diff --git a/baseflight.uvproj b/baseflight.uvproj
index 34e634776b..2b1badd2a1 100755
--- a/baseflight.uvproj
+++ b/baseflight.uvproj
@@ -642,6 +642,11 @@
1
.\src\drv_gpio.c
+
+ drv_spi.c
+ 1
+ .\src\drv_spi.c
+
@@ -813,6 +818,11 @@
1
.\src\printf.c
+
+ stm32f10x_spi.c
+ 1
+ .\lib\STM32F10x_StdPeriph_Driver\src\stm32f10x_spi.c
+
@@ -1453,6 +1463,11 @@
1
.\src\drv_gpio.c
+
+ drv_spi.c
+ 1
+ .\src\drv_spi.c
+
@@ -1568,6 +1583,11 @@
1
.\src\printf.c
+
+ stm32f10x_spi.c
+ 1
+ .\lib\STM32F10x_StdPeriph_Driver\src\stm32f10x_spi.c
+
@@ -2448,6 +2468,11 @@
1
.\src\drv_gpio.c
+
+ drv_spi.c
+ 1
+ .\src\drv_spi.c
+
@@ -2619,6 +2644,11 @@
1
.\src\printf.c
+
+ stm32f10x_spi.c
+ 1
+ .\lib\STM32F10x_StdPeriph_Driver\src\stm32f10x_spi.c
+
diff --git a/obj/baseflight.hex b/obj/baseflight.hex
index 5b2d74f443..ddb37a75c0 100644
--- a/obj/baseflight.hex
+++ b/obj/baseflight.hex
@@ -1,20 +1,20 @@
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diff --git a/src/board.h b/src/board.h
index 12616cf8d8..aea5f74da0 100755
--- a/src/board.h
+++ b/src/board.h
@@ -206,6 +206,7 @@ typedef struct baro_t
#include "drv_ms5611.h"
#include "drv_hmc5883l.h"
#include "drv_i2c.h"
+#include "drv_spi.h"
#include "drv_ledring.h"
#include "drv_mma845x.h"
#include "drv_mpu3050.h"
diff --git a/src/drv_hmc5883l.c b/src/drv_hmc5883l.c
index 766ab19659..dcb823e13a 100755
--- a/src/drv_hmc5883l.c
+++ b/src/drv_hmc5883l.c
@@ -42,11 +42,17 @@ void hmc5883lInit(float *calibrationGain)
int32_t xyz_total[3] = { 0, 0, 0 }; // 32 bit totals so they won't overflow.
bool bret = true; // Error indicator
- // PB12 - MAG_DRDY output on rev4 hardware
- gpio.pin = Pin_12;
- gpio.speed = Speed_2MHz;
- gpio.mode = Mode_IN_FLOATING;
- gpioInit(GPIOB, &gpio);
+ if (hse_value == 8000000) {
+ // PB12 - MAG_DRDY output on rev4 hardware
+ gpio.pin = Pin_12;
+ gpio.speed = Speed_2MHz;
+ gpio.mode = Mode_IN_FLOATING;
+ gpioInit(GPIOB, &gpio);
+ } else if (hse_value == 12000000) {
+ // PC14 - MAG_DRDY output on rev5 hardware
+ gpio.pin = Pin_14;
+ gpioInit(GPIOC, &gpio);
+ }
delay(50);
i2cWrite(MAG_ADDRESS, HMC58X3_R_CONFA, 0x010 + HMC_POS_BIAS); // Reg A DOR = 0x010 + MS1, MS0 set to pos bias
diff --git a/src/drv_mpu6050.c b/src/drv_mpu6050.c
index dc0439f82c..5323ab72f3 100644
--- a/src/drv_mpu6050.c
+++ b/src/drv_mpu6050.c
@@ -268,11 +268,14 @@ static void mpu6050GyroInit(void)
{
gpio_config_t gpio;
- // PB13 - MPU_INT output on rev4 hardware
+ // MPU_INT output on rev4/5 hardware (PB13, PC13)
gpio.pin = Pin_13;
gpio.speed = Speed_2MHz;
gpio.mode = Mode_IN_FLOATING;
- gpioInit(GPIOB, &gpio);
+ if (hse_value == 8000000)
+ gpioInit(GPIOB, &gpio);
+ else if (hse_value == 12000000)
+ gpioInit(GPIOC, &gpio);
#ifndef MPU6050_DMP
i2cWrite(MPU6050_ADDRESS, MPU_RA_PWR_MGMT_1, 0x80); //PWR_MGMT_1 -- DEVICE_RESET 1
