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Code Issues Wiki Activity

FIX: Multi gyro and SDIO hard fault (#12446)

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J Blackman 2023-03-04 12:43:25 +11:00 • committed by GitHub
parent 3470fd5584
commit 799e0c1e50
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GPG key ID: 4AEE18F83AFDEB23
6 changed files with 43 additions and 69 deletions
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16
src/config/MATEKH743/config.h
View file

@ -19,12 +19,6 @@
* If not, see <http://www.gnu.org/licenses/>.
*/
/*
This file has been auto generated from unified-targets repo.
The auto generation is transitional only, please remove this comment once the file is edited.
*/
#define FC_TARGET_MCU STM32H743
#define BOARD_NAME MATEKH743
@ -142,16 +136,20 @@
//TODO #define BARO_BUSTYPE I2C
#define BARO_I2C_INSTANCE (I2CDEV_2)
//TODO #define SERIALRX_PROVIDER SBUS
//TODO #define BLACKBOX_DEVICE SDCARD
#define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
//TODO #define CURRENT_METER ADC
//TODO #define BATTERY_METER ADC
//TODO #define IBATA_SCALE 250
#define BEEPER_INVERTED
//TODO #define BEEPER_OD OFF
#define BEEPER_PWM_HZ 2500
//TODO #define SDIO_USE_4BIT_WIDTH ON
//TODO #define SDIO_DEVICE 1
#define SDIO_USE_4BIT 1
#define SDIO_DEVICE SDIODEV_1
#define USE_SDCARD_SDIO
#define MAX7456_SPI_INSTANCE SPI2
//TODO #define PINIO_BOX 40,41,255,255
#define USE_SPI_GYRO
#define GYRO_1_SPI_INSTANCE SPI1

15
src/config/NBD_GALAXYAIO255/config.h
View file

@ -19,12 +19,6 @@
* If not, see <http://www.gnu.org/licenses/>.
*/
/*
This file has been auto generated from unified-targets repo.
The auto generation is transitional only, please remove this comment once the file is edited.
*/
#define FC_TARGET_MCU STM32H743
#define BOARD_NAME NBD_GALAXYAIO255
@ -108,15 +102,18 @@
//TODO #define BARO_BUSTYPE I2C
#define BARO_I2C_INSTANCE (I2CDEV_2)
//TODO #define SERIALRX_PROVIDER CRSF
//TODO #define BLACKBOX_DEVICE SDCARD
#define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
//TODO #define DSHOT_BIDIR ON
//TODO #define MOTOR_PWM_PROTOCOL DSHOT600
//TODO #define CURRENT_METER ADC
//TODO #define BATTERY_METER ADC
#define BEEPER_INVERTED
//TODO #define BEEPER_OD OFF
//TODO #define SDIO_USE_4BIT_WIDTH ON
//TODO #define SDIO_DEVICE 1
#define SDIO_USE_4BIT 1
#define SDIO_DEVICE SDIODEV_1
#define USE_SDCARD_SDIO
#define MAX7456_SPI_INSTANCE SPI2
#define USE_SPI_GYRO
#define GYRO_1_SPI_INSTANCE SPI1

15
src/config/NEUTRONRCH743AIO/config.h
View file

@ -19,12 +19,6 @@
* If not, see <http://www.gnu.org/licenses/>.
*/
/*
This file has been auto generated from unified-targets repo.
The auto generation is transitional only, please remove this comment once the file is edited.
*/
#define FC_TARGET_MCU STM32H743
#define BOARD_NAME NEUTRONRCH743AIO
@ -129,7 +123,7 @@
//TODO #define BARO_BUSTYPE I2C
#define BARO_I2C_INSTANCE (I2CDEV_2)
//TODO #define SERIALRX_PROVIDER CRSF
//TODO #define BLACKBOX_DEVICE SDCARD
#define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
//TODO #define DSHOT_BIDIR ON
//TODO #define MOTOR_PWM_PROTOCOL DSHOT600
//TODO #define CURRENT_METER ADC
@ -137,8 +131,11 @@
//TODO #define IBATA_SCALE 100
#define BEEPER_INVERTED
//TODO #define BEEPER_OD OFF
//TODO #define SDIO_USE_4BIT_WIDTH ON
//TODO #define SDIO_DEVICE 1
#define SDIO_USE_4BIT 1
#define SDIO_DEVICE SDIODEV_1
#define USE_SDCARD_SDIO
#define MAX7456_SPI_INSTANCE SPI2
//TODO #define PINIO_CONFIG 129,1,1,1
//TODO #define PINIO_BOX 0,40,41,42

