyroDetect(dev)) {
#endif
switch (dev->mpuDetectionResult.sensor) {
case MPU_9250_SPI:
gyroHardware = GYRO_MPU9250;
break;
case ICM_20601_SPI:
gyroHardware = GYRO_ICM20601;
break;
case ICM_20602_SPI:
gyroHardware = GYRO_ICM20602;
break;
case ICM_20608_SPI:
gyroHardware = GYRO_ICM20608G;
break;
default:
gyroHardware = GYRO_MPU6500;
}
#ifdef GYRO_MPU6500_ALIGN
dev->gyroAlign = GYRO_MPU6500_ALIGN;
#endif
break;
}
#endif
#ifdef USE_GYRO_SPI_MPU9250
case GYRO_MPU9250:
if (mpu9250SpiGyroDetect(dev))
{
gyroHardware = GYRO_MPU9250;
#ifdef GYRO_MPU9250_ALIGN
dev->gyroAlign = GYRO_MPU9250_ALIGN;
#endif
break;
}
#endif
#ifdef USE_GYRO_SPI_ICM20649
case GYRO_ICM20649:
if (icm20649SpiGyroDetect(dev)) {
gyroHardware = GYRO_ICM20649;
#ifdef GYRO_ICM20649_ALIGN
dev->gyroAlign = GYRO_ICM20649_ALIGN;
#endif
break;
}
#endif
#ifdef USE_GYRO_SPI_ICM20689
case GYRO_ICM20689:
if (icm20689SpiGyroDetect(dev)) {
gyroHardware = GYRO_ICM20689;
#ifdef GYRO_ICM20689_ALIGN
dev->gyroAlign = GYRO_ICM20689_ALIGN;
#endif
break;
}
#endif
#ifdef USE_ACCGYRO_BMI160
case GYRO_BMI160:
if (bmi160SpiGyroDetect(dev)) {
gyroHardware = GYRO_BMI160;
#ifdef GYRO_BMI160_ALIGN
dev->gyroAlign = GYRO_BMI160_ALIGN;
#endif
break;
}
#endif
#ifdef USE_FAKE_GYRO
case GYRO_FAKE:
if (fakeGyroDetect(dev)) {
gyroHardware = GYRO_FAKE;
break;
}
#endif
default:
gyroHardware = GYRO_NONE;
}
if (gyroHardware != GYRO_NONE) {
detectedSensors[SENSOR_INDEX_GYRO] = gyroHardware;
sensorsSet(SENSOR_GYRO);
}
return gyroHardware;
}
static bool gyroInitSensor(gyroSensor_t *gyroSensor)
{
#if defined(USE_GYRO_MPU6050) || defined(USE_GYRO_MPU3050) || defined(USE_GYRO_MPU6500) || defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_MPU6000) \
|| defined(USE_ACC_MPU6050) || defined(USE_GYRO_SPI_MPU9250) || defined(USE_GYRO_SPI_ICM20601) || defined(USE_GYRO_SPI_ICM20649) || defined(USE_GYRO_SPI_ICM20689)
#if defined(MPU_INT_EXTI)
gyroSensor->gyroDev.mpuIntExtiTag = IO_TAG(MPU_INT_EXTI);
#elif defined(USE_HARDWARE_REVISION_DETECTION)
gyroSensor->gyroDev.mpuIntExtiTag = selectMPUIntExtiConfigByHardwareRevision();
#else
gyroSensor->gyroDev.mpuIntExtiTag = IO_TAG_NONE;
#endif // MPU_INT_EXTI
#ifdef USE_DUAL_GYRO
// set cnsPin using GYRO_n_CS_PIN defined in target.h
gyroSensor->gyroDev.bus.busdev_u.spi.csnPin = gyroConfig()->gyro_to_use == 0 ? IOGetByTag(IO_TAG(GYRO_0_CS_PIN)) : IOGetByTag(IO_TAG(GYRO_1_CS_PIN));
#else
gyroSensor->gyroDev.bus.busdev_u.spi.csnPin = IO_NONE; // set cnsPin to IO_NONE so mpuDetect will set it according to value defined in target.h
#endif // USE_DUAL_GYRO
mpuDetect(&gyroSensor->gyroDev);
mpuResetFn = gyroSensor->gyroDev.mpuConfiguration.resetFn; // must be set after mpuDetect
#endif
const gyroSensor_e gyroHardware = gyroDetect(&gyroSensor->gyroDev);
if (gyroHardware == GYRO_NONE) {
