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CC3D - Support MPU6000 Gyro/Acc and SPI 1/2.
This commit is contained in:
Dominic Clifton
parent
1fb75890d5
commit
5f16cfb72a
12 changed files with 647 additions and 48 deletions
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@ -24,16 +24,70 @@
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#include "bus_spi.h"
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// SPI2 Driver
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// PB15 28 SPI2_MOSI
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// PB14 27 SPI2_MISO
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// PB13 26 SPI2_SCK
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// PB12 25 SPI2_NSS
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static volatile uint16_t spi1ErrorCount = 0;
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static volatile uint16_t spi2ErrorCount = 0;
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static bool spiTest(void);
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bool spiInit(void)
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void initSpi1(void)
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{
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#ifdef CC3D
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GPIO_PinRemapConfig(GPIO_PartialRemap_TIM3, ENABLE);
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#endif
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// Specific to the STM32F103
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// SPI1 Driver
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// PA7 17 SPI1_MOSI
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// PA6 16 SPI1_MISO
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// PA5 15 SPI1_SCK
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// PA4 14 SPI1_NSS
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gpio_config_t gpio;
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SPI_InitTypeDef spi;
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// Enable SPI1 clock
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RCC_APB2PeriphClockCmd(RCC_APB2Periph_SPI1, ENABLE);
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RCC_APB2PeriphResetCmd(RCC_APB2Periph_SPI1, ENABLE);
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// MOSI + SCK as output
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gpio.mode = Mode_AF_PP;
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gpio.pin = Pin_7 | Pin_5;
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gpio.speed = Speed_50MHz;
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gpioInit(GPIOA, &gpio);
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// MISO as input
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gpio.pin = Pin_6;
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gpio.mode = Mode_IN_FLOATING;
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gpioInit(GPIOA, &gpio);
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// NSS as gpio slave select
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gpio.pin = Pin_4;
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gpio.mode = Mode_Out_PP;
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gpioInit(GPIOA, &gpio);
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// Init SPI2 hardware
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SPI_I2S_DeInit(SPI1);
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spi.SPI_Mode = SPI_Mode_Master;
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spi.SPI_Direction = SPI_Direction_2Lines_FullDuplex;
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spi.SPI_DataSize = SPI_DataSize_8b;
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spi.SPI_NSS = SPI_NSS_Soft;
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spi.SPI_FirstBit = SPI_FirstBit_MSB;
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spi.SPI_CRCPolynomial = 7;
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spi.SPI_CPOL = SPI_CPOL_High;
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spi.SPI_CPHA = SPI_CPHA_2Edge;
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spi.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_8;
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SPI_Init(SPI1, &spi);
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SPI_Cmd(SPI1, ENABLE);
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}
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void initSpi2(void)
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{
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// Specific to the STM32F103
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// SPI2 Driver
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// PB15 28 SPI2_MOSI
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// PB14 27 SPI2_MISO
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// PB13 26 SPI2_SCK
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// PB12 25 SPI2_NSS
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gpio_config_t gpio;
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SPI_InitTypeDef spi;
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@ -57,6 +111,7 @@ bool spiInit(void)
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// Init SPI2 hardware
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SPI_I2S_DeInit(SPI2);
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spi.SPI_Mode = SPI_Mode_Master;
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spi.SPI_Direction = SPI_Direction_2Lines_FullDuplex;
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spi.SPI_DataSize = SPI_DataSize_8b;
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@ -66,52 +121,101 @@ bool spiInit(void)
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spi.SPI_CPOL = SPI_CPOL_High;
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spi.SPI_CPHA = SPI_CPHA_2Edge;
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spi.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_8;
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SPI_Init(SPI2, &spi);
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SPI_Cmd(SPI2, ENABLE);
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return spiTest();
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}
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void spiSelect(bool select)
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bool spiInit(SPI_TypeDef *instance)
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{
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if (select) {
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digitalLo(GPIOB, Pin_12);
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if (instance == SPI1) {
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initSpi1();
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} else if (instance == SPI2) {
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initSpi2();
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} else {
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digitalHi(GPIOB, Pin_12);
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return false;
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}
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return true;
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}
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uint8_t spiTransferByte(uint8_t in)
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uint32_t spiTimeoutUserCallback(SPI_TypeDef *instance)
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{
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if (instance == SPI1) {
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spi1ErrorCount++;
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} else if (instance == SPI2) {
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spi2ErrorCount++;
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}
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return -1;
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}
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// return uint8_t value or -1 when failure
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uint8_t spiTransferByte(SPI_TypeDef *instance, uint8_t data)
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{
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uint16_t spiTimeout = 1000;
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while (SPI_I2S_GetFlagStatus(instance, SPI_I2S_FLAG_TXE) == RESET)
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if ((spiTimeout--) == 0)
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return spiTimeoutUserCallback(instance);
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#ifdef STM32F303xC
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SPI_SendData8(instance, data);
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#endif
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#ifdef STM32F10X_MD
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SPI_I2S_SendData(instance, data);
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#endif
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spiTimeout = 1000;
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while (SPI_I2S_GetFlagStatus(instance, SPI_I2S_FLAG_RXNE) == RESET)
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if ((spiTimeout--) == 0)
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return spiTimeoutUserCallback(instance);
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#ifdef STM32F303xC
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return ((uint8_t)SPI_ReceiveData8(instance));
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#endif
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#ifdef STM32F10X_MD
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return ((uint8_t)SPI_I2S_ReceiveData(instance));
