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SPRacingF3/Naze32 Rev 5 - Add support for MAG data ready EXTI handler.

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This commit is contained in:
Dominic Clifton 2015-05-07 09:40:35 +01:00
parent 4a22227b60
commit 80beb9c8d8
7 changed files with 128 additions and 5 deletions
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84
src/main/drivers/compass_hmc5883l.c
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@ -22,11 +22,13 @@
#include <math.h>
#include "platform.h"
#include "debug.h"
#include "common/axis.h"
#include "common/maths.h"
#include "system.h"
#include "nvic.h"
#include "gpio.h"
#include "bus_i2c.h"
#include "light_led.h"
@ -38,7 +40,10 @@
#include "compass_hmc5883l.h"
//#define DEBUG_MAG_DATA_READY_INTERRUPT
// HMC5883L, default address 0x1E
// NAZE Target connections
// PB12 connected to MAG_DRDY on rev4 hardware
// PC14 connected to MAG_DRDY on rev5 hardware
@ -115,6 +120,83 @@ static float magGain[3] = { 1.0f, 1.0f, 1.0f };
static const hmc5883Config_t *hmc5883Config = NULL;
void MAG_DATA_READY_EXTI_Handler(void)
{
if (EXTI_GetITStatus(hmc5883Config->exti_line) == RESET) {
return;
}
EXTI_ClearITPendingBit(hmc5883Config->exti_line);
#ifdef DEBUG_MAG_DATA_READY_INTERRUPT
// Measure the delta between calls to the interrupt handler
// currently should be around 65/66 milli seconds / 15hz output rate
static uint32_t lastCalledAt = 0;
static int32_t callDelta = 0;
uint32_t now = millis();
callDelta = now - lastCalledAt;
//UNUSED(callDelta);
debug[0] = callDelta;
lastCalledAt = now;
#endif
}
static void hmc5883lConfigureDataReadyInterruptHandling(void)
{
#ifdef USE_MAG_DATA_READY_SIGNAL
if (!(hmc5883Config->exti_port_source && hmc5883Config->exti_pin_source)) {
return;
}
#ifdef STM32F10X
// enable AFIO for EXTI support
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE);
#endif
#ifdef STM32F303xC
/* Enable SYSCFG clock otherwise the EXTI irq handlers are not called */
RCC_APB2PeriphClockCmd(RCC_APB2Periph_SYSCFG, ENABLE);
#endif
#ifdef STM32F10X
gpioExtiLineConfig(hmc5883Config->exti_port_source, hmc5883Config->exti_pin_source);
#endif
#ifdef STM32F303xC
gpioExtiLineConfig(hmc5883Config->exti_port_source, hmc5883Config->exti_pin_source);
#endif
#ifdef ENSURE_MAG_DATA_READY_IS_HIGH
uint8_t status = GPIO_ReadInputDataBit(hmc5883Config->gpioPort, hmc5883Config->gpioPin);
if (!status) {
return;
}
#endif
registerExti15_10_CallbackHandler(MAG_DATA_READY_EXTI_Handler);
EXTI_ClearITPendingBit(hmc5883Config->exti_line);
EXTI_InitTypeDef EXTIInit;
EXTIInit.EXTI_Line = hmc5883Config->exti_line;
EXTIInit.EXTI_Mode = EXTI_Mode_Interrupt;
EXTIInit.EXTI_Trigger = EXTI_Trigger_Falling;
EXTIInit.EXTI_LineCmd = ENABLE;
EXTI_Init(&EXTIInit);
NVIC_InitTypeDef NVIC_InitStructure;
NVIC_InitStructure.NVIC_IRQChannel = hmc5883Config->exti_irqn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = NVIC_PRIORITY_BASE(NVIC_PRIO_MAG_DATA_READY);
NVIC_InitStructure.NVIC_IRQChannelSubPriority = NVIC_PRIORITY_SUB(NVIC_PRIO_MAG_DATA_READY);
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
#endif
}
bool hmc5883lDetect(mag_t* mag, const hmc5883Config_t *hmc5883ConfigToUse)
{
bool ack = false;
@ -219,6 +301,8 @@ void hmc5883lInit(void)
magGain[Y] = 1.0f;
magGain[Z] = 1.0f;
}
hmc5883lConfigureDataReadyInterruptHandling();
}
void hmc5883lRead(int16_t *magData)