Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-19 22:35:23 +03:00
Code Issues Wiki Activity

Converted MPU6500 (SPI) and MPU9250

Browse source
This commit is contained in:
jflyper 2017-07-16 02:32:34 +09:00
parent f1322d1920
commit 93089e754c
4 changed files with 24 additions and 24 deletions
Download patch file Download diff file Expand all files Collapse all files

10
src/main/drivers/accgyro/accgyro_mpu.c
View file

@ -29,7 +29,7 @@
#include "common/maths.h"
#include "common/utils.h"
#include "drivers/bus_spi.h"
#include "drivers/bus.h"
#include "drivers/bus_i2c.h"
#include "drivers/bus_spi.h"
#include "drivers/exti.h"
@ -265,7 +265,7 @@ static bool detectSPISensorsAndUpdateDetectionResult(gyroDev_t *gyro)
spiBusSetInstance(&gyro->bus, MPU6500_SPI_INSTANCE);
#endif
#ifdef MPU6500_CS_PIN
gyro->bus.spi.csnPin = gyro->bus.spi.csnPin == IO_NONE ? IOGetByTag(IO_TAG(MPU6500_CS_PIN)) : gyro->bus.spi.csnPin;
gyro->bus.busdev_u.spi.csnPin = gyro->bus.busdev_u.spi.csnPin == IO_NONE ? IOGetByTag(IO_TAG(MPU6500_CS_PIN)) : gyro->bus.busdev_u.spi.csnPin;
#endif
sensor = mpu6500SpiDetect(&gyro->bus);
// some targets using MPU_9250_SPI, ICM_20608_SPI or ICM_20602_SPI state sensor is MPU_65xx_SPI
@ -283,7 +283,7 @@ static bool detectSPISensorsAndUpdateDetectionResult(gyroDev_t *gyro)
spiBusSetInstance(&gyro->bus, MPU9250_SPI_INSTANCE);
#endif
#ifdef MPU9250_CS_PIN
gyro->bus.spi.csnPin = gyro->bus.spi.csnPin == IO_NONE ? IOGetByTag(IO_TAG(MPU9250_CS_PIN)) : gyro->bus.spi.csnPin;
gyro->busdev_u.spi.csnPin = gyro->busdev_u.spi.csnPin == IO_NONE ? IOGetByTag(IO_TAG(MPU9250_CS_PIN)) : gyro->busdev_u.spi.csnPin;
#endif
sensor = mpu9250SpiDetect(&gyro->bus);
if (sensor != MPU_NONE) {
@ -301,7 +301,7 @@ static bool detectSPISensorsAndUpdateDetectionResult(gyroDev_t *gyro)
spiBusSetInstance(&gyro->bus, ICM20689_SPI_INSTANCE);
#endif
#ifdef ICM20689_CS_PIN
gyro->bus.spi.csnPin = gyro->bus.spi.csnPin == IO_NONE ? IOGetByTag(IO_TAG(ICM20689_CS_PIN)) : gyro->bus.spi.csnPin;
gyro->busdev_u.spi.csnPin = gyro->busdev_u.spi.csnPin == IO_NONE ? IOGetByTag(IO_TAG(ICM20689_CS_PIN)) : gyro->busdev_u.spi.csnPin;
#endif
sensor = icm20689SpiDetect(&gyro->bus);
if (sensor != MPU_NONE) {
@ -318,7 +318,7 @@ static bool detectSPISensorsAndUpdateDetectionResult(gyroDev_t *gyro)
spiBusSetInstance(&gyro->bus, BMI160_SPI_INSTANCE);
#endif
#ifdef BMI160_CS_PIN
gyro->bus.spi.csnPin = gyro->bus.spi.csnPin == IO_NONE ? IOGetByTag(IO_TAG(BMI160_CS_PIN)) : gyro->bus.spi.csnPin;
gyro->busdev_u.spi.csnPin = gyro->busdev_u.spi.csnPin == IO_NONE ? IOGetByTag(IO_TAG(BMI160_CS_PIN)) : gyro->busdev_u.spi.csnPin;
#endif
sensor = bmi160Detect(&gyro->bus);
if (sensor != MPU_NONE) {

