Removed gyroDev_t from gyro_t

src/main/drivers/gyro_sync.c

@@ -24,7 +24,7 @@
 #include "accgyro.h"
 #include "gyro_sync.h"
 
-bool gyroSyncCheckUpdate(gyroDev_t *gyro)
+bool gyroSyncCheckIntStatus(gyroDev_t *gyro)
 {
     if (!gyro->intStatus)
         return false;

src/main/drivers/gyro_sync.h

@@ -17,6 +17,6 @@
 
 #include "drivers/accgyro.h"
 
-bool gyroSyncCheckUpdate(gyroDev_t *gyro);
+bool gyroSyncCheckIntStatus(gyroDev_t *gyro);
 uint8_t gyroMPU6xxxGetDividerDrops(const gyroDev_t *gyro);
 uint32_t gyroSetSampleRate(gyroDev_t *gyro, uint32_t looptime, uint8_t lpf, uint8_t gyroSync, uint8_t gyroSyncDenominator);

src/main/fc/cli.c

@@ -516,6 +516,9 @@ static const clivalue_t valueTable[] = {
     { "gyro_notch2_hz",             VAR_UINT16 | MASTER_VALUE, .config.minmax = {0, 500 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_soft_notch_hz_2)  },
     { "gyro_notch2_cutoff",         VAR_UINT16 | MASTER_VALUE, .config.minmax = {1, 500 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_soft_notch_cutoff_2)  },
 #endif
+#ifdef USE_DUAL_GYRO
+    { "gyro_to_use",                VAR_UINT8  | MASTER_VALUE, .config.minmax = { 0, 1 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_to_use) },
+#endif
 
 // PG_ACCELEROMETER_CONFIG
     { "align_acc",                  VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_ALIGNMENT }, PG_ACCELEROMETER_CONFIG, offsetof(accelerometerConfig_t, acc_align) },

src/main/fc/fc_core.c

@@ -220,11 +220,6 @@ void annexCode(void)
 
         warningLedUpdate();
     }
-
-    // Read out gyro temperature. can use it for something somewhere. maybe get MCU temperature instead? lots of fun possibilities.
-    if (gyro.dev.temperature) {
-        gyro.dev.temperature(&gyro.dev, &telemTemperature1);
-    }
 }
 
 void mwDisarm(void)
@@ -563,7 +558,7 @@ void taskGyro(timeUs_t currentTimeUs) {
 
     if (gyroConfig()->gyroSync) {
         while (true) {
-            if (gyroSyncCheckUpdate(&gyro.dev) || ((currentDeltaTime + cmpTimeUs(micros(), currentTimeUs)) >= (getGyroUpdateRate() + GYRO_WATCHDOG_DELAY))) {
+            if (gyroSyncCheckUpdate() || ((currentDeltaTime + cmpTimeUs(micros(), currentTimeUs)) >= (getGyroUpdateRate() + GYRO_WATCHDOG_DELAY))) {
                 break;
             }
         }

src/main/fc/fc_msp.c

@@ -586,7 +586,7 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
                 sbufWriteU16(dst, acc.accADC[i] / scale);
             }
             for (int i = 0; i < 3; i++) {
-                sbufWriteU16(dst, lrintf(gyro.gyroADCf[i] / gyro.dev.scale));
+                sbufWriteU16(dst, gyroRateDps(i));
             }
             for (int i = 0; i < 3; i++) {
                 sbufWriteU16(dst, mag.magADC[i]);

src/main/sensors/acceleration.c

@@ -275,8 +275,8 @@ bool accInit(uint32_t targetLooptime)
     memset(&acc, 0, sizeof(acc));
     // copy over the common gyro mpu settings
     acc.dev.bus = *gyroSensorBus();
-    acc.dev.mpuConfiguration = gyro.dev.mpuConfiguration;
+    acc.dev.mpuConfiguration = *gyroMpuConfiguration();
-    acc.dev.mpuDetectionResult = gyro.dev.mpuDetectionResult;
+    acc.dev.mpuDetectionResult = *gyroMpuDetectionResult();
     if (!accDetect(&acc.dev, accelerometerConfig()->acc_hardware)) {
         return false;
     }

