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Code Issues Wiki Activity

Moved EXTI into gyroDev_t

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This commit is contained in:
Martin Budden 2016-12-11 12:17:30 +00:00
parent cd9a18dbab
commit d9a2f7f5d9
4 changed files with 35 additions and 41 deletions
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6
src/main/drivers/accgyro.h
View file

@ -18,6 +18,7 @@
#pragma once
#include "common/axis.h"
#include "drivers/exti.h"
#include "drivers/sensor.h"
#ifndef MPU_I2C_INSTANCE
@ -35,9 +36,10 @@
typedef struct gyroDev_s {
sensorGyroInitFuncPtr init; // initialize function
sensorGyroReadFuncPtr read; // read 3 axis data function
sensorGyroReadFuncPtr read; // read 3 axis data function
sensorReadFuncPtr temperature; // read temperature if available
sensorGyroInterruptStatusFuncPtr intStatus;
extiCallbackRec_t exti;
float scale; // scalefactor
volatile bool dataReady;
uint16_t lpf;
@ -46,7 +48,7 @@ typedef struct gyroDev_s {
} gyroDev_t;
typedef struct accDev_s {
sensorAccInitFuncPtr init; // initialize function
sensorAccInitFuncPtr init; // initialize function
sensorReadFuncPtr read; // read 3 axis data function
uint16_t acc_1G;
char revisionCode; // a revision code for the sensor, if known

21
src/main/drivers/accgyro_mpu.c
View file

@ -221,21 +221,13 @@ static void mpu6050FindRevision(void)
}
}
typedef struct mpuIntRec_s {
extiCallbackRec_t exti;
gyroDev_t *gyro;
} mpuIntRec_t;
mpuIntRec_t mpuIntRec;
/*
* Gyro interrupt service routine
*/
#if defined(MPU_INT_EXTI)
static void mpuIntExtiHandler(extiCallbackRec_t *cb)
{
mpuIntRec_t *rec = container_of(cb, mpuIntRec_t, exti);
gyroDev_t *gyro = rec->gyro;
gyroDev_t *gyro = container_of(cb, gyroDev_t, exti);
gyro->dataReady = true;
#ifdef DEBUG_MPU_DATA_READY_INTERRUPT
@ -250,7 +242,6 @@ static void mpuIntExtiHandler(extiCallbackRec_t *cb)
static void mpuIntExtiInit(gyroDev_t *gyro)
{
mpuIntRec.gyro = gyro;
#if defined(MPU_INT_EXTI)
static bool mpuExtiInitDone = false;
@ -269,19 +260,21 @@ static void mpuIntExtiInit(gyroDev_t *gyro)
#if defined (STM32F7)
IOInit(mpuIntIO, OWNER_MPU_EXTI, 0);
EXTIHandlerInit(&mpuIntRec.exti, mpuIntExtiHandler);
EXTIConfig(mpuIntIO, &mpuIntRec.exti, NVIC_PRIO_MPU_INT_EXTI, IO_CONFIG(GPIO_MODE_INPUT,0,GPIO_NOPULL)); // TODO - maybe pullup / pulldown ?
EXTIHandlerInit(&gyro->exti, mpuIntExtiHandler);
EXTIConfig(mpuIntIO, &gyro->exti, NVIC_PRIO_MPU_INT_EXTI, IO_CONFIG(GPIO_MODE_INPUT,0,GPIO_NOPULL)); // TODO - maybe pullup / pulldown ?
#else
IOInit(mpuIntIO, OWNER_MPU_EXTI, 0);
IOConfigGPIO(mpuIntIO, IOCFG_IN_FLOATING); // TODO - maybe pullup / pulldown ?
EXTIHandlerInit(&mpuIntRec.exti, mpuIntExtiHandler);
EXTIConfig(mpuIntIO, &mpuIntRec.exti, NVIC_PRIO_MPU_INT_EXTI, EXTI_Trigger_Rising);
EXTIHandlerInit(&gyro->exti, mpuIntExtiHandler);
EXTIConfig(mpuIntIO, &gyro->exti, NVIC_PRIO_MPU_INT_EXTI, EXTI_Trigger_Rising);
EXTIEnable(mpuIntIO, true);
#endif
mpuExtiInitDone = true;
#else
UNUSED(gyro);
#endif
}

