src/main/drivers/accgyro/gyro_sync.c

   1 /*
   2  * This file is part of Cleanflight and Betaflight.
   3  *
   4  * Cleanflight and Betaflight are free software. You can redistribute
   5  * this software and/or modify this software under the terms of the
   6  * GNU General Public License as published by the Free Software
   7  * Foundation, either version 3 of the License, or (at your option)
   8  * any later version.
   9  *
  10  * Cleanflight and Betaflight are distributed in the hope that they
  11  * will be useful, but WITHOUT ANY WARRANTY; without even the implied
  12  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  13  * See the GNU General Public License for more details.
  14  *
  15  * You should have received a copy of the GNU General Public License
  16  * along with this software.
  17  *
  18  * If not, see <http://www.gnu.org/licenses/>.
  19  */
  20
  21 /*
  22  * gyro_sync.c
  23  *
  24  *  Created on: 3 aug. 2015
  25  *      Author: borisb
  26  */
  27
  28 #include <stdbool.h>
  29 #include <stdint.h>
  30
  31 #include "platform.h"
  32
  33 #include "drivers/sensor.h"
  34 #include "drivers/accgyro/accgyro.h"
  35 #include "drivers/accgyro/gyro_sync.h"
  36
  37
  38 bool gyroSyncCheckUpdate(gyroDev_t *gyro)
  39 {
  40     bool ret;
  41     if (gyro->dataReady) {
  42         ret = true;
  43         gyro->dataReady= false;
  44     } else {
  45         ret = false;
  46     }
  47     return ret;
  48 }
  49
  50 uint16_t gyroSetSampleRate(gyroDev_t *gyro)
  51 {
  52     uint16_t gyroSampleRateHz;
  53     uint16_t accSampleRateHz;
  54
  55     switch (gyro->mpuDetectionResult.sensor) {
  56         case BMI_160_SPI:
  57             gyro->gyroRateKHz = GYRO_RATE_3200_Hz;
  58             gyroSampleRateHz = 3200;
  59             accSampleRateHz = 800;
  60             break;
  61         case BMI_270_SPI:
  62 #ifdef USE_GYRO_DLPF_EXPERIMENTAL
  63             if (gyro->hardware_lpf == GYRO_HARDWARE_LPF_EXPERIMENTAL) {
  64                 // 6.4KHz sampling, but data is unfiltered (no hardware DLPF)
  65                 gyro->gyroRateKHz = GYRO_RATE_6400_Hz;
  66                 gyroSampleRateHz = 6400;
  67             } else
  68 #endif
  69             {
  70                 gyro->gyroRateKHz = GYRO_RATE_3200_Hz;
  71                 gyroSampleRateHz = 3200;
  72             }
  73             accSampleRateHz = 800;
  74             break;
  75         case ICM_20649_SPI:
  76             gyro->gyroRateKHz = GYRO_RATE_9_kHz;
  77             gyroSampleRateHz = 9000;
  78             accSampleRateHz = 1125;
  79             break;
  80 #ifdef USE_ACCGYRO_LSM6DSO
  81         case LSM6DSO_SPI:
  82             gyro->gyroRateKHz = GYRO_RATE_6664_Hz;
  83             gyroSampleRateHz = 6664;   // Yes, this is correct per the datasheet. Will effectively round to 150us and 6.67KHz.
  84             accSampleRateHz = 833;
  85             break;
  86 #endif
  87         default:
  88             gyro->gyroRateKHz = GYRO_RATE_8_kHz;
  89             gyroSampleRateHz = 8000;
  90             accSampleRateHz = 1000;
  91             break;
  92     }
  93
  94     gyro->mpuDividerDrops  = 0; // we no longer use the gyro's sample divider
  95     gyro->accSampleRateHz = accSampleRateHz;
  96     return gyroSampleRateHz;
  97 }