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Code Issues Wiki Activity

Cleanup SPI initialisation. Relocate mpu6500 spi configuration from

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Colibri race specific code into the mpu6500 driver.
This commit is contained in:
Dominic Clifton 2015-08-20 21:39:02 +01:00
parent 3b1f423c49
commit 7adfeffafb
7 changed files with 78 additions and 102 deletions
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36
src/main/drivers/bus_spi.c
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@ -36,16 +36,15 @@ static volatile uint16_t spi3ErrorCount = 0;
#ifndef SPI1_GPIO
#define SPI1_GPIO GPIOA
#define SPI1_GPIO_PERIPHERAL RCC_AHBPeriph_GPIOB
#define SPI1_GPIO_PERIPHERAL RCC_AHBPeriph_GPIOA
#define SPI1_NSS_PIN GPIO_Pin_4
#define SPI1_NSS_PIN_SOURCE GPIO_PinSource4
#define SPI1_SCK_PIN GPIO_Pin_5
#define SPI1_SCK_PIN_SOURCE GPIO_PinSource5
#define SPI1_SCK_CLK RCC_AHBPeriph_GPIOA
#define SPI1_MISO_PIN GPIO_Pin_6
#define SPI1_MISO_PIN_SOURCE GPIO_PinSource6
#define SPI1_MISO_CLK RCC_AHBPeriph_GPIOA
#define SPI1_MOSI_PIN GPIO_Pin_7
#define SPI1_MOSI_PIN_SOURCE GPIO_PinSource7
#define SPI1_MOSI_CLK RCC_AHBPeriph_GPIOA
#endif
void initSpi1(void)
@ -72,32 +71,46 @@ void initSpi1(void)
GPIO_PinAFConfig(SPI1_GPIO, SPI1_SCK_PIN_SOURCE, GPIO_AF_5);
GPIO_PinAFConfig(SPI1_GPIO, SPI1_MISO_PIN_SOURCE, GPIO_AF_5);
GPIO_PinAFConfig(SPI1_GPIO, SPI1_MOSI_PIN_SOURCE, GPIO_AF_5);
#ifdef SPI1_NSS_PIN_SOURCE
GPIO_PinAFConfig(SPI1_GPIO, SPI1_NSS_PIN_SOURCE, GPIO_AF_5);
#endif
// Init pins
GPIO_InitStructure.GPIO_Pin = SPI1_SCK_PIN | SPI1_MISO_PIN | SPI1_MOSI_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init(SPI1_GPIO, &GPIO_InitStructure);
#ifdef SPI1_NSS_PIN
GPIO_InitStructure.GPIO_Pin = SPI1_NSS_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init(SPI1_GPIO, &GPIO_InitStructure);
#endif
#endif
#ifdef STM32F10X
gpio_config_t gpio;
// MOSI + SCK as output
gpio.mode = Mode_AF_PP;
gpio.pin = Pin_7 | Pin_5;
gpio.pin = SPI1_MOSI_PIN | SPI1_SCK_PIN;
gpio.speed = Speed_50MHz;
gpioInit(GPIOA, &gpio);
// MISO as input
gpio.pin = Pin_6;
gpio.pin = SPI1_MISO_PIN;
gpio.mode = Mode_IN_FLOATING;
gpioInit(GPIOA, &gpio);
#ifdef SPI1_NSS_PIN
// NSS as gpio slave select
gpio.pin = Pin_4;
gpio.pin = SPI1_NSS_PIN;
gpio.mode = Mode_Out_PP;
gpioInit(GPIOA, &gpio);
#endif
#endif
// Init SPI hardware
@ -162,6 +175,9 @@ void initSpi2(void)
GPIO_PinAFConfig(SPI2_GPIO, SPI2_SCK_PIN_SOURCE, GPIO_AF_5);
GPIO_PinAFConfig(SPI2_GPIO, SPI2_MISO_PIN_SOURCE, GPIO_AF_5);
GPIO_PinAFConfig(SPI2_GPIO, SPI2_MOSI_PIN_SOURCE, GPIO_AF_5);
#ifdef SPI2_NSS_PIN_SOURCE
GPIO_PinAFConfig(SPI2_GPIO, SPI2_NSS_PIN_SOURCE, GPIO_AF_5);
#endif
GPIO_InitStructure.GPIO_Pin = SPI2_SCK_PIN | SPI2_MISO_PIN | SPI2_MOSI_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
@ -170,6 +186,7 @@ void initSpi2(void)
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init(SPI2_GPIO, &GPIO_InitStructure);
#ifdef SPI2_NSS_PIN
GPIO_InitStructure.GPIO_Pin = SPI2_NSS_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
@ -177,6 +194,7 @@ void initSpi2(void)
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init(SPI2_GPIO, &GPIO_InitStructure);
#endif
#endif
@ -193,10 +211,12 @@ void initSpi2(void)
gpio.mode = Mode_IN_FLOATING;
gpioInit(SPI2_GPIO, &gpio);
#ifdef SPI2_NSS_PIN
// NSS as gpio slave select
gpio.pin = SPI2_NSS_PIN;
gpio.mode = Mode_Out_PP;
gpioInit(SPI2_GPIO, &gpio);
#endif
#endif
// Init SPI2 hardware