diff --git a/src/drv_spi.c b/src/drv_spi.c
new file mode 100644
index 0000000000..55a40b021b
--- /dev/null
+++ b/src/drv_spi.c
@@ -0,0 +1,101 @@
+#include "board.h"
+
+// SPI2 Driver
+// PB15 28 SPI2_MOSI
+// PB14 27 SPI2_MISO
+// PB13 26 SPI2_SCK
+// PB12 25 SPI2_NSS
+
+static bool spiTest(void);
+
+bool spiInit(void)
+{
+ gpio_config_t gpio;
+ SPI_InitTypeDef spi;
+
+ // Enable SPI2 clock
+ RCC_APB1PeriphClockCmd(RCC_APB1Periph_SPI2, ENABLE);
+ RCC_APB1PeriphResetCmd(RCC_APB1Periph_SPI2, ENABLE);
+
+ // MOSI + SCK as output
+ gpio.mode = Mode_AF_PP;
+ gpio.pin = Pin_13 | Pin_15;
+ gpio.speed = Speed_50MHz;
+ gpioInit(GPIOB, &gpio);
+ // MISO as input
+ gpio.pin = Pin_14;
+ gpio.mode = Mode_IN_FLOATING;
+ gpioInit(GPIOB, &gpio);
+ // NSS as gpio slave select
+ gpio.pin = Pin_12;
+ gpio.mode = Mode_Out_PP;
+ gpioInit(GPIOB, &gpio);
+
+ // Init SPI2 hardware
+ SPI_I2S_DeInit(SPI2);
+ spi.SPI_Mode = SPI_Mode_Master;
+ spi.SPI_Direction = SPI_Direction_2Lines_FullDuplex;
+ spi.SPI_DataSize = SPI_DataSize_8b;
+ spi.SPI_NSS = SPI_NSS_Soft;
+ spi.SPI_FirstBit = SPI_FirstBit_MSB;
+ spi.SPI_CRCPolynomial = 7;
+ spi.SPI_CPOL = SPI_CPOL_High;
+ spi.SPI_CPHA = SPI_CPHA_2Edge;
+ spi.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_8;
+ SPI_Init(SPI2, &spi);
+ SPI_Cmd(SPI2, ENABLE);
+
+ return spiTest();
+}
+
+void spiSelect(bool select)
+{
+ if (select) {
+ digitalLo(GPIOB, Pin_12);
+ } else {
+ digitalHi(GPIOB, Pin_12);
+ }
+}
+
+uint8_t spiTransferByte(uint8_t in)
+{
+ uint8_t rx;
+ SPI2->DR;
+ SPI2->DR = in;
+ while (!(SPI2->SR & SPI_I2S_FLAG_RXNE));
+ rx = SPI2->DR;
+ while (!(SPI2->SR & SPI_I2S_FLAG_TXE));
+ while (SPI2->SR & SPI_I2S_FLAG_BSY);
+ return rx;
+}
+
+bool spiTransfer(uint8_t *out, uint8_t *in, int len)
+{
+ uint8_t b;
+ SPI2->DR;
+ while (len--) {
+ b = in ? *(in++) : 0xFF;
+ while (SPI_I2S_GetFlagStatus(SPI2, SPI_I2S_FLAG_TXE) == RESET);
+ SPI_I2S_SendData(SPI2, b);
+ while (SPI_I2S_GetFlagStatus(SPI2, SPI_I2S_FLAG_RXNE) == RESET);
+ b = SPI_I2S_ReceiveData(SPI2);
+ if (out)
+ *(out++) = b;
+ }
+
+ return true;
+}
+
+static bool spiTest(void)
+{
+ uint8_t out[] = { 0x9F, 0, 0, 0 };
+ uint8_t in[4];
+
+ spiSelect(true);
+ spiTransfer(in, out, sizeof(out));
+ spiSelect(false);
+ if (in[1] == 0xEF)
+ return true;
+
+ return false;
+}
diff --git a/src/drv_spi.h b/src/drv_spi.h
new file mode 100644
index 0000000000..e9a57be547
--- /dev/null
+++ b/src/drv_spi.h
@@ -0,0 +1,3 @@
+#pragma once
+
+bool spiInit(void);
diff --git a/src/drv_system.c b/src/drv_system.c
index 773cbf9df5..8f21648f6c 100755
--- a/src/drv_system.c
+++ b/src/drv_system.c
@@ -101,6 +101,7 @@ void systemInit(void)
#ifndef FY90Q
i2cInit(I2C2);
#endif
+ spiInit();
// sleep for 100ms
delay(100);