Merge pull request #626 from blckmn/development

Update hmc5883l to use new IO

src/main/drivers/accgyro_lsm303dlhc.c

@@ -26,7 +26,7 @@
 #include "common/axis.h"
 
 #include "system.h"
-#include "gpio.h"
+#include "io.h"
 #include "bus_i2c.h"
 
 #include "sensor.h"

src/main/drivers/accgyro_lsm303dlhc.h

@@ -22,8 +22,7 @@
   */
 
 /* LSM303DLHC ACC struct */
-typedef struct
+typedef struct {
-{
   uint8_t Power_Mode;                         /* Power-down/Normal Mode */
   uint8_t AccOutput_DataRate;                 /* OUT data rate */
   uint8_t Axes_Enable;                        /* Axes enable */
@@ -31,25 +30,23 @@ typedef struct
   uint8_t BlockData_Update;                   /* Block Data Update */
   uint8_t Endianness;                         /* Endian Data selection */
   uint8_t AccFull_Scale;                      /* Full Scale selection */
-}LSM303DLHCAcc_InitTypeDef;
+} LSM303DLHCAcc_InitTypeDef;
 
 /* LSM303DLHC Acc High Pass Filter struct */
-typedef struct
+typedef struct {
-{
   uint8_t HighPassFilter_Mode_Selection;      /* Internal filter mode */
   uint8_t HighPassFilter_CutOff_Frequency;    /* High pass filter cut-off frequency */
   uint8_t HighPassFilter_AOI1;                /* HPF_enabling/disabling for AOI function on interrupt 1 */
   uint8_t HighPassFilter_AOI2;                /* HPF_enabling/disabling for AOI function on interrupt 2 */
-}LSM303DLHCAcc_FilterConfigTypeDef;
+} LSM303DLHCAcc_FilterConfigTypeDef;
 
 /* LSM303DLHC Mag struct */
-typedef struct
+typedef struct {
-{
   uint8_t Temperature_Sensor;                /* Temperature sensor enable/disable */
   uint8_t MagOutput_DataRate;                /* OUT data rate */
   uint8_t Working_Mode;                      /* operating mode */
   uint8_t MagFull_Scale;                     /* Full Scale selection */
-}LSM303DLHCMag_InitTypeDef;
+} LSM303DLHCMag_InitTypeDef;
 /**
   * @}
   */
@@ -78,43 +75,11 @@ typedef struct
   * @brief  LSM303DLHC I2C Interface pins
   */
 #define LSM303DLHC_I2C                       I2C1
-#define LSM303DLHC_I2C_CLK                   RCC_APB1Periph_I2C1
+#define LSM303DLHC_I2C_SCK_PIN               PB6                         /* PB.06 */
-
+#define LSM303DLHC_I2C_SDA_PIN               PB7                         /* PB.7 */
-#define LSM303DLHC_I2C_SCK_PIN               GPIO_Pin_6                  /* PB.06 */
+#define LSM303DLHC_DRDY_PIN                  PE2                         /* PE.02 */
-#define LSM303DLHC_I2C_SCK_GPIO_PORT         GPIOB                       /* GPIOB */
+#define LSM303DLHC_I2C_INT1_PIN              PE4                         /* PE.04 */
-#define LSM303DLHC_I2C_SCK_GPIO_CLK          RCC_AHBPeriph_GPIOB
+#define LSM303DLHC_I2C_INT2_PIN              PE5                         /* PE.05 */
-#define LSM303DLHC_I2C_SCK_SOURCE            GPIO_PinSource6
-#define LSM303DLHC_I2C_SCK_AF                GPIO_AF_4
-
-#define LSM303DLHC_I2C_SDA_PIN               GPIO_Pin_7                  /* PB.7 */
-#define LSM303DLHC_I2C_SDA_GPIO_PORT         GPIOB                       /* GPIOB */
-#define LSM303DLHC_I2C_SDA_GPIO_CLK          RCC_AHBPeriph_GPIOB
-#define LSM303DLHC_I2C_SDA_SOURCE            GPIO_PinSource7
-#define LSM303DLHC_I2C_SDA_AF                GPIO_AF_4
-
-#define LSM303DLHC_DRDY_PIN                  GPIO_Pin_2                  /* PE.02 */
-#define LSM303DLHC_DRDY_GPIO_PORT            GPIOE                       /* GPIOE */
-#define LSM303DLHC_DRDY_GPIO_CLK             RCC_AHBPeriph_GPIOE
-#define LSM303DLHC_DRDY_EXTI_LINE            EXTI_Line2
-#define LSM303DLHC_DRDY_EXTI_PORT_SOURCE     EXTI_PortSourceGPIOE
-#define LSM303DLHC_DRDY_EXTI_PIN_SOURCE      EXTI_PinSource2
-#define LSM303DLHC_DRDY_EXTI_IRQn            EXTI2_TS_IRQn
-
-#define LSM303DLHC_I2C_INT1_PIN              GPIO_Pin_4                  /* PE.04 */
-#define LSM303DLHC_I2C_INT1_GPIO_PORT        GPIOE                       /* GPIOE */
-#define LSM303DLHC_I2C_INT1_GPIO_CLK         RCC_AHBPeriph_GPIOE
-#define LSM303DLHC_I2C_INT1_EXTI_LINE        EXTI_Line4
-#define LSM303DLHC_I2C_INT1_EXTI_PORT_SOURCE EXTI_PortSourceGPIOE
-#define LSM303DLHC_I2C_INT1_EXTI_PIN_SOURCE  EXTI_PinSource4
-#define LSM303DLHC_I2C_INT1_EXTI_IRQn        EXTI4_IRQn
-
-#define LSM303DLHC_I2C_INT2_PIN              GPIO_Pin_5                  /* PE.05 */
-#define LSM303DLHC_I2C_INT2_GPIO_PORT        GPIOE                       /* GPIOE */
-#define LSM303DLHC_I2C_INT2_GPIO_CLK         RCC_AHBPeriph_GPIOE
-#define LSM303DLHC_I2C_INT2_EXTI_LINE        EXTI_Line5
-#define LSM303DLHC_I2C_INT2_EXTI_PORT_SOURCE EXTI_PortSourceGPIOE
-#define LSM303DLHC_I2C_INT2_EXTI_PIN_SOURCE  EXTI_PinSource5ss
-#define LSM303DLHC_I2C_INT2_EXTI_IRQn        EXTI9_5_IRQn
 
