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Configurable acc/gyro

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This commit is contained in:
jflyper 2018-05-10 22:25:37 +09:00
parent 5ef68ef6a3
commit fc6c24c38e
133 changed files with 1095 additions and 1116 deletions
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src/main/pg/gyrodev.c Normal file
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/*
* This file is part of Cleanflight and Betaflight.
*
* Cleanflight and Betaflight are free software. You can redistribute
* this software and/or modify this software under the terms of the
* GNU General Public License as published by the Free Software
* Foundation, either version 3 of the License, or (at your option)
* any later version.
*
* Cleanflight and Betaflight are distributed in the hope that they
* will be useful, but WITHOUT ANY WARRANTY; without even the implied
* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this software.
*
* If not, see <http://www.gnu.org/licenses/>.
*/
#include <stdbool.h>
#include <stdint.h>
#include "platform.h"
#include "pg/pg.h"
#include "pg/pg_ids.h"
#include "drivers/io.h"
#include "drivers/bus_spi.h"
#include "pg/gyrodev.h"
ioTag_t selectMPUIntExtiConfigByHardwareRevision(void); // XXX Should be gone
#if defined(USE_SPI_GYRO) || defined(USE_I2C_GYRO)
static void gyroResetCommonDeviceConfig(gyroDeviceConfig_t *devconf, ioTag_t extiTag, sensor_align_e align)
{
devconf->extiTag = extiTag;
devconf->align = align;
}
#endif
#ifdef USE_SPI_GYRO
static void gyroResetSpiDeviceConfig(gyroDeviceConfig_t *devconf, SPI_TypeDef *instance, ioTag_t csnTag, ioTag_t extiTag, sensor_align_e align)
{
devconf->bustype = BUSTYPE_SPI;
devconf->spiBus = SPI_DEV_TO_CFG(spiDeviceByInstance(instance));
devconf->csnTag = csnTag;
gyroResetCommonDeviceConfig(devconf, extiTag, align);
}
#endif
#ifdef USE_I2C_GYRO
static void gyroResetI2cDeviceConfig(gyroDeviceConfig_t *devconf, I2CDevice i2cbus, ioTag_t extiTag, sensor_align_e align)
{
devconf->bustype = BUSTYPE_I2C;
devconf->i2cBus = I2C_DEV_TO_CFG(i2cbus);
devconf->i2cAddress = GYRO_I2C_ADDRESS;
gyroResetCommonDeviceConfig(devconf, extiTag, align);
}
#endif
PG_REGISTER_ARRAY_WITH_RESET_FN(gyroDeviceConfig_t, MAX_GYRODEV_COUNT, gyroDeviceConfig, PG_GYRO_DEVICE_CONFIG, 0);
void pgResetFn_gyroDeviceConfig(gyroDeviceConfig_t *devconf)
{
devconf[0].index = 0;
// All multi-gyro boards use SPI based gyros.
#ifdef USE_SPI_GYRO
gyroResetSpiDeviceConfig(&devconf[0], GYRO_1_SPI_INSTANCE, IO_TAG(GYRO_1_CS_PIN), IO_TAG(GYRO_1_EXTI_PIN), GYRO_1_ALIGN);
#ifdef USE_MULTI_GYRO
gyroResetSpiDeviceConfig(&devconf[1], GYRO_2_SPI_INSTANCE, IO_TAG(GYRO_2_CS_PIN), IO_TAG(GYRO_2_EXTI_PIN), GYRO_2_ALIGN);
devconf[1].index = 1;
#endif
#endif
// I2C gyros appear as a sole gyro in single gyro boards.
#if defined(USE_I2C_GYRO) && !defined(USE_MULTI_GYRO)
devconf[0].i2cBus = I2C_DEV_TO_CFG(I2CINVALID); // XXX Not required?
gyroResetI2cDeviceConfig(&devconf[0], I2C_DEVICE, IO_TAG(GYRO_1_EXTI_PIN), GYRO_1_ALIGN);
#endif
// Special treatment for very rare F3 targets with variants having either I2C or SPI acc/gyro chip; mark it for run time detection.
#if defined(USE_SPI_GYRO) && defined(USE_I2C_GYRO)
devconf[0].bustype = BUSTYPE_GYRO_AUTO;
#endif
}