return false;
}
switch (gyroHardware) {
case GYRO_MPU6500:
case GYRO_MPU9250:
case GYRO_ICM20601:
case GYRO_ICM20602:
case GYRO_ICM20608G:
case GYRO_ICM20689:
// do nothing, as gyro supports 32kHz
break;
default:
// gyro does not support 32kHz
gyroConfigMutable()->gyro_use_32khz = false;
break;
}
// Must set gyro targetLooptime before gyroDev.init and initialisation of filters
gyro.targetLooptime = gyroSetSampleRate(&gyroSensor->gyroDev, gyroConfig()->gyro_lpf, gyroConfig()->gyro_sync_denom, gyroConfig()->gyro_use_32khz);
gyroSensor->gyroDev.lpf = gyroConfig()->gyro_lpf;
gyroSensor->gyroDev.initFn(&gyroSensor->gyroDev);
if (gyroConfig()->gyro_align != ALIGN_DEFAULT) {
gyroSensor->gyroDev.gyroAlign = gyroConfig()->gyro_align;
}
gyroInitSensorFilters(gyroSensor);
#ifdef USE_GYRO_DATA_ANALYSE
gyroDataAnalyseInit(gyro.targetLooptime);
#endif
return true;
}
bool gyroInit(void)
{
switch (debugMode) {
case DEBUG_FFT:
case DEBUG_GYRO_NOTCH:
case DEBUG_GYRO:
case DEBUG_GYRO_RAW:
gyroDebugMode = debugMode;
break;
default:
// debugMode is not gyro-related
gyroDebugMode = DEBUG_NONE;
break;
}
memset(&gyro, 0, sizeof(gyro));
return gyroInitSensor(&gyroSensor1);
}
void gyroInitFilterLpf(gyroSensor_t *gyroSensor, uint8_t lpfHz)
{
gyroSensor->softLpfFilterApplyFn = nullFilterApply;
const uint32_t gyroFrequencyNyquist = 1000000 / 2 / gyro.targetLooptime;
if (lpfHz && lpfHz <= gyroFrequencyNyquist) { // Initialisation needs to happen once samplingrate is known
switch (gyroConfig()->gyro_soft_lpf_type) {
case FILTER_BIQUAD:
gyroSensor->softLpfFilterApplyFn = (filterApplyFnPtr)biquadFilterApply;
for (int axis = 0; axis < 3; axis++) {
gyroSensor->softLpfFilterPtr[axis] = &gyroSensor->softLpfFilter.gyroFilterLpfState[axis];
biquadFilterInitLPF(&gyroSensor->softLpfFilter.gyroFilterLpfState[axis], lpfHz, gyro.targetLooptime);
}
break;
case FILTER_PT1:
gyroSensor->softLpfFilterApplyFn = (filterApplyFnPtr)pt1FilterApply;
const float gyroDt = (float) gyro.targetLooptime * 0.000001f;
for (int axis = 0; axis < 3; axis++) {
gyroSensor->softLpfFilterPtr[axis] = &gyroSensor->softLpfFilter.gyroFilterPt1State[axis];
pt1FilterInit(&gyroSensor->softLpfFilter.gyroFilterPt1State[axis], lpfHz, gyroDt);
}
break;
default:
gyroSensor->softLpfFilterApplyFn = (filterApplyFnPtr)firFilterDenoiseUpdate;
for (int axis = 0; axis < 3; axis++) {
gyroSensor->softLpfFilterPtr[axis] = &gyroSensor->softLpfFilter.gyroDenoiseState[axis];
firFilterDenoiseInit(&gyroSensor->softLpfFilter.gyroDenoiseState[axis], lpfHz, gyro.targetLooptime);
}
break;
}
}
}
static uint16_t calculateNyquistAdjustedNotchHz(uint16_t notchHz, uint16_t notchCutoffHz)
{
const uint32_t gyroFrequencyNyquist = 1000000 / 2 / gyro.targetLooptime;
if (notchHz > gyroFrequencyNyquist) {
if (notchCutoffHz < gyroFrequencyNyquist) {