15
src/config/NEUTRONRCH7BT/config.h
View file

@ -19,12 +19,6 @@
* If not, see <http://www.gnu.org/licenses/>.
*/
/*
This file has been auto generated from unified-targets repo.
The auto generation is transitional only, please remove this comment once the file is edited.
*/
#define FC_TARGET_MCU STM32H743
#define BOARD_NAME NEUTRONRCH7BT
@ -132,13 +126,16 @@
#define MAG_I2C_INSTANCE (I2CDEV_1)
//TODO #define BARO_BUSTYPE I2C
#define BARO_I2C_INSTANCE (I2CDEV_2)
//TODO #define BLACKBOX_DEVICE SDCARD
#define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
//TODO #define CURRENT_METER ADC
//TODO #define BATTERY_METER ADC
#define BEEPER_INVERTED
//TODO #define BEEPER_OD OFF
//TODO #define SDIO_USE_4BIT_WIDTH ON
//TODO #define SDIO_DEVICE 1
#define SDIO_USE_4BIT 1
#define SDIO_DEVICE SDIODEV_1
#define USE_SDCARD_SDIO
#define MAX7456_SPI_INSTANCE SPI2
//TODO #define PINIO_CONFIG 129,1,1,1
//TODO #define PINIO_BOX 0,40,41,42

7
src/config/SPRACINGH7RF/config.h
View file

@ -269,16 +269,11 @@
//TODO #define PINIO_CONFIG 1,1,1,1
//TODO #define PINIO_BOX 40,255,255,255
//TODO #define BLACKBOX_DEVICE SDCARD
#define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
//TODO #define CURRENT_METER ADC
//TODO #define BATTERY_METER ADC
//TODO #define SDCARD_DETECT_INVERTED ON
//TODO #define SDCARD_MODE SDIO
//TODO #define SDIO_USE_4BIT_WIDTH ON
//TODO #define SDIO_DEVICE 1
#define USE_SPI_GYRO
#define GYRO_1_SPI_INSTANCE SPI6
#define GYRO_1_ALIGN CW270_DEG_FLIP

