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Add MPU6500 SPI driver. Move sensor initialisation defines into target

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specific headers.
This commit is contained in:
Dominic Clifton 2014-10-14 00:22:54 +01:00
parent 79c2e5648f
commit da51b5c479
19 changed files with 451 additions and 190 deletions
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9
src/main/drivers/bus_i2c_stm32f10x.c
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@ -17,6 +17,7 @@
#include <stdbool.h>
#include <stdint.h>
#include <stdlib.h>
#include <platform.h>
@ -56,7 +57,7 @@ static const i2cDevice_t i2cHardwareMap[] = {
};
// Copy of peripheral address for IRQ routines
static I2C_TypeDef *I2Cx;
static I2C_TypeDef *I2Cx = NULL;
// Copy of device index for reinit, etc purposes
static I2CDevice I2Cx_index;
@ -116,6 +117,9 @@ bool i2cWriteBuffer(uint8_t addr_, uint8_t reg_, uint8_t len_, uint8_t *data)
busy = 1;
error = false;
if (!I2Cx)
return false;
if (!(I2Cx->CR2 & I2C_IT_EVT)) { // if we are restarting the driver
if (!(I2Cx->CR1 & 0x0100)) { // ensure sending a start
while (I2Cx->CR1 & 0x0200 && --timeout > 0) { ; } // wait for any stop to finish sending
@ -155,6 +159,9 @@ bool i2cRead(uint8_t addr_, uint8_t reg_, uint8_t len, uint8_t* buf)
busy = 1;
error = false;
if (!I2Cx)
return false;
if (!(I2Cx->CR2 & I2C_IT_EVT)) { // if we are restarting the driver
if (!(I2Cx->CR1 & 0x0100)) { // ensure sending a start
while (I2Cx->CR1 & 0x0200 && --timeout > 0) { ; } // wait for any stop to finish sending