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Do runtime check to see if gyro supports 32kHz

This commit is contained in:
Martin Budden 2017-01-11 00:09:18 +00:00
parent a0cb722254
commit 7b90a76098
4 changed files with 18 additions and 13 deletions
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4
src/main/drivers/accgyro.h
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@ -26,10 +26,6 @@
#define MPU_I2C_INSTANCE I2C_DEVICE
#endif
#if defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_MPU9250) || defined(USE_GYRO_SPI_ICM20689)
#define GYRO_SUPPORTS_32KHZ
#endif
#define GYRO_LPF_256HZ 0
#define GYRO_LPF_188HZ 1
#define GYRO_LPF_98HZ 2

9
src/main/fc/config.c
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@ -1047,17 +1047,12 @@ void validateAndFixGyroConfig(void)
float samplingTime = 0.000125f;
if (gyroConfig()->gyro_use_32khz) {
#ifdef GYRO_SUPPORTS_32KHZ
samplingTime = 0.00003125;
// F1 and F3 can't handle high pid speed.
// F1 and F3 can't handle high pid speed
#if defined(STM32F1)
pidConfig()->pid_process_denom = constrain(pidConfig()->pid_process_denom, 16, 16);
#endif
#if defined(STM32F3)
#elif defined(STM32F3)
pidConfig()->pid_process_denom = constrain(pidConfig()->pid_process_denom, 4, 16);
#endif
#else
gyroConfig()->gyro_use_32khz = false;
#endif
}

2
src/main/fc/serial_cli.c
View File

@ -617,9 +617,7 @@ const clivalue_t valueTable[] = {
#if defined(GYRO_USES_SPI) && defined(USE_MPU_DATA_READY_SIGNAL)
{ "gyro_isr_update", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &gyroConfig()->gyro_isr_update, .config.lookup = { TABLE_OFF_ON } },
#endif
#ifdef GYRO_SUPPORTS_32KHZ
{ "gyro_use_32khz", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &gyroConfig()->gyro_use_32khz, .config.lookup = { TABLE_OFF_ON } },
#endif
{ "gyro_lowpass_type", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &gyroConfig()->gyro_soft_lpf_type, .config.lookup = { TABLE_LOWPASS_TYPE } },
{ "gyro_lowpass", VAR_UINT8 | MASTER_VALUE, &gyroConfig()->gyro_soft_lpf_hz, .config.minmax = { 0, 255 } },
{ "gyro_notch1_hz", VAR_UINT16 | MASTER_VALUE, &gyroConfig()->gyro_soft_notch_hz_1, .config.minmax = { 0, 1000 } },

16
src/main/sensors/gyro.c
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@ -242,6 +242,22 @@ bool gyroInit(const gyroConfig_t *gyroConfigToUse)
if (!gyroDetect(&gyro.dev)) {
return false;
}
switch (detectedSensors[SENSOR_INDEX_GYRO]) {
default:
// gyro does not support 32kHz
// cast away constness, legitimate as this is cross-validation
((gyroConfig_t*)gyroConfig)->gyro_use_32khz = false;
break;
case GYRO_MPU6500:
case GYRO_MPU9250:
case GYRO_ICM20689:
case GYRO_ICM20608G:
case GYRO_ICM20602:
// do nothing, as gyro supports 32kHz
break;
}
// Must set gyro sample rate before initialisation
gyro.targetLooptime = gyroSetSampleRate(&gyro.dev, gyroConfig->gyro_lpf, gyroConfig->gyro_sync_denom, gyroConfig->gyro_use_32khz);
gyro.dev.lpf = gyroConfig->gyro_lpf;