 /******************************************************************************/
 /*************************** START REGISTER MAPPING  **************************/

src/main/drivers/accgyro_mpu.h

@@ -17,6 +17,8 @@
 
 #pragma once
 
+#include "exti.h"
+ 
 // MPU6050
 #define MPU_RA_WHO_AM_I         0x75
 #define MPU_RA_WHO_AM_I_LEGACY  0x00

src/main/drivers/bus_i2c_stm32f30x.c

@@ -31,6 +31,15 @@
 
 #ifndef SOFT_I2C
 
+#if defined(USE_I2C_PULLUP)
+#define IOCFG_I2C IO_CONFIG(GPIO_Mode_AF, 0, GPIO_OType_OD, GPIO_PuPd_UP)
+#else
+#define IOCFG_I2C IOCFG_AF_OD
+#endif
+
+#define I2C_HIGHSPEED_TIMING  0x00500E30  // 1000 Khz, 72Mhz Clock, Analog Filter Delay ON, Setup 40, Hold 4.
+#define I2C_STANDARD_TIMING   0x00E0257A  // 400 Khz, 72Mhz Clock, Analog Filter Delay ON, Rise 100, Fall 10.
+
 #define I2C_SHORT_TIMEOUT   ((uint32_t)0x1000)
 #define I2C_LONG_TIMEOUT    ((uint32_t)(10 * I2C_SHORT_TIMEOUT))
 #define I2C_GPIO_AF         GPIO_AF_4 
@@ -83,8 +92,8 @@ void i2cInit(I2CDevice device)
     RCC_ClockCmd(i2c->rcc, ENABLE);
     RCC_I2CCLKConfig(I2Cx == I2C2 ? RCC_I2C2CLK_SYSCLK : RCC_I2C1CLK_SYSCLK);
 
