CLI interface to set async modes

src/main/config/config.c

@@ -381,6 +381,32 @@ static void resetServoMixerConfig(servoMixerConfig_t *servoMixerConfig)
 }
 #endif
 
+#ifdef ASYNC_GYRO_PROCESSING
+uint32_t getLooptime(void) {
+    return masterConfig.looptime;
+}
+
+uint16_t getAccUpdateFrequency(void) {
+    if (masterConfig.asyncMode == ASYNC_MODE_ALL) {
+        return masterConfig.accTaskFrequency;
+    } else {
+        return 1000000 / getLooptime();
+    }
+}
+
+uint16_t getAttiUpdateFrequency(void) {
+    if (masterConfig.asyncMode == ASYNC_MODE_ALL) {
+        return masterConfig.attiTaskFrequency;
+    } else {
+        return 1000000 / getLooptime();
+    }
+}
+
+uint8_t getAsyncMode(void) {
+    return masterConfig.asyncMode;
+}
+#endif
+
 uint8_t getCurrentProfile(void)
 {
     return masterConfig.current_profile_index;
@@ -522,6 +548,12 @@ static void resetConf(void)
     masterConfig.gyroSync = 0;
     masterConfig.gyroSyncDenominator = 2;
 
+#ifdef ASYNC_GYRO_PROCESSING
+    masterConfig.accTaskFrequency = ACC_TASK_FREQUENCY_DEFAULT;
+    masterConfig.attiTaskFrequency = ATTI_TASK_FREQUENCY_DEFAULT;
+    masterConfig.asyncMode = ASYNC_MODE_NONE;
+#endif
+
     resetPidProfile(&currentProfile->pidProfile);
 
     resetControlRateConfig(&masterConfig.controlRateProfiles[0]);

src/main/config/config.h

@@ -28,6 +28,20 @@
 #define MAX_CONTROL_RATE_PROFILE_COUNT 3
 #define ONESHOT_FEATURE_CHANGED_DELAY_ON_BOOT_MS 1500
 
+#define ACC_TASK_FREQUENCY_DEFAULT 500
+#define ACC_TASK_FREQUENCY_MIN 15
+#define ACC_TASK_FREQUENCY_MAX 1000
+#define ATTI_TASK_FREQUENCY_DEFAULT 1000
+#define ATTI_TASK_FREQUENCY_MIN 15
+#define ATTI_TASK_FREQUENCY_MAX 1000
+
+#ifdef ASYNC_GYRO_PROCESSING
+typedef enum {
+    ASYNC_MODE_NONE,
+    ASYNC_MODE_GYRO,
+    ASYNC_MODE_ALL
+} asyncMode_e;
+#endif
 
 typedef enum {
     FEATURE_RX_PPM = 1 << 0,
@@ -105,3 +119,9 @@ uint16_t getCurrentMinthrottle(void);
 struct master_s;
 void targetConfiguration(struct master_s *config);
 
+#ifdef ASYNC_GYRO_PROCESSING
+uint32_t getLooptime(void);
+uint16_t getAccUpdateFrequency(void);
+uint16_t getAttiUpdateFrequency(void);
+uint8_t getAsyncMode(void);
+#endif

src/main/config/config_master.h

@@ -74,6 +74,12 @@ typedef struct master_s {
     uint8_t gyroSync;                       // Enable interrupt based loop
     uint8_t gyroSyncDenominator;            // Gyro sync Denominator
 
+#ifdef ASYNC_GYRO_PROCESSING
+    uint16_t accTaskFrequency;
+    uint16_t attiTaskFrequency;
+    uint8_t asyncMode;
+#endif
+
     motorMixer_t customMotorMixer[MAX_SUPPORTED_MOTORS];
 #ifdef USE_SERVOS
     servoMixer_t customServoMixer[MAX_SERVO_RULES];

src/main/io/serial_cli.c

@@ -468,6 +468,12 @@ static const char * const lookupTablePwmProtocol[] = {
     "STANDARD", "ONESHOT125", "ONESHOT42", "MULTISHOT", "BRUSHED"
 };
 
+#ifdef ASYNC_GYRO_PROCESSING
+static const char * const lookupTableAsyncMode[] = {
+    "NONE", "GYRO", "ALL"
+};
+#endif
+
 typedef struct lookupTableEntry_s {
     const char * const *values;
     const uint8_t valueCount;
@@ -503,6 +509,9 @@ typedef enum {
 #endif
     TABLE_AUX_OPERATOR,
     TABLE_MOTOR_PWM_PROTOCOL,
+#ifdef ASYNC_GYRO_PROCESSING
+    TABLE_ASYNC_MODE,
+#endif
 } lookupTableIndex_e;
 
 static const lookupTableEntry_t lookupTables[] = {
@@ -535,6 +544,9 @@ static const lookupTableEntry_t lookupTables[] = {
 #endif
     { lookupTableAuxOperator, sizeof(lookupTableAuxOperator) / sizeof(char *) },
     { lookupTablePwmProtocol, sizeof(lookupTablePwmProtocol) / sizeof(char *) },
+#ifdef ASYNC_GYRO_PROCESSING
+    { lookupTableAsyncMode, sizeof(lookupTableAsyncMode) / sizeof(char *) },
+#endif
 };
 
 #define VALUE_TYPE_OFFSET 0
@@ -592,6 +604,12 @@ const clivalue_t valueTable[] = {
     { "gyro_sync",                  VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &masterConfig.gyroSync, .config.lookup = { TABLE_OFF_ON } },
     { "gyro_sync_denom",            VAR_UINT8  | MASTER_VALUE,  &masterConfig.gyroSyncDenominator, .config.minmax = { 1,  32 } },
 
+#ifdef ASYNC_GYRO_PROCESSING
+    { "acc_task_frequency",         VAR_UINT16 | MASTER_VALUE,  &masterConfig.accTaskFrequency, .config.minmax = { ACC_TASK_FREQUENCY_MIN,  ACC_TASK_FREQUENCY_MAX } },
+    { "atti_task_frequency",        VAR_UINT16 | MASTER_VALUE,  &masterConfig.attiTaskFrequency, .config.minmax = { ATTI_TASK_FREQUENCY_MIN,  ATTI_TASK_FREQUENCY_MAX } },
+    { "async_mode",                 VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &masterConfig.asyncMode, .config.lookup = { TABLE_ASYNC_MODE } },
+#endif
+
     { "mid_rc",                     VAR_UINT16 | MASTER_VALUE,  &masterConfig.rxConfig.midrc, .config.minmax = { 1200,  1700 }, 0 },
     { "min_check",                  VAR_UINT16 | MASTER_VALUE,  &masterConfig.rxConfig.mincheck, .config.minmax = { PWM_RANGE_ZERO,  PWM_RANGE_MAX }, 0 },
     { "max_check",                  VAR_UINT16 | MASTER_VALUE,  &masterConfig.rxConfig.maxcheck, .config.minmax = { PWM_RANGE_ZERO,  PWM_RANGE_MAX }, 0 },

src/main/target/common.h

@@ -25,6 +25,8 @@
 #define SERIAL_RX
 #define USE_CLI
 
+#define ASYNC_GYRO_PROCESSING
+
 #if (FLASH_SIZE <= 64)
 #define SKIP_TASK_STATISTICS
 #define SKIP_CLI_COMMAND_HELP