From 4fdee6ec1c341289963513c8fde03c47f4868d53 Mon Sep 17 00:00:00 2001 From: AJ Christensen Date: Tue, 12 Feb 2019 15:15:44 +1300 Subject: [PATCH] Gyro Sensors: Remove 32kHz gyro sampling mode(s) and associated code --- src/main/blackbox/blackbox.c | 3 --- src/main/cli/settings.c | 16 -------------- src/main/cli/settings.h | 3 --- src/main/drivers/accgyro/accgyro_mpu.c | 21 ++----------------- src/main/drivers/accgyro/accgyro_mpu.h | 7 ------- src/main/drivers/accgyro/accgyro_mpu6500.c | 2 +- .../drivers/accgyro/accgyro_spi_icm20689.c | 2 +- .../drivers/accgyro/accgyro_spi_mpu9250.c | 2 +- src/main/drivers/accgyro/gyro_sync.c | 9 ++------ src/main/drivers/accgyro/gyro_sync.h | 2 +- src/main/fc/config.c | 16 ++------------ src/main/msp/msp.c | 8 +++---- src/main/sensors/gyro.c | 20 +----------------- src/main/sensors/gyro.h | 2 -- src/main/target/ALIENWHOOP/config.c | 7 ------- src/main/target/DALRCF722DUAL/config.c | 18 +--------------- src/main/target/DALRCF722DUAL/target.h | 1 - src/main/target/common_post.h | 4 ---- src/test/unit/blackbox_unittest.cc | 2 +- 19 files changed, 17 insertions(+), 128 deletions(-) diff --git a/src/main/blackbox/blackbox.c b/src/main/blackbox/blackbox.c index f2d4c7863..9ca0e410e 100644 --- a/src/main/blackbox/blackbox.c +++ b/src/main/blackbox/blackbox.c @@ -1324,9 +1324,6 @@ static bool blackboxWriteSysinfo(void) BLACKBOX_PRINT_HEADER_LINE("yaw_deadband", "%d", rcControlsConfig()->yaw_deadband); BLACKBOX_PRINT_HEADER_LINE("gyro_hardware_lpf", "%d", gyroConfig()->gyro_hardware_lpf); -#ifdef USE_32K_CAPABLE_GYRO - BLACKBOX_PRINT_HEADER_LINE("gyro_32khz_hardware_lpf", "%d", gyroConfig()->gyro_32khz_hardware_lpf); -#endif BLACKBOX_PRINT_HEADER_LINE("gyro_lowpass_type", "%d", gyroConfig()->gyro_lowpass_type); BLACKBOX_PRINT_HEADER_LINE("gyro_lowpass_hz", "%d", gyroConfig()->gyro_lowpass_hz); BLACKBOX_PRINT_HEADER_LINE("gyro_lowpass2_type", "%d", gyroConfig()->gyro_lowpass2_type); diff --git a/src/main/cli/settings.c b/src/main/cli/settings.c index 006ae6521..b10cff444 100644 --- a/src/main/cli/settings.c +++ b/src/main/cli/settings.c @@ -247,13 +247,6 @@ static const char * const lookupTableGyroHardwareLpf[] = { #endif }; -#if defined(USE_32K_CAPABLE_GYRO) && defined(USE_GYRO_DLPF_EXPERIMENTAL) -static const char * const lookupTableGyro32khzHardwareLpf[] = { - "NORMAL", - "EXPERIMENTAL" -}; -#endif - #ifdef USE_CAMERA_CONTROL static const char * const lookupTableCameraControlMode[] = { "HARDWARE_PWM", @@ -487,9 +480,6 @@ const lookupTableEntry_t lookupTables[] = { LOOKUP_TABLE_ENTRY(lookupTableRxSpi), #endif LOOKUP_TABLE_ENTRY(lookupTableGyroHardwareLpf), -#if defined(USE_32K_CAPABLE_GYRO) && defined(USE_GYRO_DLPF_EXPERIMENTAL) - LOOKUP_TABLE_ENTRY(lookupTableGyro32khzHardwareLpf), -#endif LOOKUP_TABLE_ENTRY(lookupTableAccHardware), #ifdef USE_BARO LOOKUP_TABLE_ENTRY(lookupTableBaroHardware), @@ -579,9 +569,6 @@ const lookupTableEntry_t lookupTables[] = { const clivalue_t valueTable[] = { // PG_GYRO_CONFIG { "gyro_hardware_lpf", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_GYRO_HARDWARE_LPF }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_hardware_lpf) }, -#if defined(USE_32K_CAPABLE_GYRO) && defined(USE_GYRO_DLPF_EXPERIMENTAL) - { "gyro_32khz_hardware_lpf", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_GYRO_32KHZ_HARDWARE_LPF }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_32khz_hardware_lpf) }, -#endif #if defined(USE_GYRO_SPI_ICM20649) { "gyro_high_range", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_high_fsr) }, #endif @@ -609,9 +596,6 @@ const clivalue_t valueTable[] = { { "yaw_spin_threshold", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 500, 1950 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, yaw_spin_threshold) }, #endif -#if defined(GYRO_USES_SPI) && defined(USE_32K_CAPABLE_GYRO) - { "gyro_use_32khz", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_use_32khz) }, -#endif #ifdef USE_MULTI_GYRO { "gyro_to_use", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_GYRO }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_to_use) }, #endif diff --git a/src/main/cli/settings.h b/src/main/cli/settings.h index 72f786e21..297b2d05a 100644 --- a/src/main/cli/settings.h +++ b/src/main/cli/settings.h @@ -52,9 +52,6 @@ typedef enum { TABLE_RX_SPI, #endif TABLE_GYRO_HARDWARE_LPF, -#if defined(USE_32K_CAPABLE_GYRO) && defined(USE_GYRO_DLPF_EXPERIMENTAL) - TABLE_GYRO_32KHZ_HARDWARE_LPF, -#endif TABLE_ACC_HARDWARE, #ifdef USE_BARO TABLE_BARO_HARDWARE, diff --git a/src/main/drivers/accgyro/accgyro_mpu.c b/src/main/drivers/accgyro/accgyro_mpu.c index 86c99775d..d66965383 100644 --- a/src/main/drivers/accgyro/accgyro_mpu.c +++ b/src/main/drivers/accgyro/accgyro_mpu.c @@ -324,7 +324,7 @@ void mpuGyroInit(gyroDev_t *gyro) uint8_t mpuGyroDLPF(gyroDev_t *gyro) { uint8_t ret = 0; - + // If gyro is in 32KHz mode then the DLPF bits aren't used if (gyro->gyroRateKHz <= GYRO_RATE_8_kHz) { switch (gyro->hardware_lpf) { @@ -342,7 +342,7 @@ uint8_t mpuGyroDLPF(gyroDev_t *gyro) case GYRO_HARDWARE_LPF_1KHZ_SAMPLE: ret = 1; break; - + case GYRO_HARDWARE_LPF_NORMAL: default: ret = 0; @@ -352,23 +352,6 @@ uint8_t mpuGyroDLPF(gyroDev_t *gyro) return ret; } -uint8_t mpuGyroFCHOICE(gyroDev_t *gyro) -{ - if (gyro->gyroRateKHz > GYRO_RATE_8_kHz) { -#ifdef USE_GYRO_DLPF_EXPERIMENTAL - if (gyro->hardware_32khz_lpf == GYRO_32KHZ_HARDWARE_LPF_EXPERIMENTAL) { - return FCB_8800_32; - } else { - return FCB_3600_32; - } -#else - return FCB_3600_32; -#endif - } else { - return FCB_DISABLED; // Not in 32KHz mode, set FCHOICE to select 8KHz sampling - } -} - #ifdef USE_GYRO_REGISTER_DUMP uint8_t mpuGyroReadRegister(const busDevice_t *bus, uint8_t reg) { diff --git a/src/main/drivers/accgyro/accgyro_mpu.h b/src/main/drivers/accgyro/accgyro_mpu.h index f5db434c1..4acc18eb0 100644 --- a/src/main/drivers/accgyro/accgyro_mpu.h +++ b/src/main/drivers/accgyro/accgyro_mpu.h @@ -156,12 +156,6 @@ enum icm_high_range_gyro_fsr_e { NUM_ICM_HIGH_RANGE_GYRO_FSR }; -enum fchoice_b { - FCB_DISABLED = 0x00, - FCB_8800_32 = 0x01, - FCB_3600_32 = 0x02 -}; - enum clock_sel_e { INV_CLK_INTERNAL = 0, INV_CLK_PLL, @@ -226,7 +220,6 @@ bool mpuGyroReadSPI(struct gyroDev_s *gyro); void mpuPreInit(const struct gyroDeviceConfig_s *config); void mpuDetect(struct gyroDev_s *gyro, const struct gyroDeviceConfig_s *config); uint8_t mpuGyroDLPF(struct gyroDev_s *gyro); -uint8_t mpuGyroFCHOICE(struct gyroDev_s *gyro); uint8_t mpuGyroReadRegister(const busDevice_t *bus, uint8_t reg); struct accDev_s; diff --git a/src/main/drivers/accgyro/accgyro_mpu6500.c b/src/main/drivers/accgyro/accgyro_mpu6500.c index dd534e392..12db67968 100644 --- a/src/main/drivers/accgyro/accgyro_mpu6500.c +++ b/src/main/drivers/accgyro/accgyro_mpu6500.c @@ -72,7 +72,7 @@ void mpu6500GyroInit(gyroDev_t *gyro) delay(100); busWriteRegister(&gyro->bus, MPU_RA_PWR_MGMT_1, INV_CLK_PLL); delay(15); - busWriteRegister(&gyro->bus, MPU_RA_GYRO_CONFIG, gyro_range << 3 | mpuGyroFCHOICE(gyro)); + busWriteRegister(&gyro->bus, MPU_RA_GYRO_CONFIG, gyro_range << 3); delay(15); busWriteRegister(&gyro->bus, MPU_RA_ACCEL_CONFIG, accel_range << 3); delay(15); diff --git a/src/main/drivers/accgyro/accgyro_spi_icm20689.c b/src/main/drivers/accgyro/accgyro_spi_icm20689.c index d2b51c43d..0dd542cbb 100644 --- a/src/main/drivers/accgyro/accgyro_spi_icm20689.c +++ b/src/main/drivers/accgyro/accgyro_spi_icm20689.c @@ -129,7 +129,7 @@ void icm20689GyroInit(gyroDev_t *gyro) // delay(100); spiBusWriteRegister(&gyro->bus, MPU_RA_PWR_MGMT_1, INV_CLK_PLL); delay(15); - spiBusWriteRegister(&gyro->bus, MPU_RA_GYRO_CONFIG, INV_FSR_2000DPS << 3 | mpuGyroFCHOICE(gyro)); + spiBusWriteRegister(&gyro->bus, MPU_RA_GYRO_CONFIG, INV_FSR_2000DPS << 3); delay(15); spiBusWriteRegister(&gyro->bus, MPU_RA_ACCEL_CONFIG, INV_FSR_16G << 3); delay(15); diff --git a/src/main/drivers/accgyro/accgyro_spi_mpu9250.c b/src/main/drivers/accgyro/accgyro_spi_mpu9250.c index ade77ccf2..798786ed5 100644 --- a/src/main/drivers/accgyro/accgyro_spi_mpu9250.c +++ b/src/main/drivers/accgyro/accgyro_spi_mpu9250.c @@ -131,7 +131,7 @@ static void mpu9250AccAndGyroInit(gyroDev_t *gyro) { mpu9250SpiWriteRegisterVerify(&gyro->bus, MPU_RA_PWR_MGMT_1, INV_CLK_PLL); - mpu9250SpiWriteRegisterVerify(&gyro->bus, MPU_RA_GYRO_CONFIG, INV_FSR_2000DPS << 3 | mpuGyroFCHOICE(gyro)); + mpu9250SpiWriteRegisterVerify(&gyro->bus, MPU_RA_GYRO_CONFIG, INV_FSR_2000DPS << 3); mpu9250SpiWriteRegisterVerify(&gyro->bus, MPU_RA_CONFIG, mpuGyroDLPF(gyro)); diff --git a/src/main/drivers/accgyro/gyro_sync.c b/src/main/drivers/accgyro/gyro_sync.c index 55b43f4ec..e0603bf5e 100644 --- a/src/main/drivers/accgyro/gyro_sync.c +++ b/src/main/drivers/accgyro/gyro_sync.c @@ -47,16 +47,12 @@ bool gyroSyncCheckUpdate(gyroDev_t *gyro) return ret; } -uint32_t gyroSetSampleRate(gyroDev_t *gyro, uint8_t lpf, uint8_t gyroSyncDenominator, bool gyro_use_32khz) +uint32_t gyroSetSampleRate(gyroDev_t *gyro, uint8_t lpf, uint8_t gyroSyncDenominator) { float gyroSamplePeriod; if (lpf != GYRO_HARDWARE_LPF_1KHZ_SAMPLE) { - if (gyro_use_32khz) { - gyro->gyroRateKHz = GYRO_RATE_32_kHz; - gyroSamplePeriod = 31.25f; - } else { - switch (gyro->mpuDetectionResult.sensor) { + switch (gyro->mpuDetectionResult.sensor) { case