-    IOConfigGPIOAF(scl, IO_CONFIG(GPIO_Mode_AF, GPIO_Speed_50MHz, GPIO_OType_OD, GPIO_PuPd_UP), GPIO_AF_4);
+    IOConfigGPIOAF(scl, IOCFG_I2C, GPIO_AF_4);
-    IOConfigGPIOAF(sda, IO_CONFIG(GPIO_Mode_AF, GPIO_Speed_50MHz, GPIO_OType_OD, GPIO_PuPd_UP), GPIO_AF_4);
+    IOConfigGPIOAF(sda, IOCFG_I2C, GPIO_AF_4);
 
     I2C_InitTypeDef i2cInit = {
         .I2C_Mode = I2C_Mode_I2C,
@@ -93,10 +102,7 @@ void i2cInit(I2CDevice device)
         .I2C_OwnAddress1 = 0x00,
         .I2C_Ack = I2C_Ack_Enable,
         .I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit,
-        .I2C_Timing = i2c->overClock ?
+        .I2C_Timing = (i2c->overClock ? I2C_HIGHSPEED_TIMING : I2C_STANDARD_TIMING)
-            0x00500E30 : // 1000 Khz, 72Mhz Clock, Analog Filter Delay ON, Setup 40, Hold 4.
-            0x00E0257A, // 400 Khz, 72Mhz Clock, Analog Filter Delay ON, Rise 100, Fall 10.
-        //.I2C_Timing              = 0x8000050B;
     };
     
     I2C_Init(I2Cx, &i2cInit);

src/main/drivers/compass_ak8963.c

@@ -30,8 +30,6 @@
 #include "common/maths.h"
 
 #include "system.h"
-#include "gpio.h"
-#include "exti.h"
 #include "bus_i2c.h"
 #include "bus_spi.h"
 

src/main/drivers/compass_hmc5883l.c

@@ -29,7 +29,8 @@
 
 #include "system.h"
 #include "nvic.h"
-#include "gpio.h"
+#include "io.h"
+#include "exti.h"
 #include "bus_i2c.h"
 #include "light_led.h"
 
@@ -120,14 +121,14 @@ static float magGain[3] = { 1.0f, 1.0f, 1.0f };
 
 static const hmc5883Config_t *hmc5883Config = NULL;
 
-void MAG_DATA_READY_EXTI_Handler(void)
+#ifdef USE_MAG_DATA_READY_SIGNAL
+
+static IO_t intIO;
+static extiCallbackRec_t hmc5883_extiCallbackRec;
+
+void hmc5883_extiHandler(extiCallbackRec_t* cb)
 {
-    if (EXTI_GetITStatus(hmc5883Config->exti_line) == RESET) {
+    UNUSED(cb);
-        return;
-    }
-
-    EXTI_ClearITPendingBit(hmc5883Config->exti_line);
-
 #ifdef DEBUG_MAG_DATA_READY_INTERRUPT
     // Measure the delta between calls to the interrupt handler
     // currently should be around 65/66 milli seconds / 15hz output rate
@@ -143,57 +144,26 @@ void MAG_DATA_READY_EXTI_Handler(void)
     lastCalledAt = now;
 #endif
 }
+#endif
 
 static void hmc5883lConfigureDataReadyInterruptHandling(void)
 {
 #ifdef USE_MAG_DATA_READY_SIGNAL
 
-    if (!(hmc5883Config->exti_port_source && hmc5883Config->exti_pin_source)) {
+    if (!(hmc5883Config->intTag)) {
         return;
     }
-#ifdef STM32F10X
+    intIO = IOGetByTag(hmc5883Config->intTag);
-    // enable AFIO for EXTI support
-    RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE);
-#endif
-
-#ifdef STM32F303xC
-    /* Enable SYSCFG clock otherwise the EXTI irq handlers are not called */
-    RCC_APB2PeriphClockCmd(RCC_APB2Periph_SYSCFG, ENABLE);
-#endif
-
-#ifdef STM32F10X
-    gpioExtiLineConfig(hmc5883Config->exti_port_source, hmc5883Config->exti_pin_source);
-#endif
-
-#ifdef STM32F303xC
-    gpioExtiLineConfig(hmc5883Config->exti_port_source, hmc5883Config->exti_pin_source);
-#endif
-
 #ifdef ENSURE_MAG_DATA_READY_IS_HIGH
-    uint8_t status = GPIO_ReadInputDataBit(hmc5883Config->gpioPort, hmc5883Config->gpioPin);
+    uint8_t status = IORead(intIO);
     if (!status) {
         return;
     }
 #endif
 
