MPU6050 MPU DATA READY // gyro sync activated

MPU6050 gets DATA READY pin based interrupt instad of i2c
SPI targets are still getting interrupt from SPI

src/main/drivers/accgyro_mpu6050.c

@@ -165,7 +165,9 @@ static void mpu6050AccInit(void);
 static bool mpu6050AccRead(int16_t *accData);
 static void mpu6050GyroInit(void);
 static bool mpu6050GyroRead(int16_t *gyroADC);
-static void checkMPU6050Interrupt(bool *gyroIsUpdated);
+static void checkMPU6050DataReady(bool *mpuDataReadyPtr);
+
+static bool mpuDataReady;
 
 typedef enum {
     MPU_6050_HALF_RESOLUTION,
@@ -184,6 +186,8 @@ void MPU_DATA_READY_EXTI_Handler(void)
 
     EXTI_ClearITPendingBit(mpu6050Config->exti_line);
 
+    mpuDataReady = true;
+
 #ifdef DEBUG_MPU_DATA_READY_INTERRUPT
     // Measure the delta in micro seconds between calls to the interrupt handler
     static uint32_t lastCalledAt = 0;
@@ -358,7 +362,7 @@ bool mpu6050GyroDetect(const mpu6050Config_t *configToUse, gyro_t *gyro, uint16_
 
     gyro->init = mpu6050GyroInit;
     gyro->read = mpu6050GyroRead;
-    gyro->intStatus = checkMPU6050Interrupt;
+    gyro->intStatus = checkMPU6050DataReady;
 
     // 16.4 dps/lsb scalefactor
     gyro->scale = 1.0f / 16.4f;
@@ -458,12 +462,11 @@ static bool mpu6050GyroRead(int16_t *gyroADC)
     return true;
 }
 
-void checkMPU6050Interrupt(bool *gyroIsUpdated) {
-	uint8_t mpuIntStatus;
-
-	i2cRead(MPU6050_ADDRESS, MPU_RA_INT_STATUS, 1, &mpuIntStatus);
-
-	delayMicroseconds(5);
-
-	(mpuIntStatus) ? (*gyroIsUpdated= true) : (*gyroIsUpdated= false);
+void checkMPU6050DataReady(bool *mpuDataReadyPtr) {
+	if (mpuDataReady) {
+		*mpuDataReadyPtr = true;
+	    mpuDataReady= false;
+	} else {
+		*mpuDataReadyPtr = false;
+	}
 }

src/main/drivers/gyro_sync.c

@@ -31,16 +31,16 @@ extern gyro_t gyro;
 uint32_t targetLooptime;
 static uint8_t mpuDivider;
 
-bool getMpuInterrupt(gyro_t *gyro)
+bool getMpuDataStatus(gyro_t *gyro)
 {
-    bool gyroIsUpdated;
+    bool mpuDataStatus;
 
-    gyro->intStatus(&gyroIsUpdated);
-    return gyroIsUpdated;
+    gyro->intStatus(&mpuDataStatus);
+    return mpuDataStatus;
 }
 
 bool gyroSyncCheckUpdate(void) {
-    return getMpuInterrupt(&gyro);
+    return getMpuDataStatus(&gyro);
 }
 
 void gyroUpdateSampleRate(uint32_t looptime, uint8_t lpf, uint8_t syncGyroToLoop) {

src/main/mw.c

@@ -92,7 +92,7 @@ enum {
 #define VBATINTERVAL (6 * 3500)       
 /* IBat monitoring interval (in microseconds) - 6 default looptimes */
 #define IBATINTERVAL (6 * 3500)
-#define GYRO_WATCHDOG_DELAY 150  // Watchdog for boards without interrupt for gyro
+#define GYRO_WATCHDOG_DELAY 100  // Watchdog for boards without interrupt for gyro
 
 uint32_t currentTime = 0;
 uint32_t previousTime = 0;
@@ -738,6 +738,21 @@ void filterRc(void){
     }
 }
 
+// Function for loop trigger
+bool runLoop(uint32_t loopTime) {
+	bool loopTrigger = false;
+
+    if (masterConfig.syncGyroToLoop) {
+        if (gyroSyncCheckUpdate() || (int32_t)(currentTime - (loopTime + GYRO_WATCHDOG_DELAY)) >= 0) {
+            loopTrigger = true;
+        }
+    } else if ((int32_t)(currentTime - loopTime) >= 0){
+        loopTrigger = true;
+    }
+
+    return loopTrigger;
+}
+
 void loop(void)
 {
     static uint32_t loopTime;
@@ -784,7 +799,7 @@ void loop(void)
     }
 
     currentTime = micros();
-    if ((!masterConfig.syncGyroToLoop && masterConfig.looptime == 0) || ((int32_t)(currentTime - loopTime) >= 0)) {
+    if (runLoop(loopTime)) {
 
         loopTime = currentTime + targetLooptime;