src/main/sensors/gyro.c

@@ -70,6 +70,9 @@
 
 gyro_t gyro; // gyro sensor object
 
+static gyroDev_t gyroDev0;
+static int16_t gyroTemperature0;
+
 typedef struct gyroCalibration_s {
     int32_t g[XYZ_AXIS_COUNT];
     stdev_t var[XYZ_AXIS_COUNT];
@@ -101,6 +104,7 @@ PG_RESET_TEMPLATE(gyroConfig_t, gyroConfig,
     .looptime = 2000,
     .gyroSync = 0,
     .gyroSyncDenominator = 2,
+    .gyro_to_use = 0,
     .gyro_soft_notch_hz_1 = 0,
     .gyro_soft_notch_cutoff_1 = 1,
     .gyro_soft_notch_hz_2 = 0,
@@ -117,6 +121,10 @@ static const extiConfig_t *selectMPUIntExtiConfig(void)
 #if defined(MPU_INT_EXTI)
     static const extiConfig_t mpuIntExtiConfig = { .tag = IO_TAG(MPU_INT_EXTI) };
     return &mpuIntExtiConfig;
+#elif defined(USE_DUAL_GYRO)
+    static extiConfig_t mpuIntExtiConfig;
+    mpuIntExtiConfig.tag = gyroConfig()->gyro_to_use == 0  ? IO_TAG(GYRO_0_INT_EXTI) : IO_TAG(GYRO_1_INT_EXTI);
+    return &mpuIntExtiConfig;
 #elif defined(USE_HARDWARE_REVISION_DETECTION)
     return selectMPUIntExtiConfigByHardwareRevision();
 #else
@@ -130,7 +138,16 @@ static const extiConfig_t *selectMPUIntExtiConfig(void)
 
 const busDevice_t *gyroSensorBus(void)
 {
-    return &gyro.dev.bus;
+    return &gyroDev0.bus;
+}
+
+const mpuConfiguration_t *gyroMpuConfiguration(void)
+{
+    return &gyroDev0.mpuConfiguration;
+}
+const mpuDetectionResult_t *gyroMpuDetectionResult(void)
+{
+    return &gyroDev0.mpuDetectionResult;
 }
 
 STATIC_UNIT_TESTED gyroSensor_e gyroDetect(gyroDev_t *dev, gyroSensor_e gyroHardware)
@@ -257,23 +274,29 @@ bool gyroInit(void)
     memset(&gyro, 0, sizeof(gyro));
     const extiConfig_t *extiConfig = selectMPUIntExtiConfig();
 #ifdef USE_GYRO_MPU
-    mpuDetect(&gyro.dev);
+#ifdef USE_DUAL_GYRO
-    mpuResetFn = gyro.dev.mpuConfiguration.resetFn;
+    // set cnsPin using GYRO_n_CS_PIN defined in target.h
+    gyroDev0.bus.spi.csnPin = gyroConfig()->gyro_to_use == 0 ? IOGetByTag(IO_TAG(GYRO_0_CS_PIN)) : IOGetByTag(IO_TAG(GYRO_1_CS_PIN));
+#else
+    gyroDev0.bus.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(&gyroDev0);
+    mpuResetFn = gyroDev0.mpuConfiguration.resetFn;
 #endif
-    gyro.dev.mpuIntExtiConfig =  extiConfig;
+    gyroDev0.mpuIntExtiConfig =  extiConfig;
-    if (gyroDetect(&gyro.dev, GYRO_AUTODETECT) == GYRO_NONE) {
+    if (gyroDetect(&gyroDev0, GYRO_AUTODETECT) == GYRO_NONE) {
         return false;
     }
     // After refactoring this function is always called after gyro sampling rate is known, so
     // no additional condition is required
     // Set gyro sample rate before driver initialisation
-    gyro.dev.lpf = gyroConfig()->gyro_lpf;
+    gyroDev0.lpf = gyroConfig()->gyro_lpf;
-    gyro.targetLooptime = gyroSetSampleRate(&gyro.dev, gyroConfig()->looptime, gyroConfig()->gyro_lpf, gyroConfig()->gyroSync, gyroConfig()->gyroSyncDenominator);
+    gyro.targetLooptime = gyroSetSampleRate(&gyroDev0, gyroConfig()->looptime, gyroConfig()->gyro_lpf, gyroConfig()->gyroSync, gyroConfig()->gyroSyncDenominator);
     // driver initialisation
-    gyro.dev.init(&gyro.dev);
+    gyroDev0.init(&gyroDev0);
 
     if (gyroConfig()->gyro_align != ALIGN_DEFAULT) {
-        gyro.dev.gyroAlign = gyroConfig()->gyro_align;
+        gyroDev0.gyroAlign = gyroConfig()->gyro_align;
     }
     gyroInitFilters();
     return true;
@@ -384,15 +407,15 @@ STATIC_UNIT_TESTED void performGyroCalibration(gyroDev_t *dev, gyroCalibration_t
 void gyroUpdate(void)
 {
     // range: +/- 8192; +/- 2000 deg/sec
-    if (gyro.dev.read(&gyro.dev)) {
+    if (gyroDev0.read(&gyroDev0)) {
         if (isCalibrationComplete(&gyroCalibration)) {
             // Copy gyro value into int32_t (to prevent overflow) and then apply calibration and alignment
-            gyroADC[X] = (int32_t)gyro.dev.gyroADCRaw[X] - (int32_t)gyro.dev.gyroZero[X];
+            gyroADC[X] = (int32_t)gyroDev0.gyroADCRaw[X] - (int32_t)gyroDev0.gyroZero[X];
-            gyroADC[Y] = (int32_t)gyro.dev.gyroADCRaw[Y] - (int32_t)gyro.dev.gyroZero[Y];
+            gyroADC[Y] = (int32_t)gyroDev0.gyroADCRaw[Y] - (int32_t)gyroDev0.gyroZero[Y];
-            gyroADC[Z] = (int32_t)gyro.dev.gyroADCRaw[Z] - (int32_t)gyro.dev.gyroZero[Z];
+            gyroADC[Z] = (int32_t)gyroDev0.gyroADCRaw[Z] - (int32_t)gyroDev0.gyroZero[Z];
-            alignSensors(gyroADC, gyro.dev.gyroAlign);
+            alignSensors(gyroADC, gyroDev0.gyroAlign);
         } else {
-            performGyroCalibration(&gyro.dev, &gyroCalibration, gyroConfig()->gyroMovementCalibrationThreshold);
+            performGyroCalibration(&gyroDev0, &gyroCalibration, 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;
@@ -406,7 +429,7 @@ void gyroUpdate(void)
     }
 