-    registerExtiCallbackHandler(hmc5883Config->exti_irqn, MAG_DATA_READY_EXTI_Handler);
+    EXTIHandlerInit(&hmc5883_extiCallbackRec, hmc5883_extiHandler);
-
+    EXTIConfig(intIO, &hmc5883_extiCallbackRec, NVIC_PRIO_MAG_INT_EXTI, EXTI_Trigger_Rising);
-    EXTI_ClearITPendingBit(hmc5883Config->exti_line);
+    EXTIEnable(intIO, true);
-
-    EXTI_InitTypeDef EXTIInit;
-    EXTIInit.EXTI_Line = hmc5883Config->exti_line;
-    EXTIInit.EXTI_Mode = EXTI_Mode_Interrupt;
-    EXTIInit.EXTI_Trigger = EXTI_Trigger_Falling;
-    EXTIInit.EXTI_LineCmd = ENABLE;
-    EXTI_Init(&EXTIInit);
-
-    NVIC_InitTypeDef NVIC_InitStructure;
-
-    NVIC_InitStructure.NVIC_IRQChannel = hmc5883Config->exti_irqn;
-    NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = NVIC_PRIORITY_BASE(NVIC_PRIO_MAG_DATA_READY);
-    NVIC_InitStructure.NVIC_IRQChannelSubPriority = NVIC_PRIORITY_SUB(NVIC_PRIO_MAG_DATA_READY);
-    NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
-    NVIC_Init(&NVIC_InitStructure);
 #endif
 }
 
@@ -221,25 +191,6 @@ void hmc5883lInit(void)
     int32_t xyz_total[3] = { 0, 0, 0 }; // 32 bit totals so they won't overflow.
     bool bret = true;           // Error indicator
 
-    gpio_config_t gpio;
-
-    if (hmc5883Config) {
-#ifdef STM32F303
-        if (hmc5883Config->gpioAHBPeripherals) {
-            RCC_AHBPeriphClockCmd(hmc5883Config->gpioAHBPeripherals, ENABLE);
-        }
-#endif
-#ifdef STM32F10X
-        if (hmc5883Config->gpioAPB2Peripherals) {
-            RCC_APB2PeriphClockCmd(hmc5883Config->gpioAPB2Peripherals, ENABLE);
-        }
-#endif
-        gpio.pin = hmc5883Config->gpioPin;
-        gpio.speed = Speed_2MHz;
-        gpio.mode = Mode_IN_FLOATING;
-        gpioInit(hmc5883Config->gpioPort, &gpio);
-    }
-
     delay(50);
     i2cWrite(MAG_I2C_INSTANCE, MAG_ADDRESS, HMC58X3_R_CONFA, 0x010 + HMC_POS_BIAS);   // Reg A DOR = 0x010 + MS1, MS0 set to pos bias
     // Note that the  very first measurement after a gain change maintains the same gain as the previous setting.

src/main/drivers/compass_hmc5883l.h

@@ -17,20 +17,10 @@
 
 #pragma once
 
-typedef struct hmc5883Config_s {
+#include "io.h"
-#ifdef STM32F303
-    uint32_t gpioAHBPeripherals;
-#endif
-#ifdef STM32F10X
-    uint32_t gpioAPB2Peripherals;
-#endif
-    uint16_t gpioPin;
-    GPIO_TypeDef *gpioPort;
 
-    uint8_t exti_port_source;
+typedef struct hmc5883Config_s {
-    uint32_t exti_line;
+    ioTag_t intTag;
-    uint8_t exti_pin_source;
-    IRQn_Type exti_irqn;
 } hmc5883Config_t;
 
 bool hmc5883lDetect(mag_t* mag, const hmc5883Config_t *hmc5883ConfigToUse);

src/main/sensors/compass.c

@@ -35,7 +35,7 @@
 #include "sensors/sensors.h"
 #include "sensors/compass.h"
 