BMI_160_SPI: gyro->gyroRateKHz = GYRO_RATE_3200_Hz; gyroSamplePeriod = 312.0f; @@ -69,7 +65,6 @@ uint32_t gyroSetSampleRate(gyroDev_t *gyro, uint8_t lpf, uint8_t gyroSyncDenomin gyro->gyroRateKHz = GYRO_RATE_8_kHz; gyroSamplePeriod = 125.0f; break; - } } } else { switch (gyro->mpuDetectionResult.sensor) { diff --git a/src/main/drivers/accgyro/gyro_sync.h b/src/main/drivers/accgyro/gyro_sync.h index dc8daa4e8..ab05deefb 100644 --- a/src/main/drivers/accgyro/gyro_sync.h +++ b/src/main/drivers/accgyro/gyro_sync.h @@ -30,4 +30,4 @@ #include "drivers/accgyro/accgyro.h" bool gyroSyncCheckUpdate(gyroDev_t *gyro); -uint32_t gyroSetSampleRate(gyroDev_t *gyro, uint8_t lpf, uint8_t gyroSyncDenominator, bool gyro_use_32khz); +uint32_t gyroSetSampleRate(gyroDev_t *gyro, uint8_t lpf, uint8_t gyroSyncDenominator); diff --git a/src/main/fc/config.c b/src/main/fc/config.c index 7cac2eef8..c694ab46b 100644 --- a/src/main/fc/config.c +++ b/src/main/fc/config.c @@ -466,21 +466,11 @@ void validateAndFixGyroConfig(void) if (gyroConfig()->gyro_hardware_lpf == GYRO_HARDWARE_LPF_1KHZ_SAMPLE) { pidConfigMutable()->pid_process_denom = 1; // When gyro set to 1khz always set pid speed 1:1 to sampling speed gyroConfigMutable()->gyro_sync_denom = 1; - gyroConfigMutable()->gyro_use_32khz = false; } - if (gyroConfig()->gyro_use_32khz) { - // F1 and F3 can't handle high sample speed. #if defined(STM32F1) - gyroConfigMutable()->gyro_sync_denom = MAX(gyroConfig()->gyro_sync_denom, 16); -#elif defined(STM32F3) - gyroConfigMutable()->gyro_sync_denom = MAX(gyroConfig()->gyro_sync_denom, 4); + gyroConfigMutable()->gyro_sync_denom = MAX(gyroConfig()->gyro_sync_denom, 3); #endif - } else { -#if defined(STM32F1) - gyroConfigMutable()->gyro_sync_denom = MAX(gyroConfig()->gyro_sync_denom, 3); -#endif - } float samplingTime; switch (gyroMpuDetectionResult()->sensor) { @@ -504,9 +494,7 @@ void validateAndFixGyroConfig(void) break; } } - if (gyroConfig()->gyro_use_32khz) { - samplingTime = 0.00003125; - } + // check for looptime restrictions based on motor protocol. Motor times have safety margin float motorUpdateRestriction; diff --git a/src/main/msp/msp.c b/src/main/msp/msp.c index 089243bc9..3b004fd06 100644 --- a/src/main/msp/msp.c +++ b/src/main/msp/msp.c @@ -1370,7 +1370,7 @@ static bool mspProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst) sbufWriteU8(dst, motorConfig()->dev.motorPwmProtocol); sbufWriteU16(dst, motorConfig()->dev.motorPwmRate); sbufWriteU16(dst, motorConfig()->digitalIdleOffsetValue); - sbufWriteU8(dst, gyroConfig()->gyro_use_32khz); + sbufWriteU8(dst, 0); // DEPRECATED: gyro_use_32kHz sbufWriteU8(dst, motorConfig()->dev.motorPwmInversion); sbufWriteU8(dst, gyroConfig()->gyro_to_use); sbufWriteU8(dst, gyroConfig()->gyro_high_fsr); @@ -1392,7 +1392,7 @@ static bool mspProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst) sbufWriteU16(dst, gyroConfig()->gyro_soft_notch_cutoff_2); sbufWriteU8(dst, currentPidProfile->dterm_filter_type); sbufWriteU8(dst, gyroConfig()->gyro_hardware_lpf); - sbufWriteU8(dst, gyroConfig()->gyro_32khz_hardware_lpf); + sbufWriteU8(dst, 