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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
This commit is contained in:
borisbstyle 2015-09-17 23:59:25 +02:00
parent 60053d5ea5
commit c45d3e1fdd
3 changed files with 35 additions and 17 deletions
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23
src/main/drivers/accgyro_mpu6050.c
View File

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

10
src/main/drivers/gyro_sync.c
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@ -31,16 +31,16 @@ extern gyro_t gyro;
uint32_t targetLooptime; uint32_t targetLooptime;
static uint8_t mpuDivider; static uint8_t mpuDivider;
bool getMpuInterrupt(gyro_t *gyro) bool getMpuDataStatus(gyro_t *gyro)
{ {
bool gyroIsUpdated; bool mpuDataStatus;
gyro->intStatus(&gyroIsUpdated); gyro->intStatus(&mpuDataStatus);
return gyroIsUpdated; return mpuDataStatus;
} }
bool gyroSyncCheckUpdate(void) { bool gyroSyncCheckUpdate(void) {
return getMpuInterrupt(&gyro); return getMpuDataStatus(&gyro);
} }
void gyroUpdateSampleRate(uint32_t looptime, uint8_t lpf, uint8_t syncGyroToLoop) { void gyroUpdateSampleRate(uint32_t looptime, uint8_t lpf, uint8_t syncGyroToLoop) {

19
src/main/mw.c
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@ -92,7 +92,7 @@ enum {
#define VBATINTERVAL (6 * 3500) #define VBATINTERVAL (6 * 3500)
/* IBat monitoring interval (in microseconds) - 6 default looptimes */ /* IBat monitoring interval (in microseconds) - 6 default looptimes */
#define IBATINTERVAL (6 * 3500) #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 currentTime = 0;
uint32_t previousTime = 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) void loop(void)
{ {
static uint32_t loopTime; static uint32_t loopTime;
@ -784,7 +799,7 @@ void loop(void)
} }
currentTime = micros(); currentTime = micros();
if ((!masterConfig.syncGyroToLoop && masterConfig.looptime == 0) || ((int32_t)(currentTime - loopTime) >= 0)) { if (runLoop(loopTime)) {
loopTime = currentTime + targetLooptime; loopTime = currentTime + targetLooptime;