12
src/main/drivers/accgyro/accgyro_spi_mpu6500.c
View file

@ -44,11 +44,11 @@ static void mpu6500SpiInit(const busDevice_t *bus)
return;
}
IOInit(bus->spi.csnPin, OWNER_MPU_CS, 0);
IOConfigGPIO(bus->spi.csnPin, SPI_IO_CS_CFG);
IOHi(bus->spi.csnPin);
IOInit(bus->busdev_u.spi.csnPin, OWNER_MPU_CS, 0);
IOConfigGPIO(bus->busdev_u.spi.csnPin, SPI_IO_CS_CFG);
IOHi(bus->busdev_u.spi.csnPin);
spiSetDivisor(bus->spi.instance, SPI_CLOCK_FAST);
spiSetDivisor(bus->busdev_u.spi.instance, SPI_CLOCK_FAST);
hardwareInitialised = true;
}
@ -90,7 +90,7 @@ void mpu6500SpiAccInit(accDev_t *acc)
void mpu6500SpiGyroInit(gyroDev_t *gyro)
{
spiSetDivisor(gyro->bus.spi.instance, SPI_CLOCK_SLOW);
spiSetDivisor(gyro->bus.busdev_u.spi.instance, SPI_CLOCK_SLOW);
delayMicroseconds(1);
mpu6500GyroInit(gyro);
@ -99,7 +99,7 @@ void mpu6500SpiGyroInit(gyroDev_t *gyro)
spiWriteRegister(&gyro->bus, MPU_RA_USER_CTRL, MPU6500_BIT_I2C_IF_DIS);
delay(100);
spiSetDivisor(gyro->bus.spi.instance, SPI_CLOCK_FAST);
spiSetDivisor(gyro->bus.busdev_u.spi.instance, SPI_CLOCK_FAST);
delayMicroseconds(1);
}

24
src/main/drivers/accgyro/accgyro_spi_mpu9250.c
View file

@ -52,11 +52,11 @@ static bool mpuSpi9250InitDone = false;
bool mpu9250SpiWriteRegister(const busDevice_t *bus, uint8_t reg, uint8_t data)
{
IOLo(bus->spi.csnPin);
IOLo(bus->busdev_u.spi.csnPin);
delayMicroseconds(1);
spiTransferByte(bus->spi.instance, reg);
spiTransferByte(bus->spi.instance, data);
IOHi(bus->spi.csnPin);
spiTransferByte(bus->busdev_u.spi.instance, reg);
spiTransferByte(bus->busdev_u.spi.instance, data);
IOHi(bus->busdev_u.spi.csnPin);
delayMicroseconds(1);
return true;
@ -64,11 +64,11 @@ bool mpu9250SpiWriteRegister(const busDevice_t *bus, uint8_t reg, uint8_t data)
static bool mpu9250SpiSlowReadRegisterBuffer(const busDevice_t *bus, uint8_t reg, uint8_t length, uint8_t *data)
{
IOLo(bus->spi.csnPin);
IOLo(bus->busdev_u.spi.csnPin);
delayMicroseconds(1);
spiTransferByte(bus->spi.instance, reg | 0x80); // read transaction
spiTransfer(bus->spi.instance, data, NULL, length);
IOHi(bus->spi.csnPin);
spiTransferByte(bus->busdev_u.spi.instance, reg | 0x80); // read transaction
spiTransfer(bus->busdev_u.spi.instance, data, NULL, length);
IOHi(bus->busdev_u.spi.csnPin);
delayMicroseconds(1);
return true;
@ -168,10 +168,10 @@ static void mpu9250AccAndGyroInit(gyroDev_t *gyro) {
uint8_t mpu9250SpiDetect(const busDevice_t *bus)
{
IOInit(bus->spi.csnPin, OWNER_MPU_CS, 0);
IOConfigGPIO(bus->spi.csnPin, SPI_IO_CS_CFG);
IOInit(bus->busdev_u.spi.csnPin, OWNER_MPU_CS, 0);
IOConfigGPIO(bus->busdev_u.spi.csnPin, SPI_IO_CS_CFG);
spiSetDivisor(bus->spi.instance, SPI_CLOCK_INITIALIZATON); //low speed
spiSetDivisor(bus->busdev_u.spi.instance, SPI_CLOCK_INITIALIZATON); //low speed
mpu9250SpiWriteRegister(bus, MPU_RA_PWR_MGMT_1, MPU9250_BIT_RESET);
uint8_t attemptsRemaining = 20;
@ -186,7 +186,7 @@ uint8_t mpu9250SpiDetect(const busDevice_t *bus)
}
} while (attemptsRemaining--);
spiSetDivisor(bus->spi.instance, SPI_CLOCK_FAST);
spiSetDivisor(bus->busdev_u.spi.instance, SPI_CLOCK_FAST);
return MPU_9250_SPI;
}

2
src/main/target/OMNIBUSF4/target.mk
View file

@ -3,9 +3,9 @@ FEATURES += VCP ONBOARDFLASH
TARGET_SRC = \
drivers/accgyro/accgyro_mpu6500.c \
drivers/accgyro/accgyro_spi_mpu6000.c \
drivers/accgyro/accgyro_spi_mpu6500.c \
drivers/barometer/barometer_bmp280.c \
drivers/compass/compass_hmc5883l.c \
drivers/max7456.c
#drivers/barometer/barometer_ms5611.c \
#drivers/accgyro/accgyro_spi_mpu6500.c \