0); // DEPRECATED: gyro_32khz_hardware_lpf sbufWriteU16(dst, gyroConfig()->gyro_lowpass_hz); sbufWriteU16(dst, gyroConfig()->gyro_lowpass2_hz); sbufWriteU8(dst, gyroConfig()->gyro_lowpass_type); @@ -1979,7 +1979,7 @@ static mspResult_e mspProcessInCommand(uint8_t cmdMSP, sbuf_t *src) motorConfigMutable()->digitalIdleOffsetValue = sbufReadU16(src); } if (sbufBytesRemaining(src)) { - gyroConfigMutable()->gyro_use_32khz = sbufReadU8(src); + sbufReadU8(src); // DEPRECATED: gyro_use_32khz } if (sbufBytesRemaining(src)) { motorConfigMutable()->dev.motorPwmInversion = sbufReadU8(src); @@ -2015,7 +2015,7 @@ static mspResult_e mspProcessInCommand(uint8_t cmdMSP, sbuf_t *src) } if (sbufBytesRemaining(src) >= 10) { gyroConfigMutable()->gyro_hardware_lpf = sbufReadU8(src); - gyroConfigMutable()->gyro_32khz_hardware_lpf = sbufReadU8(src); + sbufReadU8(src); // DEPRECATED: gyro_32khz_hardware_lpf gyroConfigMutable()->gyro_lowpass_hz = sbufReadU16(src); gyroConfigMutable()->gyro_lowpass2_hz = sbufReadU16(src); gyroConfigMutable()->gyro_lowpass_type = sbufReadU8(src); diff --git a/src/main/sensors/gyro.c b/src/main/sensors/gyro.c index 861acf2c7..fb90f6c78 100644 --- a/src/main/sensors/gyro.c +++ b/src/main/sensors/gyro.c @@ -201,13 +201,11 @@ void pgResetFn_gyroConfig(gyroConfig_t *gyroConfig) gyroConfig->gyroMovementCalibrationThreshold = 48; gyroConfig->gyro_sync_denom = GYRO_SYNC_DENOM_DEFAULT; gyroConfig->gyro_hardware_lpf = GYRO_HARDWARE_LPF_NORMAL; - gyroConfig->gyro_32khz_hardware_lpf = GYRO_32KHZ_HARDWARE_LPF_NORMAL; gyroConfig->gyro_lowpass_type = FILTER_PT1; gyroConfig->gyro_lowpass_hz = 100; gyroConfig->gyro_lowpass2_type = FILTER_PT1; gyroConfig->gyro_lowpass2_hz = 300; gyroConfig->gyro_high_fsr = false; - gyroConfig->gyro_use_32khz = false; gyroConfig->gyro_to_use = GYRO_CONFIG_USE_GYRO_DEFAULT; gyroConfig->gyro_soft_notch_hz_1 = 0; gyroConfig->gyro_soft_notch_cutoff_1 = 0; @@ -432,25 +430,9 @@ static bool gyroInitSensor(gyroSensor_t *gyroSensor, const gyroDeviceConfig_t *c 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_hardware_lpf, gyroConfig()->gyro_sync_denom, gyroConfig()->gyro_use_32khz); + gyro.targetLooptime = gyroSetSampleRate(&gyroSensor->gyroDev, gyroConfig()->gyro_hardware_lpf, gyroConfig()->gyro_sync_denom); gyroSensor->gyroDev.hardware_lpf = gyroConfig()->gyro_hardware_lpf; - gyroSensor->gyroDev.hardware_32khz_lpf = gyroConfig()->gyro_32khz_hardware_lpf; gyroSensor->gyroDev.initFn(&gyroSensor->gyroDev); // As new gyros are supported, be sure to add them below based on whether they are subject to the overflow/inversion bug diff --git a/src/main/sensors/gyro.h b/src/main/sensors/gyro.h index d4fc9123d..e73572166 100644 --- a/src/main/sensors/gyro.h +++ b/src/main/sensors/gyro.h @@ -72,10 +72,8 @@ typedef struct gyroConfig_s { uint8_t gyroMovementCalibrationThreshold; // people keep forgetting that moving model while init results in wrong gyro offsets. and then they never reset gyro. so this is now on by default. uint8_t gyro_sync_denom; // Gyro sample divider uint8_t