24
src/main/sensors/gyro.c
View file

@ -39,12 +39,13 @@
#include "drivers/accgyro_mpu6500.h"
#include "drivers/accgyro_l3gd20.h"
#include "drivers/accgyro_lsm303dlhc.h"
#include "drivers/bus_spi.h"
#include "drivers/accgyro_spi_icm20689.h"
#include "drivers/accgyro_spi_mpu6000.h"
#include "drivers/accgyro_spi_mpu6500.h"
#include "drivers/accgyro_spi_mpu9250.h"
#include "drivers/bus_spi.h"
#include "drivers/gyro_sync.h"
#include "drivers/io.h"
#include "drivers/system.h"
#include "fc/runtime_config.h"
@ -56,6 +57,10 @@
#include "sensors/boardalignment.h"
#include "sensors/gyro.h"
#ifdef USE_HARDWARE_REVISION_DETECTION
#include "hardware_revision.h"
#endif
gyro_t gyro; // gyro access functions
static int32_t gyroADC[XYZ_AXIS_COUNT];
@ -71,8 +76,25 @@ static void *notchFilter1[3];
static filterApplyFnPtr notchFilter2ApplyFn;
static void *notchFilter2[3];
static const extiConfig_t *selectMPUIntExtiConfig(void)
{
#if defined(MPU_INT_EXTI)
static const extiConfig_t mpuIntExtiConfig = { .tag = IO_TAG(MPU_INT_EXTI) };
return &mpuIntExtiConfig;
#elif defined(USE_HARDWARE_REVISION_DETECTION)
return selectMPUIntExtiConfigByHardwareRevision();
#else
return NULL;
#endif
}
bool gyroDetect(gyroDev_t *dev)
{
#if defined(USE_GYRO_MPU6050) || defined(USE_GYRO_MPU3050) || defined(USE_GYRO_MPU6500) || defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_MPU6000) || defined(USE_ACC_MPU6050) || defined(USE_GYRO_SPI_MPU9250) || defined(USE_GYRO_SPI_ICM20689)
const extiConfig_t *extiConfig = selectMPUIntExtiConfig();
mpuDetect(extiConfig);
#endif
gyroSensor_e gyroHardware = GYRO_DEFAULT;
dev->gyroAlign = ALIGN_DEFAULT;

25
src/main/sensors/initialisation.c
View file

@ -20,14 +20,12 @@
#include "platform.h"
#include "build/build_config.h"
#include "common/axis.h"
#include "common/utils.h"
#include "config/feature.h"
#include "drivers/accgyro_mpu.h"
#include "drivers/io.h"
#include "drivers/system.h"
#include "drivers/exti.h"
#include "drivers/sensor.h"
@ -55,18 +53,6 @@
uint8_t detectedSensors[SENSOR_INDEX_COUNT] = { GYRO_NONE, ACC_NONE, BARO_NONE, MAG_NONE };
const extiConfig_t *selectMPUIntExtiConfig(void)
{
#if defined(MPU_INT_EXTI)
static const extiConfig_t mpuIntExtiConfig = { .tag = IO_TAG(MPU_INT_EXTI) };
return &mpuIntExtiConfig;
#elif defined(USE_HARDWARE_REVISION_DETECTION)
return selectMPUIntExtiConfigByHardwareRevision();
#else
return NULL;
#endif
}
#ifdef SONAR
static bool sonarDetect(void)
{
@ -86,15 +72,6 @@ bool sensorsAutodetect(const gyroConfig_t *gyroConfig,
const barometerConfig_t *barometerConfig,
const sonarConfig_t *sonarConfig)
{
#if defined(USE_GYRO_MPU6050) || defined(USE_GYRO_MPU3050) || defined(USE_GYRO_MPU6500) || defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_MPU6000) || defined(USE_ACC_MPU6050) || defined(USE_GYRO_SPI_MPU9250) || defined(USE_GYRO_SPI_ICM20689)
const extiConfig_t *extiConfig = selectMPUIntExtiConfig();
mpuDetectionResult_t *mpuDetectionResult = mpuDetect(extiConfig);
UNUSED(mpuDetectionResult);
#endif
memset(&gyro, 0, sizeof(gyro));
if (!gyroDetect(&gyro.dev)) {
return false;