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#endif
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}
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/*
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uint8_t spiTransferByte(SPI_TypeDef *instance, uint8_t in)
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{
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uint8_t rx;
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SPI2->DR;
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SPI2->DR = in;
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while (!(SPI2->SR & SPI_I2S_FLAG_RXNE));
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rx = SPI2->DR;
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while (!(SPI2->SR & SPI_I2S_FLAG_TXE));
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while (SPI2->SR & SPI_I2S_FLAG_BSY);
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instance->DR;
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instance->DR = in;
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while (!(instance->SR & SPI_I2S_FLAG_RXNE));
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rx = instance->DR;
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while (!(instance->SR & SPI_I2S_FLAG_TXE));
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while (instance->SR & SPI_I2S_FLAG_BSY);
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return rx;
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}
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bool spiTransfer(uint8_t *out, uint8_t *in, int len)
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*/
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bool spiTransfer(SPI_TypeDef *instance, uint8_t *out, uint8_t *in, int len)
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{
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uint16_t spiTimeout = 1000;
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uint8_t b;
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SPI2->DR;
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instance->DR;
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while (len--) {
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b = in ? *(in++) : 0xFF;
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while (SPI_I2S_GetFlagStatus(SPI2, SPI_I2S_FLAG_TXE) == RESET);
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while (SPI_I2S_GetFlagStatus(instance, SPI_I2S_FLAG_TXE) == RESET) {
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if ((spiTimeout--) == 0)
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return spiTimeoutUserCallback(instance);
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}
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#ifdef STM32F303xC
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SPI_I2S_SendData16(SPI2, b);
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SPI_I2S_SendData16(instance, b);
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#endif
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#ifdef STM32F10X_MD
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SPI_I2S_SendData(SPI2, b);
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SPI_I2S_SendData(instance, b);
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#endif
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while (SPI_I2S_GetFlagStatus(SPI2, SPI_I2S_FLAG_RXNE) == RESET);
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while (SPI_I2S_GetFlagStatus(instance, SPI_I2S_FLAG_RXNE) == RESET) {
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if ((spiTimeout--) == 0)
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return spiTimeoutUserCallback(instance);
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}
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#ifdef STM32F303xC
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b = SPI_I2S_ReceiveData16(SPI2);
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b = SPI_I2S_ReceiveData16(instance);
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#endif
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#ifdef STM32F10X_MD
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b = SPI_I2S_ReceiveData(SPI2);
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b = SPI_I2S_ReceiveData(instance);
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#endif
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if (out)
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*(out++) = b;
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@ -120,16 +224,80 @@ bool spiTransfer(uint8_t *out, uint8_t *in, int len)
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return true;
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}
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static bool spiTest(void)
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void spiSetDivisor(SPI_TypeDef *instance, uint16_t divisor)
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{
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uint8_t out[] = { 0x9F, 0, 0, 0 };
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uint8_t in[4];
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#define BR_CLEAR_MASK 0xFFC7
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spiSelect(true);
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spiTransfer(in, out, sizeof(out));
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spiSelect(false);
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if (in[1] == 0xEF)
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return true;
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uint16_t tempRegister;
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return false;
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SPI_Cmd(instance, DISABLE);
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tempRegister = instance->CR1;
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switch (divisor) {
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case 2:
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tempRegister &= BR_CLEAR_MASK;
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tempRegister |= SPI_BaudRatePrescaler_2;
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break;
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case 4:
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tempRegister &= BR_CLEAR_MASK;
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tempRegister |= SPI_BaudRatePrescaler_4;
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break;
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case 8:
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tempRegister &= BR_CLEAR_MASK;
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tempRegister |= SPI_BaudRatePrescaler_8;
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break;
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case 16:
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tempRegister &= BR_CLEAR_MASK;
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tempRegister |= SPI_BaudRatePrescaler_16;
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break;
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case 32:
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tempRegister &= BR_CLEAR_MASK;
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tempRegister |= SPI_BaudRatePrescaler_32;
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break;
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case 64:
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tempRegister &= BR_CLEAR_MASK;
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tempRegister |= SPI_BaudRatePrescaler_64;
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break;
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case 128:
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tempRegister &= BR_CLEAR_MASK;
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tempRegister |= SPI_BaudRatePrescaler_128;
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break;
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case 256:
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tempRegister &= BR_CLEAR_MASK;
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tempRegister |= SPI_BaudRatePrescaler_256;
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break;
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}
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instance->CR1 = tempRegister;
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SPI_Cmd(instance, ENABLE);
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}
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uint16_t spiGetErrorCounter(SPI_TypeDef *instance)
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{
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if (instance == SPI1) {
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return spi1ErrorCount;
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} else if (instance == SPI2) {
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return spi2ErrorCount;
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}
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return 0;
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}
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void spiResetErrorCounter(SPI_TypeDef *instance)
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{
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if (instance == SPI1) {
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spi1ErrorCount = 0;
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} else if (instance == SPI2) {
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spi2ErrorCount = 0;
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}
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}
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