-#ifdef NAZE
+#ifdef USE_HARDWARE_REVISION_DETECTION
 #include "hardware_revision.h"
 #endif
 

src/main/sensors/initialisation.c

@@ -484,27 +484,12 @@ static void detectMag(magSensor_e magHardwareToUse)
 #ifdef USE_MAG_HMC5883
     const hmc5883Config_t *hmc5883Config = 0;
 
-#ifdef NAZE
+#ifdef NAZE // TODO remove this target specific define
     static const hmc5883Config_t nazeHmc5883Config_v1_v4 = {
-            .gpioAPB2Peripherals = RCC_APB2Periph_GPIOB,
+            .intTag = IO_TAG(PB12) /* perhaps disabled? */
-            .gpioPin = Pin_12,
-            .gpioPort = GPIOB,
-
-            /* Disabled for v4 needs more work.
-            .exti_port_source = GPIO_PortSourceGPIOB,
-            .exti_pin_source = GPIO_PinSource12,
-            .exti_line = EXTI_Line12,
-            .exti_irqn = EXTI15_10_IRQn
-            */
     };
     static const hmc5883Config_t nazeHmc5883Config_v5 = {
-            .gpioAPB2Peripherals = RCC_APB2Periph_GPIOC,
+            .intTag = IO_TAG(MAG_INT_EXTI)
-            .gpioPin = Pin_14,
-            .gpioPort = GPIOC,
-            .exti_port_source = GPIO_PortSourceGPIOC,
-            .exti_line = EXTI_Line14,
-            .exti_pin_source = GPIO_PinSource14,
-            .exti_irqn = EXTI15_10_IRQn
     };
     if (hardwareRevision < NAZE32_REV5) {
         hmc5883Config = &nazeHmc5883Config_v1_v4;
@@ -513,18 +498,12 @@ static void detectMag(magSensor_e magHardwareToUse)
     }
 #endif
 
-#ifdef SPRACINGF3
+#ifdef MAG_INT_EXTI
-    static const hmc5883Config_t spRacingF3Hmc5883Config = {
+    static const hmc5883Config_t extiHmc5883Config = {
-        .gpioAHBPeripherals = RCC_AHBPeriph_GPIOC,
+        .intTag = IO_TAG(MAG_INT_EXTI)
-        .gpioPin = Pin_14,
-        .gpioPort = GPIOC,
-        .exti_port_source = EXTI_PortSourceGPIOC,
-        .exti_pin_source = EXTI_PinSource14,
-        .exti_line = EXTI_Line14,
-        .exti_irqn = EXTI15_10_IRQn
     };
 
-    hmc5883Config = &spRacingF3Hmc5883Config;
+	hmc5883Config = &extiHmc5883Config;
 #endif
 
 #endif

src/main/target/NAZE/target.h

@@ -74,7 +74,8 @@
 
 //#define DEBUG_MAG_DATA_READY_INTERRUPT
 #define USE_MAG_DATA_READY_SIGNAL
-
+#define MAG_INT_EXTI PC14
+ 
 #define GYRO
 #define USE_GYRO_MPU3050
 #define USE_GYRO_MPU6050

src/main/target/SPRACINGF3/target.h

@@ -35,10 +35,6 @@
 #define USE_MPU_DATA_READY_SIGNAL
 #define ENSURE_MPU_DATA_READY_IS_LOW
 
-#define USE_MAG_DATA_READY_SIGNAL
-#define ENSURE_MAG_DATA_READY_IS_HIGH
-
-
 #define GYRO
 #define USE_GYRO_MPU6050
 #define GYRO_MPU6050_ALIGN CW270_DEG
@@ -57,6 +53,11 @@
 #define USE_MAG_HMC5883
 #define MAG_HMC5883_ALIGN CW270_DEG
 
+#define USE_MAG_DATA_READY_SIGNAL
+#define ENSURE_MAG_DATA_READY_IS_HIGH
+#define MAG_INT_EXTI PC14
+
+
 #define USE_FLASHFS
 #define USE_FLASH_M25P16