notchHz = gyroFrequencyNyquist;
} else {
notchHz = 0;
}
}
return notchHz;
}
static void gyroInitFilterNotch1(gyroSensor_t *gyroSensor, uint16_t notchHz, uint16_t notchCutoffHz)
{
gyroSensor->notchFilter1ApplyFn = nullFilterApply;
notchHz = calculateNyquistAdjustedNotchHz(notchHz, notchCutoffHz);
if (notchHz != 0 && notchCutoffHz != 0) {
gyroSensor->notchFilter1ApplyFn = (filterApplyFnPtr)biquadFilterApply;
const float notchQ = filterGetNotchQ(notchHz, notchCutoffHz);
for (int axis = 0; axis < 3; axis++) {
biquadFilterInit(&gyroSensor->notchFilter1[axis], notchHz, gyro.targetLooptime, notchQ, FILTER_NOTCH);
}
}
}
static void gyroInitFilterNotch2(gyroSensor_t *gyroSensor, uint16_t notchHz, uint16_t notchCutoffHz)
{
gyroSensor->notchFilter2ApplyFn = nullFilterApply;
notchHz = calculateNyquistAdjustedNotchHz(notchHz, notchCutoffHz);
if (notchHz != 0 && notchCutoffHz != 0) {
gyroSensor->notchFilter2ApplyFn = (filterApplyFnPtr)biquadFilterApply;
const float notchQ = filterGetNotchQ(notchHz, notchCutoffHz);
for (int axis = 0; axis < 3; axis++) {
biquadFilterInit(&gyroSensor->notchFilter2[axis], notchHz, gyro.targetLooptime, notchQ, FILTER_NOTCH);
}
}
}
#ifdef USE_GYRO_DATA_ANALYSE
static void gyroInitFilterDynamicNotch(gyroSensor_t *gyroSensor)
{
gyroSensor->notchFilterDynApplyFn = nullFilterApply;
if (isDynamicFilterActive()) {
gyroSensor->notchFilterDynApplyFn = (filterApplyFnPtr)biquadFilterApplyDF1; // must be this function, not DF2
const float notchQ = filterGetNotchQ(400, 390); //just any init value
for (int axis = 0; axis < 3; axis++) {
biquadFilterInit(&gyroSensor->notchFilterDyn[axis], 400, gyro.targetLooptime, notchQ, FILTER_NOTCH);
}
}
}
#endif
static void gyroInitSensorFilters(gyroSensor_t *gyroSensor)
{
gyroInitFilterLpf(gyroSensor, gyroConfig()->gyro_soft_lpf_hz);
gyroInitFilterNotch1(gyroSensor, gyroConfig()->gyro_soft_notch_hz_1, gyroConfig()->gyro_soft_notch_cutoff_1);
gyroInitFilterNotch2(gyroSensor, gyroConfig()->gyro_soft_notch_hz_2, gyroConfig()->gyro_soft_notch_cutoff_2);
#ifdef USE_GYRO_DATA_ANALYSE
gyroInitFilterDynamicNotch(gyroSensor);
#endif
}
void gyroInitFilters(void)
{
gyroInitSensorFilters(&gyroSensor1);
}
bool isGyroSensorCalibrationComplete(const gyroSensor_t *gyroSensor)
{
return gyroSensor->calibration.calibratingG == 0;
}
bool isGyroCalibrationComplete(void)
{
return isGyroSensorCalibrationComplete(&gyroSensor1);
}
static bool isOnFinalGyroCalibrationCycle(const gyroCalibration_t *gyroCalibration)
{
return gyroCalibration->calibratingG == 1;
}
static uint16_t gyroCalculateCalibratingCycles(void)
{
return (CALIBRATING_GYRO_CYCLES / gyro.targetLooptime) * CALIBRATING_GYRO_CYCLES;
}
static bool isOnFirstGyroCalibrationCycle(const gyroCalibration_t *gyroCalibration)
{
