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Improve LSM6DSO driver #2

Merged
merged 1 commit into from
Nov 18, 2022
Merged

Improve LSM6DSO driver #2

merged 1 commit into from
Nov 18, 2022

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DusKing1
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@DusKing1 DusKing1 commented Nov 11, 2022 •
edited by lida2003
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  • Added SPI DMA support (somehow the extihandler is not working)
  • Added gyro (IMU's built-in hardware) LPF1 selector, inspired by bmi's OSRx mode selector.
    • NORMAL = 232Hz
    • Option_1 = 335Hz
    • Option_2 = Experimental = 609Hz
  • Added gyro (IMU's built-in hardware) HPF settings, and
  • Enabled gyro (IMU's built-in hardware) HPF with 16mHz cutoff

@DusKing1 DusKing1 requested a review from a team November 11, 2022 06:12
@DusKing1 DusKing1 force-pushed the add-spi-dma-support-for-lsm6dso branch 5 times, most recently from 44f9505 to 8f0b9bc Compare November 12, 2022 03:31
@DusKing1
improve lsm6dso driver
13d2a18 
add spi dma support for lsm6dso
add DLPF1 filter bandwidth selector
add gyro hpf parameters and enable it with 16mHz cutoff
@DusKing1 DusKing1 force-pushed the add-spi-dma-support-for-lsm6dso branch from cacde66 to 13d2a18 Compare November 12, 2022 07:45
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DusKing1 commented Nov 12, 2022 •
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Confirmed that this PR works on real hardware:

# version
# Betaflight / NEUTRONRCF435AIO (NEUTRONRCF435AIO) 4.3.1 Nov 12 2022 / 07:32:15 (33fd3f8) MSP API: 1.44

# status
MCU AT32F435/7 Clock=288MHz, Vref=3.30V, Core temp=49degC
Stack size: 1024, Stack address: 0x2002fff0
Configuration: CONFIGURED, size: 3864, max available: 16384
Devices detected: SPI:1, I2C:0
Gyros detected: gyro 1 locked dma
GYRO=LSM6SDO, ACC=LSM6DSO
OSD: MAX7456
System Uptime: 15 seconds, Current Time: 2022-11-12T07:47:21.053+00:00
CPU:19%, cycle time: 158, GYRO rate: 6329, RX rate: 15, System rate: 9
Voltage: 3 * 0.01V (0S battery - NOT PRESENT)
I2C Errors: 3
Arming disable flags: RXLOSS CLI MSP RPMFILTER

@pdwdw
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pdwdw commented Nov 12, 2022 •
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Before:

# tasks
Task list             rate/hz  max/us  avg/us maxload avgload  total/ms   late    run reqd/us
00 - (         SYSTEM)     10       1       0    0.0%    0.0%         1      0   3373       0
01 - (         SYSTEM)    992       1       0    0.0%    0.0%        93      0 332310       0
02 - (           GYRO)   6667      12      10    8.0%    6.6%     22402      0 2248557       0
03 - (         FILTER)   6667      14       9    9.3%    6.2%     21597      0 2248557       0
04 - (            PID)   6667      20      15   13.3%   10.0%     34771      0 2248557       0
05 - (            ACC)    833      12      11    0.9%    0.9%      3130      1 280490      11
06 - (       ATTITUDE)    100       5       4    0.0%    0.0%       125      0  33596       4
07 - (             RX)     10      12       7    0.0%    0.0%        79      4  10119      10
08 - (         SERIAL)     99   87051       0  861.8%    0.0%       182      0  33572      65
09 - (       DISPATCH)    979       1       0    0.0%    0.0%       119      0 332381       0
10 - (BATTERY_VOLTAGE)     50       3       1    0.0%    0.0%        17      0  16850       1
11 - (BATTERY_CURRENT)     50       1       0    0.0%    0.0%         6      0  16850       0
12 - ( BATTERY_ALERTS)      5       1       0    0.0%    0.0%         0      0   1687       0
13 - (         BEEPER)     99       3       0    0.0%    0.0%        13      0  33571       0
19 - (      TELEMETRY)    495      16       0    0.7%    0.0%       318    111 166503       0
20 - (       LEDSTRIP)    100      60       1    0.6%    0.0%        42      1  33540      42
21 - (            OSD)     12     141      12    0.1%    0.0%       638     16  66839      39
23 - (            CMS)     20       2       0    0.0%    0.0%         3      0   6744       0
24 - (        VTXCTRL)      5       1       0    0.0%    0.0%         0      0   1687       0
25 - (        CAMCTRL)      5       1       0    0.0%    0.0%         0      0   1687       0
27 - (    ADCINTERNAL)      1       4       3    0.0%    0.0%         1      0    338       3
29 - (SPEED_NEGOTIATION)     99       1       0    0.0%    0.0%        13      0  33556       1
RX Check Function                   5       2                       152
Total (excluding SERIAL)                                23.7%

