mirror of
https://github.com/betaflight/betaflight.git
synced 2025-07-26 09:45:37 +03:00
New SPI API supporting DMA
Call targetConfiguration() once before config is loaded and again afterwards in case the config needs to be changed to load from SD card etc Drop SPI clock during binding Remove debug Add per device SPI DMA enable Fix sdioPinConfigure() declaration warning Reduce clock speed during SPI RX initialisation
This commit is contained in:
Steve Evans
Michael Keller
parent
6d286e25f1
commit
87c8847c13
136 changed files with 3585 additions and 2721 deletions
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@ -32,6 +32,7 @@
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#include "drivers/bus.h"
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#include "drivers/bus_i2c.h"
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#include "drivers/bus_i2c_busdev.h"
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#include "drivers/bus_spi.h"
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#include "drivers/compass/compass.h"
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#include "drivers/compass/compass_ak8975.h"
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@ -63,7 +64,7 @@ static flightDynamicsTrims_t magZeroTempMin;
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static flightDynamicsTrims_t magZeroTempMax;
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magDev_t magDev;
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mag_t mag; // mag access functions
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mag_t mag;
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PG_REGISTER_WITH_RESET_FN(compassConfig_t, compassConfig, PG_COMPASS_CONFIG, 3);
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@ -80,26 +81,26 @@ void pgResetFn_compassConfig(compassConfig_t *compassConfig)
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// 3. Slave I2C device on SPI gyro
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#if defined(USE_SPI) && (defined(USE_MAG_SPI_HMC5883) || defined(USE_MAG_SPI_AK8963))
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compassConfig->mag_bustype = BUSTYPE_SPI;
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compassConfig->mag_bustype = BUS_TYPE_SPI;
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compassConfig->mag_spi_device = SPI_DEV_TO_CFG(spiDeviceByInstance(MAG_SPI_INSTANCE));
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compassConfig->mag_spi_csn = IO_TAG(MAG_CS_PIN);
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compassConfig->mag_i2c_device = I2C_DEV_TO_CFG(I2CINVALID);
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compassConfig->mag_i2c_address = 0;
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#elif defined(USE_MAG_HMC5883) || defined(USE_MAG_QMC5883) || defined(USE_MAG_AK8975) || (defined(USE_MAG_AK8963) && !(defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_MPU9250)))
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compassConfig->mag_bustype = BUSTYPE_I2C;
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compassConfig->mag_bustype = BUS_TYPE_I2C;
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compassConfig->mag_i2c_device = I2C_DEV_TO_CFG(MAG_I2C_INSTANCE);
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compassConfig->mag_i2c_address = 0;
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compassConfig->mag_spi_device = SPI_DEV_TO_CFG(SPIINVALID);
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compassConfig->mag_spi_csn = IO_TAG_NONE;
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#elif defined(USE_MAG_AK8963) && (defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_MPU9250))
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compassConfig->mag_bustype = BUSTYPE_MPU_SLAVE;
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compassConfig->mag_bustype = BUS_TYPE_MPU_SLAVE;
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compassConfig->mag_i2c_device = I2C_DEV_TO_CFG(I2CINVALID);
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compassConfig->mag_i2c_address = 0;
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compassConfig->mag_spi_device = SPI_DEV_TO_CFG(SPIINVALID);
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compassConfig->mag_spi_csn = IO_TAG_NONE;
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#else
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compassConfig->mag_hardware = MAG_NONE;
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compassConfig->mag_bustype = BUSTYPE_NONE;
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compassConfig->mag_bustype = BUS_TYPE_NONE;
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compassConfig->mag_i2c_device = I2C_DEV_TO_CFG(I2CINVALID);
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compassConfig->mag_i2c_address = 0;
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compassConfig->mag_spi_device = SPI_DEV_TO_CFG(SPIINVALID);
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@ -114,56 +115,56 @@ static uint8_t magInit = 0;
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void compassPreInit(void)
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{
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#ifdef USE_SPI
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if (compassConfig()->mag_bustype == BUSTYPE_SPI) {
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if (compassConfig()->mag_bustype == BUS_TYPE_SPI) {
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spiPreinitRegister(compassConfig()->mag_spi_csn, IOCFG_IPU, 1);
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}
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#endif
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}
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#if !defined(SIMULATOR_BUILD)
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bool compassDetect(magDev_t *dev, uint8_t *alignment)
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bool compassDetect(magDev_t *magDev, uint8_t *alignment)
