58 lines
1.4 KiB
C
58 lines
1.4 KiB
C
/*
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* gyro_sync.c
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*
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* Created on: 3 aug. 2015
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* Author: borisb
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*/
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#include <stdbool.h>
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#include <stdint.h>
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#include "platform.h"
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#include "drivers/sensor.h"
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#include "drivers/accgyro/accgyro.h"
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#include "drivers/gyro_sync.h"
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bool gyroSyncCheckUpdate(gyroDev_t *gyro)
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{
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if (!gyro->intStatus)
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return false;
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return gyro->intStatus(gyro);
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}
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uint32_t gyroSetSampleRate(gyroDev_t *gyro, uint8_t lpf, uint8_t gyroSyncDenominator, bool gyro_use_32khz)
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{
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float gyroSamplePeriod;
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if (lpf == GYRO_LPF_256HZ || lpf == GYRO_LPF_NONE) {
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if (gyro_use_32khz) {
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gyro->gyroRateKHz = GYRO_RATE_32_kHz;
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gyroSamplePeriod = 31.5f;
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} else {
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#ifdef USE_ACCGYRO_BMI160
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gyro->gyroRateKHz = GYRO_RATE_3200_Hz;
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gyroSamplePeriod = 312.0f;
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#else
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gyro->gyroRateKHz = GYRO_RATE_8_kHz;
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gyroSamplePeriod = 125.0f;
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#endif
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}
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} else {
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gyro->gyroRateKHz = GYRO_RATE_1_kHz;
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gyroSamplePeriod = 1000.0f;
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gyroSyncDenominator = 1; // Always full Sampling 1khz
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}
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// calculate gyro divider and targetLooptime (expected cycleTime)
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gyro->mpuDividerDrops = gyroSyncDenominator - 1;
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const uint32_t targetLooptime = (uint32_t)(gyroSyncDenominator * gyroSamplePeriod);
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return targetLooptime;
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}
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uint8_t gyroMPU6xxxGetDividerDrops(const gyroDev_t *gyro)
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{
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return gyro->mpuDividerDrops;
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}
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