     for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
-        float gyroADCf = (float)gyroADC[axis] * gyro.dev.scale;
+        float gyroADCf = (float)gyroADC[axis] * gyroDev0.scale;
 
         DEBUG_SET(DEBUG_GYRO, axis, lrintf(gyroADCf));
 
@@ -423,3 +446,25 @@ void gyroUpdate(void)
         gyro.gyroADCf[axis] = gyroADCf;
     }
 }
+
+void gyroReadTemperature(void)
+{
+    if (gyroDev0.temperature) {
+        gyroDev0.temperature(&gyroDev0, &gyroTemperature0);
+    }
+}
+
+int16_t gyroGetTemperature(void)
+{
+    return gyroTemperature0;
+}
+
+int16_t gyroRateDps(int axis)
+{
+    return lrintf(gyro.gyroADCf[axis] / gyroDev0.scale);
+}
+
+bool gyroSyncCheckUpdate(void)
+{
+    return gyroSyncCheckIntStatus(&gyroDev0);
+}

src/main/sensors/gyro.h

@@ -36,7 +36,6 @@ typedef enum {
 } gyroSensor_e;
 
 typedef struct gyro_s {
-    gyroDev_t dev;
     uint32_t targetLooptime;
     float gyroADCf[XYZ_AXIS_COUNT];
 } gyro_t;
@@ -51,6 +50,7 @@ typedef struct gyroConfig_s {
     uint16_t looptime;                      // imu loop time in us
     uint8_t  gyro_lpf;                      // gyro LPF setting - values are driver specific, in case of invalid number, a reasonable default ~30-40HZ is chosen.
     uint8_t  gyro_soft_lpf_hz;
+    uint8_t  gyro_to_use;
     uint16_t gyro_soft_notch_hz_1;
     uint16_t gyro_soft_notch_cutoff_1;
     uint16_t gyro_soft_notch_hz_2;
@@ -63,5 +63,13 @@ bool gyroInit(void);
 void gyroInitFilters(void);
 void gyroUpdate(void);
 const busDevice_t *gyroSensorBus(void);
+struct mpuConfiguration_s;
+const struct mpuConfiguration_s *gyroMpuConfiguration(void);
+struct mpuDetectionResult_s;
+const struct mpuDetectionResult_s *gyroMpuDetectionResult(void);
 void gyroSetCalibrationCycles(uint16_t calibrationCyclesRequired);
 bool gyroIsCalibrationComplete(void);
+void gyroReadTemperature(void);
+int16_t gyroGetTemperature(void);
+int16_t gyroRateDps(int axis);
+bool gyroSyncCheckUpdate(void);

src/main/target/PIXRACER/target.h

@@ -44,22 +44,17 @@
 #define GYRO_MPU6500_ALIGN      CW180_DEG_FLIP
 #define ACC_MPU6500_ALIGN       CW180_DEG_FLIP
 
-#ifdef PIXRACER_ICM20608
+#define USE_DUAL_GYRO
-    // Variant that uses ICM20608 gyro/acc
+#define ICM20608_CS_PIN         PC15
-    #define ICM20608_CS_PIN         PC15
+#define ICM20608_SPI_INSTANCE   SPI1
-    #define MPU6500_CS_PIN          PC15
+#define GYRO_0_CS_PIN           ICM20608_CS_PIN
-    #define MPU6500_SPI_INSTANCE    SPI1
+#define GYRO_0_INT_EXTI         PC14
-
+// MPU9250 gyro/acc/mag
-    #define MPU_INT_EXTI            PC14        // ICM20608
+#define USE_MAG_AK8963
-#else
+#define MPU6500_CS_PIN          PC2
-    // Variant to use MPU9250 gyro/acc/mag
+#define GYRO_1_CS_PIN           MPU6500_CS_PIN
-    #define USE_MAG_AK8963
+#define MPU6500_SPI_INSTANCE    SPI1
-
+#define GYRO_1_INT_EXTI         PD15
-    #define MPU6500_CS_PIN          PC2
-    #define MPU6500_SPI_INSTANCE    SPI1
-
-    #define MPU_INT_EXTI            PD15        // MPU9250
-#endif
 
 #define ACC
 #define GYRO