gyro_hardware_lpf; // gyro DLPF setting - uint8_t gyro_32khz_hardware_lpf; // gyro 32khz DLPF setting uint8_t gyro_high_fsr; - uint8_t gyro_use_32khz; uint8_t gyro_to_use; uint16_t gyro_lowpass_hz; diff --git a/src/main/target/ALIENWHOOP/config.c b/src/main/target/ALIENWHOOP/config.c index de9a21a32..51b2b3f88 100644 --- a/src/main/target/ALIENWHOOP/config.c +++ b/src/main/target/ALIENWHOOP/config.c @@ -104,13 +104,6 @@ void targetConfiguration(void) systemConfigMutable()->cpu_overclock = 2; //216MHZ - /* Default to 32kHz enabled at 16/16 */ - gyroConfigMutable()->gyro_use_32khz = 1; // enable 32kHz sampling - gyroConfigMutable()->gyroMovementCalibrationThreshold = 200; // aka moron_threshold - gyroConfigMutable()->gyro_sync_denom = 2; // 16kHz gyro - pidConfigMutable()->pid_process_denom = 1; // 16kHz PID - gyroConfigMutable()->gyro_lowpass2_hz = 751; - pidConfigMutable()->runaway_takeoff_prevention = false; featureEnable((FEATURE_DYNAMIC_FILTER | FEATURE_AIRMODE | FEATURE_ANTI_GRAVITY) ^ FEATURE_RX_PARALLEL_PWM); diff --git a/src/main/target/DALRCF722DUAL/config.c b/src/main/target/DALRCF722DUAL/config.c index f07d7206a..0ae1fdf76 100644 --- a/src/main/target/DALRCF722DUAL/config.c +++ b/src/main/target/DALRCF722DUAL/config.c @@ -20,20 +20,4 @@ #include -#include "platform.h" - - -#ifdef TARGET_VALIDATECONFIG - -#include "fc/config.h" - -#include "sensors/gyro.h" - -void targetValidateConfiguration(void) -{ - if (gyroConfig()->gyro_use_32khz && gyroConfig()->gyroMovementCalibrationThreshold < 148) { - gyroConfigMutable()->gyroMovementCalibrationThreshold = 148; - } -} - -#endif +#include "platform.h" diff --git a/src/main/target/DALRCF722DUAL/target.h b/src/main/target/DALRCF722DUAL/target.h index d30bc1d29..f80146467 100644 --- a/src/main/target/DALRCF722DUAL/target.h +++ b/src/main/target/DALRCF722DUAL/target.h @@ -19,7 +19,6 @@ */ #pragma once -#define TARGET_VALIDATECONFIG #define TARGET_BOARD_IDENTIFIER "DLF7" #define USBD_PRODUCT_STRING "DALRCF722DUAL" diff --git a/src/main/target/common_post.h b/src/main/target/common_post.h index 038227d5b..ad3560c78 100644 --- a/src/main/target/common_post.h +++ b/src/main/target/common_post.h @@ -164,10 +164,6 @@ #define USE_USB_ADVANCED_PROFILES #endif -// Determine if the target could have a 32KHz capable gyro -#if defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_MPU9250) || defined(USE_GYRO_SPI_ICM20689) -#define USE_32K_CAPABLE_GYRO -#endif #if defined(USE_FLASH_W25M512) #define USE_FLASH_W25M diff --git a/src/test/unit/blackbox_unittest.cc b/src/test/unit/blackbox_unittest.cc index 02601b410..3b978368e 100644 --- a/src/test/unit/blackbox_unittest.cc +++ b/src/test/unit/blackbox_unittest.cc @@ -73,7 +73,7 @@ TEST(BlackboxTest, TestInitIntervals) EXPECT_EQ(4096, blackboxSInterval); // 1kHz PIDloop - gyro.targetLooptime = gyroSetSampleRate(&gyroDev, GYRO_HARDWARE_LPF_1KHZ_SAMPLE, 1, false); + gyro.targetLooptime = gyroSetSampleRate(&gyroDev, GYRO_HARDWARE_LPF_1KHZ_SAMPLE, 1); targetPidLooptime = gyro.targetLooptime * 1; blackboxInit(); EXPECT_EQ(32, blackboxIInterval);