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Merge pull request #626 from blckmn/development 

Update hmc5883l to use new IO
This commit is contained in:
Martin Budden 2016-06-28 20:57:04 +01:00 committed by GitHub
parent b28c013b2e c5071fcdad
commit 0d3b65071e
11 changed files with 60 additions and 167 deletions
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2
src/main/drivers/accgyro_lsm303dlhc.c
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@ -26,7 +26,7 @@
#include "common/axis.h"
#include "system.h"
#include "gpio.h"
#include "io.h"
#include "bus_i2c.h"
#include "sensor.h"

51
src/main/drivers/accgyro_lsm303dlhc.h
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@ -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 */
@ -34,8 +33,7 @@ typedef struct
} 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 */
@ -43,8 +41,7 @@ typedef struct
} 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 */
@ -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 GPIO_Pin_6 /* PB.06 */
#define LSM303DLHC_I2C_SCK_GPIO_PORT GPIOB /* GPIOB */
#define LSM303DLHC_I2C_SCK_GPIO_CLK RCC_AHBPeriph_GPIOB
#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
#define LSM303DLHC_I2C_SCK_PIN PB6 /* PB.06 */
#define LSM303DLHC_I2C_SDA_PIN PB7 /* PB.7 */
#define LSM303DLHC_DRDY_PIN PE2 /* PE.02 */
#define LSM303DLHC_I2C_INT1_PIN PE4 /* PE.04 */
#define LSM303DLHC_I2C_INT2_PIN PE5 /* PE.05 */
/******************************************************************************/
/*************************** START REGISTER MAPPING **************************/

2
src/main/drivers/accgyro_mpu.h
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@ -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

18
src/main/drivers/bus_i2c_stm32f30x.c
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@ -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(sda, 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, 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 ?
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_Timing = (i2c->overClock ? I2C_HIGHSPEED_TIMING : I2C_STANDARD_TIMING)
};
I2C_Init(I2Cx, &i2cInit);

2
src/main/drivers/compass_ak8963.c
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@ -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"

81
src/main/drivers/compass_hmc5883l.c
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@ -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) {
return;
}
EXTI_ClearITPendingBit(hmc5883Config->exti_line);
UNUSED(cb);
#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
// 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
intIO = IOGetByTag(hmc5883Config->intTag);
#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);
EXTI_ClearITPendingBit(hmc5883Config->exti_line);
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);
EXTIHandlerInit(&hmc5883_extiCallbackRec, hmc5883_extiHandler);
EXTIConfig(intIO, &hmc5883_extiCallbackRec, NVIC_PRIO_MAG_INT_EXTI, EXTI_Trigger_Rising);
EXTIEnable(intIO, true);
#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.

16
src/main/drivers/compass_hmc5883l.h
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@ -17,20 +17,10 @@
#pragma once
typedef struct hmc5883Config_s {
#ifdef STM32F303
uint32_t gpioAHBPeripherals;
#endif
#ifdef STM32F10X
uint32_t gpioAPB2Peripherals;
#endif
uint16_t gpioPin;
GPIO_TypeDef *gpioPort;
#include "io.h"
uint8_t exti_port_source;
uint32_t exti_line;
uint8_t exti_pin_source;
IRQn_Type exti_irqn;
typedef struct hmc5883Config_s {
ioTag_t intTag;
} hmc5883Config_t;
bool hmc5883lDetect(mag_t* mag, const hmc5883Config_t *hmc5883ConfigToUse);

2
src/main/sensors/compass.c
View File

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

35
src/main/sensors/initialisation.c
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@ -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,
.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
*/
.intTag = IO_TAG(PB12) /* perhaps disabled? */
};
static const hmc5883Config_t nazeHmc5883Config_v5 = {
.gpioAPB2Peripherals = RCC_APB2Periph_GPIOC,
.gpioPin = Pin_14,
.gpioPort = GPIOC,
.exti_port_source = GPIO_PortSourceGPIOC,
.exti_line = EXTI_Line14,
.exti_pin_source = GPIO_PinSource14,
.exti_irqn = EXTI15_10_IRQn
.intTag = IO_TAG(MAG_INT_EXTI)
};
if (hardwareRevision < NAZE32_REV5) {
hmc5883Config = &nazeHmc5883Config_v1_v4;
@ -513,18 +498,12 @@ static void detectMag(magSensor_e magHardwareToUse)
}
#endif
#ifdef SPRACINGF3
static const hmc5883Config_t spRacingF3Hmc5883Config = {
.gpioAHBPeripherals = RCC_AHBPeriph_GPIOC,
.gpioPin = Pin_14,
.gpioPort = GPIOC,
.exti_port_source = EXTI_PortSourceGPIOC,
.exti_pin_source = EXTI_PinSource14,
.exti_line = EXTI_Line14,
.exti_irqn = EXTI15_10_IRQn
#ifdef MAG_INT_EXTI
static const hmc5883Config_t extiHmc5883Config = {
.intTag = IO_TAG(MAG_INT_EXTI)
};
hmc5883Config = &spRacingF3Hmc5883Config;
hmc5883Config = &extiHmc5883Config;
#endif
#endif

1
src/main/target/NAZE/target.h
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@ -74,6 +74,7 @@
//#define DEBUG_MAG_DATA_READY_INTERRUPT
#define USE_MAG_DATA_READY_SIGNAL
#define MAG_INT_EXTI PC14
#define GYRO
#define USE_GYRO_MPU3050

9
src/main/target/SPRACINGF3/target.h
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@ -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