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{
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*alignment = ALIGN_DEFAULT; // may be overridden if target specifies MAG_*_ALIGN
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magSensor_e magHardware = MAG_NONE;
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busDevice_t *busdev = &dev->busdev;
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extDevice_t *dev = &magDev->dev;
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// Associate magnetometer bus with its device
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dev->bus = &magDev->bus;
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#ifdef USE_MAG_DATA_READY_SIGNAL
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dev->magIntExtiTag = compassConfig()->interruptTag;
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magDev->magIntExtiTag = compassConfig()->interruptTag;
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#endif
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switch (compassConfig()->mag_bustype) {
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#ifdef USE_I2C
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case BUSTYPE_I2C:
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busdev->bustype = BUSTYPE_I2C;
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busdev->busdev_u.i2c.device = I2C_CFG_TO_DEV(compassConfig()->mag_i2c_device);
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busdev->busdev_u.i2c.address = compassConfig()->mag_i2c_address;
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case BUS_TYPE_I2C:
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i2cBusSetInstance(dev, compassConfig()->mag_i2c_device);
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dev->busType_u.i2c.address = compassConfig()->mag_i2c_address;
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break;
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#endif
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#ifdef USE_SPI
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case BUSTYPE_SPI:
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case BUS_TYPE_SPI:
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{
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SPI_TypeDef *instance = spiInstanceByDevice(SPI_CFG_TO_DEV(compassConfig()->mag_spi_device));
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if (!instance) {
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if (!spiSetBusInstance(dev, compassConfig()->mag_spi_device, OWNER_COMPASS_CS)) {
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return false;
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}
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busdev->bustype = BUSTYPE_SPI;
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spiBusSetInstance(busdev, instance);
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busdev->busdev_u.spi.csnPin = IOGetByTag(compassConfig()->mag_spi_csn);
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dev->busType_u.spi.csnPin = IOGetByTag(compassConfig()->mag_spi_csn);
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}
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break;
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#endif
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#if defined(USE_MAG_AK8963) && (defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_MPU9250))
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case BUSTYPE_MPU_SLAVE:
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case BUS_TYPE_MPU_SLAVE:
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{
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if (gyroMpuDetectionResult()->sensor == MPU_9250_SPI) {
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busdev->bustype = BUSTYPE_MPU_SLAVE;
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busdev->busdev_u.mpuSlave.master = gyroSensorBus();
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busdev->busdev_u.mpuSlave.address = compassConfig()->mag_i2c_address;
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extDevice_t *masterDev = &gyroActiveDev()->dev;
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dev->busType_u.i2c.address = compassConfig()->mag_i2c_address;
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dev->bus->busType = BUS_TYPE_MPU_SLAVE;
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dev->bus->busType_u.mpuSlave.master = masterDev;
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} else {
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return false;
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}
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@ -181,11 +182,11 @@ bool compassDetect(magDev_t *dev, uint8_t *alignment)
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case MAG_HMC5883:
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#if defined(USE_MAG_HMC5883) || defined(USE_MAG_SPI_HMC5883)
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if (busdev->bustype == BUSTYPE_I2C) {
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busdev->busdev_u.i2c.address = compassConfig()->mag_i2c_address;
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if (dev->bus->busType == BUS_TYPE_I2C) {
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dev->busType_u.i2c.address = compassConfig()->mag_i2c_address;
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}
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if (hmc5883lDetect(dev)) {
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if (hmc5883lDetect(magDev)) {
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#ifdef MAG_HMC5883_ALIGN
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*alignment = MAG_HMC5883_ALIGN;
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#endif
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@ -197,11 +198,11 @@ bool compassDetect(magDev_t *dev, uint8_t *alignment)
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case MAG_LIS3MDL:
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#if defined(USE_MAG_LIS3MDL)