return gyroCalibration->calibratingG == gyroCalculateCalibratingCycles();
}
static void gyroSetCalibrationCycles(gyroSensor_t *gyroSensor)
{
gyroSensor->calibration.calibratingG = gyroCalculateCalibratingCycles();
}
void gyroStartCalibration(bool isFirstArmingCalibration)
{
if (!(isFirstArmingCalibration && firstArmingCalibrationWasStarted)) {
gyroSetCalibrationCycles(&gyroSensor1);
if (isFirstArmingCalibration) {
firstArmingCalibrationWasStarted = true;
}
}
}
bool isFirstArmingGyroCalibrationRunning(void)
{
return firstArmingCalibrationWasStarted && !isGyroCalibrationComplete();
}
STATIC_UNIT_TESTED void performGyroCalibration(gyroSensor_t *gyroSensor, uint8_t gyroMovementCalibrationThreshold)
{
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
// Reset g[axis] at start of calibration
if (isOnFirstGyroCalibrationCycle(&gyroSensor->calibration)) {
gyroSensor->calibration.sum[axis] = 0;
devClear(&gyroSensor->calibration.var[axis]);
// gyroZero is set to zero until calibration complete
gyroSensor->gyroDev.gyroZero[axis] = 0;
}
// Sum up CALIBRATING_GYRO_CYCLES readings
gyroSensor->calibration.sum[axis] += gyroSensor->gyroDev.gyroADCRaw[axis];
devPush(&gyroSensor->calibration.var[axis], gyroSensor->gyroDev.gyroADCRaw[axis]);
if (isOnFinalGyroCalibrationCycle(&gyroSensor->calibration)) {
const float stddev = devStandardDeviation(&gyroSensor->calibration.var[axis]);
DEBUG_SET(DEBUG_GYRO, DEBUG_GYRO_CALIBRATION, lrintf(stddev));
// check deviation and startover in case the model was moved
if (gyroMovementCalibrationThreshold && stddev > gyroMovementCalibrationThreshold) {
gyroSetCalibrationCycles(gyroSensor);
return;
}
gyroSensor->gyroDev.gyroZero[axis] = (gyroSensor->calibration.sum[axis] + (gyroCalculateCalibratingCycles() / 2)) / gyroCalculateCalibratingCycles();
}
}
if (isOnFinalGyroCalibrationCycle(&gyroSensor->calibration)) {
schedulerResetTaskStatistics(TASK_SELF); // so calibration cycles do not pollute tasks statistics
if (!firstArmingCalibrationWasStarted || !isArmingDisabled()) {
beeper(BEEPER_GYRO_CALIBRATED);
}
}
--gyroSensor->calibration.calibratingG;
}
void gyroUpdateSensor(gyroSensor_t *gyroSensor)
{
if (!gyroSensor->gyroDev.readFn(&gyroSensor->gyroDev)) {
return;
}
gyroSensor->gyroDev.dataReady = false;
if (isGyroSensorCalibrationComplete(gyroSensor)) {
// move gyro data into 32-bit variables to avoid overflows in calculations
gyroSensor->gyroDev.gyroADC[X] = (int32_t)gyroSensor->gyroDev.gyroADCRaw[X] - (int32_t)gyroSensor->gyroDev.gyroZero[X];
gyroSensor->gyroDev.gyroADC[Y] = (int32_t)gyroSensor->gyroDev.gyroADCRaw[Y] - (int32_t)gyroSensor->gyroDev.gyroZero[Y];
gyroSensor->gyroDev.gyroADC[Z] = (int32_t)gyroSensor->gyroDev.gyroADCRaw[Z] - (int32_t)gyroSensor->gyroDev.gyroZero[Z];
alignSensors(gyroSensor->gyroDev.gyroADC, gyroSensor->gyroDev.gyroAlign);
