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Merge branch 'master' into bfdev-configurable-bind-pin-2

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This commit is contained in:
jflyper 2017-06-23 19:20:31 +09:00 • committed by GitHub
commit e88db3cb1a
46 changed files with 1222 additions and 367 deletions
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64
src/main/fc/fc_init.c
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@ -124,6 +124,7 @@
#include "flight/pid.h"
#include "flight/servos.h"
#include "io/rcsplit.h"
#ifdef USE_HARDWARE_REVISION_DETECTION
#include "hardware_revision.h"
@ -184,6 +185,61 @@ static IO_t busSwitchResetPin = IO_NONE;
}
#endif
#ifdef USE_SPI
// Pre-initialize all CS pins to input with pull-up.
// It's sad that we can't do this with an initialized array,
// since we will be taking care of configurable CS pins shortly.
void spiPreInit(void)
{
#ifdef USE_ACC_SPI_MPU6000
spiPreInitCs(IO_TAG(MPU6000_CS_PIN));
#endif
#ifdef USE_ACC_SPI_MPU6500
spiPreInitCs(IO_TAG(MPU6500_CS_PIN));
#endif
#ifdef USE_GYRO_SPI_MPU9250
spiPreInitCs(IO_TAG(MPU9250_CS_PIN));
#endif
#ifdef USE_GYRO_SPI_ICM20689
spiPreInitCs(IO_TAG(ICM20689_CS_PIN));
#endif
#ifdef USE_ACCGYRO_BMI160
spiPreInitCs(IO_TAG(BMI160_CS_PIN));
#endif
#ifdef USE_GYRO_L3GD20
spiPreInitCs(IO_TAG(L3GD20_CS_PIN));
#endif
#ifdef USE_MAX7456
spiPreInitCs(IO_TAG(MAX7456_SPI_CS_PIN));
#endif
#ifdef USE_SDCARD
spiPreInitCs(IO_TAG(SDCARD_SPI_CS_PIN));
#endif
#ifdef USE_BARO_SPI_BMP280
spiPreInitCs(IO_TAG(BMP280_CS_PIN));
#endif
#ifdef USE_BARO_SPI_MS5611
spiPreInitCs(IO_TAG(MS5611_CS_PIN));
#endif
#ifdef USE_MAG_SPI_HMC5883
spiPreInitCs(IO_TAG(HMC5883_CS_PIN));
#endif
#ifdef USE_MAG_SPI_AK8963
spiPreInitCs(IO_TAG(AK8963_CS_PIN));
#endif
#ifdef RTC6705_CS_PIN // XXX VTX_RTC6705? Should use USE_ format.
spiPreInitCs(IO_TAG(RTC6705_CS_PIN));
#endif
#ifdef M25P16_CS_PIN // XXX Should use USE_ format.
spiPreInitCs(IO_TAG(M25P16_CS_PIN));
#endif
#if defined(USE_RX_SPI) && !defined(USE_RX_SOFTSPI)
spiPreInitCs(IO_TAG(RX_NSS_PIN));
#endif
}
#endif
void init(void)
{
#ifdef USE_HAL_DRIVER
@ -352,6 +408,9 @@ void init(void)
#else
#ifdef USE_SPI
// Initialize CS lines and keep them high
spiPreInit();
#ifdef USE_SPI_DEVICE_1
spiInit(SPIDEV_1);
#endif
@ -637,5 +696,10 @@ void init(void)
#else
fcTasksInit();
#endif
#ifdef USE_RCSPLIT
rcSplitInit();
#endif // USE_RCSPLIT
systemState |= SYSTEM_STATE_READY;
}