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if (busdev->bustype == BUSTYPE_I2C) {
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busdev->busdev_u.i2c.address = compassConfig()->mag_i2c_address;
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if (dev->bus->busType == BUS_TYPE_I2C) {
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dev->busType_u.i2c.address = compassConfig()->mag_i2c_address;
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}
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if (lis3mdlDetect(dev)) {
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if (lis3mdlDetect(magDev)) {
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#ifdef MAG_LIS3MDL_ALIGN
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*alignment = MAG_LIS3MDL_ALIGN;
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#endif
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@ -213,11 +214,11 @@ bool compassDetect(magDev_t *dev, uint8_t *alignment)
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case MAG_AK8975:
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#ifdef USE_MAG_AK8975
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if (busdev->bustype == BUSTYPE_I2C) {
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busdev->busdev_u.i2c.address = compassConfig()->mag_i2c_address;
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if (dev->bus->busType == BUS_TYPE_I2C) {
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dev->busType_u.i2c.address = compassConfig()->mag_i2c_address;
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}
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if (ak8975Detect(dev)) {
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if (ak8975Detect(magDev)) {
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#ifdef MAG_AK8975_ALIGN
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*alignment = MAG_AK8975_ALIGN;
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#endif
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@ -229,16 +230,16 @@ bool compassDetect(magDev_t *dev, uint8_t *alignment)
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case MAG_AK8963:
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#if defined(USE_MAG_AK8963) || defined(USE_MAG_SPI_AK8963)
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if (busdev->bustype == BUSTYPE_I2C) {
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busdev->busdev_u.i2c.address = compassConfig()->mag_i2c_address;
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if (dev->bus->busType == BUS_TYPE_I2C) {
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dev->busType_u.i2c.address = compassConfig()->mag_i2c_address;
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}
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if (gyroMpuDetectionResult()->sensor == MPU_9250_SPI) {
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dev->busdev.bustype = BUSTYPE_MPU_SLAVE;
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busdev->busdev_u.mpuSlave.address = compassConfig()->mag_i2c_address;
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dev->busdev.busdev_u.mpuSlave.master = gyroSensorBus();
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dev->bus->busType = BUS_TYPE_MPU_SLAVE;
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dev->busType_u.mpuSlave.address = compassConfig()->mag_i2c_address;
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dev->bus->busType_u.mpuSlave.master = &gyroActiveDev()->dev;
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}
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if (ak8963Detect(dev)) {
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if (ak8963Detect(magDev)) {
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#ifdef MAG_AK8963_ALIGN
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*alignment = MAG_AK8963_ALIGN;
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#endif
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@ -250,11 +251,11 @@ bool compassDetect(magDev_t *dev, uint8_t *alignment)
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case MAG_QMC5883:
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#ifdef USE_MAG_QMC5883
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if (busdev->bustype == BUSTYPE_I2C) {
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busdev->busdev_u.i2c.address = compassConfig()->mag_i2c_address;
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if (dev->bus->busType == BUS_TYPE_I2C) {
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dev->busType_u.i2c.address = compassConfig()->mag_i2c_address;
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}
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if (qmc5883lDetect(dev)) {
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if (qmc5883lDetect(magDev)) {
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#ifdef MAG_QMC5883L_ALIGN
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*alignment = MAG_QMC5883L_ALIGN;
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#endif
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@ -273,7 +274,7 @@ bool compassDetect(magDev_t *dev, uint8_t *alignment)
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// Passthrough mode disables the gyro/acc part of the MPU, so we only want to detect this sensor if mag_hardware was explicitly set to MAG_MPU925X_AK8963
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#ifdef USE_MAG_MPU925X_AK8963
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if(compassConfig()->mag_hardware == MAG_MPU925X_AK8963){
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if (mpu925Xak8963CompassDetect(dev)) {
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if (mpu925Xak8963CompassDetect(magDev)) {
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magHardware = MAG_MPU925X_AK8963;
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} else {
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return false;
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