} else {
performGyroCalibration(gyroSensor, gyroConfig()->gyroMovementCalibrationThreshold);
// Reset gyro values to zero to prevent other code from using uncalibrated data
gyro.gyroADCf[X] = 0.0f;
gyro.gyroADCf[Y] = 0.0f;
gyro.gyroADCf[Z] = 0.0f;
// still calibrating, so no need to further process gyro data
return;
}
#ifdef USE_GYRO_DATA_ANALYSE
gyroDataAnalyse(&gyroSensor->gyroDev, gyroSensor->notchFilterDyn);
#endif
if (gyroDebugMode == DEBUG_NONE) {
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
// NOTE: this branch optimized for when there is no gyro debugging, ensure it is kept in step with non-optimized branch
float gyroADCf = (float)gyroSensor->gyroDev.gyroADC[axis] * gyroSensor->gyroDev.scale;
#ifdef USE_GYRO_DATA_ANALYSE
gyroADCf = gyroSensor->notchFilterDynApplyFn(&gyroSensor->notchFilterDyn[axis], gyroADCf);
#endif
gyroADCf = gyroSensor->notchFilter1ApplyFn(&gyroSensor->notchFilter1[axis], gyroADCf);
gyroADCf = gyroSensor->notchFilter2ApplyFn(&gyroSensor->notchFilter2[axis], gyroADCf);
gyroADCf = gyroSensor->softLpfFilterApplyFn(gyroSensor->softLpfFilterPtr[axis], gyroADCf);
gyro.gyroADCf[axis] = gyroADCf;
}
} else {
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
DEBUG_SET(DEBUG_GYRO_RAW, axis, gyroSensor->gyroDev.gyroADCRaw[axis]);
// scale gyro output to degrees per second
float gyroADCf = (float)gyroSensor->gyroDev.gyroADC[axis] * gyroSensor->gyroDev.scale;
// DEBUG_GYRO_NOTCH records the unfiltered gyro output
DEBUG_SET(DEBUG_GYRO_NOTCH, axis, lrintf(gyroADCf));
#ifdef USE_GYRO_DATA_ANALYSE
// Apply Dynamic Notch filtering
if (isDynamicFilterActive()) {
if (axis == 0) {
DEBUG_SET(DEBUG_FFT, 0, lrintf(gyroADCf)); // store raw data
}
gyroADCf = gyroSensor->notchFilterDynApplyFn(&gyroSensor->notchFilterDyn[axis], gyroADCf);
if (axis == 0) {
DEBUG_SET(DEBUG_FFT, 1, lrintf(gyroADCf)); // store data after dynamic notch
}
}
#endif
// Apply Static Notch filtering
gyroADCf = gyroSensor->notchFilter1ApplyFn(&gyroSensor->notchFilter1[axis], gyroADCf);
gyroADCf = gyroSensor->notchFilter2ApplyFn(&gyroSensor->notchFilter2[axis], gyroADCf);
// Apply LPF
DEBUG_SET(DEBUG_GYRO, axis, lrintf(gyroADCf));
gyroADCf = gyroSensor->softLpfFilterApplyFn(gyroSensor->softLpfFilterPtr[axis], gyroADCf);
gyro.gyroADCf[axis] = gyroADCf;
}
}
}
void gyroUpdate(void)
{
gyroUpdateSensor(&gyroSensor1);
}
void gyroReadTemperature(void)
{
if (gyroSensor1.gyroDev.temperatureFn) {
gyroSensor1.gyroDev.temperatureFn(&gyroSensor1.gyroDev, &gyroSensor1.gyroDev.temperature);
}
}
int16_t gyroGetTemperature(void)
{
return gyroSensor1.gyroDev.temperature;
}
int16_t gyroRateDps(int axis)
{
return lrintf(gyro.gyroADCf[axis] / gyroSensor1.gyroDev.scale);
}
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