44
src/main/pg/gyrodev.c
View file

@ -34,10 +34,6 @@
#include "drivers/sensor.h"
#include "sensors/gyro.h"
#ifndef GYRO_1_SPI_INSTANCE
#define GYRO_1_SPI_INSTANCE NULL
#endif
#ifndef GYRO_1_CS_PIN
#define GYRO_1_CS_PIN NONE
#endif
@ -46,10 +42,6 @@
#define GYRO_1_EXTI_PIN NONE
#endif
#ifndef GYRO_2_SPI_INSTANCE
#define GYRO_2_SPI_INSTANCE NULL
#endif
#ifndef GYRO_2_CS_PIN
#define GYRO_2_CS_PIN NONE
#endif
@ -75,24 +67,15 @@
#define GYRO_2_ALIGN CW0_DEG
#endif
ioTag_t selectMPUIntExtiConfigByHardwareRevision(void); // XXX Should be gone
#if defined(USE_SPI_GYRO) || defined(USE_I2C_GYRO)
static void gyroResetCommonDeviceConfig(gyroDeviceConfig_t *devconf, ioTag_t extiTag, uint8_t alignment, sensorAlignment_t customAlignment)
{
devconf->extiTag = extiTag;
devconf->alignment = alignment;
devconf->customAlignment = customAlignment;
}
#endif
#ifdef USE_SPI_GYRO
#if defined(USE_SPI_GYRO) && (defined(GYRO_1_SPI_INSTANCE) || defined(GYRO_2_SPI_INSTANCE))
static void gyroResetSpiDeviceConfig(gyroDeviceConfig_t *devconf, SPI_TypeDef *instance, ioTag_t csnTag, ioTag_t extiTag, uint8_t alignment, sensorAlignment_t customAlignment)
{
devconf->busType = BUS_TYPE_SPI;
devconf->spiBus = SPI_DEV_TO_CFG(spiDeviceByInstance(instance));
devconf->csnTag = csnTag;
gyroResetCommonDeviceConfig(devconf, extiTag, alignment, customAlignment);
devconf->extiTag = extiTag;
devconf->alignment = alignment;
devconf->customAlignment = customAlignment;
}
#endif
@ -102,7 +85,9 @@ static void gyroResetI2cDeviceConfig(gyroDeviceConfig_t *devconf, I2CDevice i2cb
devconf->busType = BUS_TYPE_I2C;
devconf->i2cBus = I2C_DEV_TO_CFG(i2cbus);
devconf->i2cAddress = GYRO_I2C_ADDRESS;
gyroResetCommonDeviceConfig(devconf, extiTag, alignment, customAlignment);
devconf->extiTag = extiTag;
devconf->alignment = alignment;
devconf->customAlignment = customAlignment;
}
#endif
@ -120,7 +105,11 @@ void pgResetFn_gyroDeviceConfig(gyroDeviceConfig_t *devconf)
// All multi-gyro boards use SPI based gyros.
#ifdef USE_SPI_GYRO
#ifdef GYRO_1_SPI_INSTANCE
gyroResetSpiDeviceConfig(&devconf[0], GYRO_1_SPI_INSTANCE, IO_TAG(GYRO_1_CS_PIN), IO_TAG(GYRO_1_EXTI_PIN), GYRO_1_ALIGN, customAlignment1);
#else
devconf[0].busType = BUS_TYPE_NONE;
#endif
#ifdef USE_MULTI_GYRO
devconf[1].index = 1;
sensorAlignment_t customAlignment2 = CUSTOM_ALIGN_CW0_DEG;
@ -129,7 +118,13 @@ void pgResetFn_gyroDeviceConfig(gyroDeviceConfig_t *devconf)
#else
buildAlignmentFromStandardAlignment(&customAlignment2, GYRO_2_ALIGN);
#endif // GYRO_2_CUSTOM_ALIGN
#ifdef GYRO_2_SPI_INSTANCE
gyroResetSpiDeviceConfig(&devconf[1], GYRO_2_SPI_INSTANCE, IO_TAG(GYRO_2_CS_PIN), IO_TAG(GYRO_2_EXTI_PIN), GYRO_2_ALIGN, customAlignment2);
#else
devconf[1].busType = BUS_TYPE_NONE;
#endif
#endif // USE_MULTI_GYRO
#endif // USE_SPI_GYRO
@ -138,9 +133,4 @@ void pgResetFn_gyroDeviceConfig(gyroDeviceConfig_t *devconf)
devconf[0].i2cBus = I2C_DEV_TO_CFG(I2CINVALID); // XXX Not required?
gyroResetI2cDeviceConfig(&devconf[0], I2C_DEVICE, IO_TAG(GYRO_1_EXTI_PIN), GYRO_1_ALIGN, customAlignment1);
#endif
// Special treatment for very rare F3 targets with variants having either I2C or SPI acc/gyro chip; mark it for run time detection.
#if defined(USE_SPI_GYRO) && defined(USE_I2C_GYRO)
devconf[0].busType = BUS_TYPE_GYRO_AUTO;
#endif
}