After:

# tasks
Task list             rate/hz  max/us  avg/us maxload avgload  total/ms   late    run reqd/us
00 - (         SYSTEM)     10      16       0    0.0%    0.0%         0      5    734      15
01 - (         SYSTEM)    985      17       0    1.6%    0.0%        20     11  72155       0
02 - (           GYRO)   6313      17       1   10.7%    0.8%       610      0 463534       0
03 - (         FILTER)   3157      39      22   12.3%    6.9%      5146      0 231767       0
04 - (            PID)   3156      54      35   17.0%   11.2%      8334      0 231767       0
05 - (            ACC)    821      18       1    1.4%    0.1%       104     28  60135      16
06 - (       ATTITUDE)    100      19       3    0.1%    0.0%        27     12   7314      17
07 - (             RX)     10      26       5    0.0%    0.0%        13      4   2199       8
08 - (         SERIAL)    100   84110       0  841.1%    0.0%       159      0   7302      76
09 - (       DISPATCH)    986      16       0    1.5%    0.0%        25      7  72160       0
10 - (BATTERY_VOLTAGE)     50      17       1    0.0%    0.0%         3      5   3659       9
11 - (BATTERY_CURRENT)     50      16       0    0.0%    0.0%         1      5   3659       1
12 - ( BATTERY_ALERTS)      5      15       0    0.0%    0.0%         0      1    367      13
13 - (         BEEPER)    100      16       0    0.1%    0.0%         3     13   7301       1
19 - (      TELEMETRY)    498      26       0    1.2%    0.0%        67     42  36112      14
21 - (            OSD)     12     159      14    0.1%    0.0%       140     34  14264     101
23 - (            CMS)     20      16       0    0.0%    0.0%         0      5   1464      14
24 - (        VTXCTRL)      5      16       0    0.0%    0.0%         0      2    367      14
25 - (        CAMCTRL)      5      16       0    0.0%    0.0%         0      1    367      13
27 - (    ADCINTERNAL)      1      18       3    0.0%    0.0%         0      1     74      17
29 - (SPEED_NEGOTIATION)    100      16       0    0.1%    0.0%         3     27   7301       0
RX Check Function                  18       2                        32
Total (excluding SERIAL)                                19.0%

shanggl
shanggl approved these changes Nov 18, 2022
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仿照bmi270 优化 lsm6dso 驱动， 已实测

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shanggl commented Nov 18, 2022

merge into default branch

@shanggl shanggl closed this Nov 18, 2022
@shanggl shanggl reopened this Nov 18, 2022
@shanggl shanggl merged commit c61076d into 4.3-bsp-rebase Nov 18, 2022
@DusKing1 DusKing1 deleted the add-spi-dma-support-for-lsm6dso branch November 18, 2022 07:24
@DusKing1 DusKing1 added this to the 4.3.2 milestone Nov 27, 2022
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