Merge pull request #512 from blckmn/development

Moved target specific code out of sensors/initialisation.c

src/main/drivers/io.h

@@ -8,7 +8,7 @@
 
 // IO pin identification
 // make sure that ioTag_t can't be assigned into IO_t without warning
-typedef uint8_t ioTag_t;          // packet tag to specify IO pin
+typedef uint8_t ioTag_t;       // packet tag to specify IO pin
 typedef void* IO_t;            // type specifying IO pin. Currently ioRec_t pointer, but this may change
 
 // NONE initializer for IO_t variable

src/main/sensors/initialisation.c

@@ -90,45 +90,10 @@ const extiConfig_t *selectMPUIntExtiConfig(void)
     return &mpuIntExtiConfig;
 #endif
     
-#ifdef NAZE
+#ifdef USE_HARDWARE_REVISION_DETECTION
-    // MPU_INT output on rev4 PB13
+    return selectMPUIntExtiConfigByHardwareRevision();
-    static const extiConfig_t nazeRev4MPUIntExtiConfig = {
+#else
    return NULL;
-        .io = IO_TAG(PB13)
-    };
-    // MPU_INT output on rev5 hardware PC13
-    static const extiConfig_t nazeRev5MPUIntExtiConfig = {
-        .io = IO_TAG(PC13)
-    };
-
-#ifdef AFROMINI
-    return &nazeRev5MPUIntExtiConfig;
-#else
-    if (hardwareRevision < NAZE32_REV5) {
-        return &nazeRev4MPUIntExtiConfig;
-    }
-    else {
-        return &nazeRev5MPUIntExtiConfig;
-    }
 #endif    
-#endif
-
-#ifdef ALIENFLIGHTF3
-    // MPU_INT output on V1 PA15
-    static const extiConfig_t alienFlightF3V1MPUIntExtiConfig = {
-        .io = IO_TAG(PA15)
-    };
-    // MPU_INT output on V2 PB13
-    static const extiConfig_t alienFlightF3V2MPUIntExtiConfig = {
-        .io = IO_TAG(PB13)
-    };
-    if (hardwareRevision == AFF3_REV_1) {
-        return &alienFlightF3V1MPUIntExtiConfig;
-    }
-    else {
-        return &alienFlightF3V2MPUIntExtiConfig;
-    }
-#endif
-    return NULL;
 }
 
 #ifdef USE_FAKE_GYRO

src/main/target/ALIENFLIGHTF3/hardware_revision.c

@@ -24,7 +24,7 @@
 
 #include "drivers/system.h"
 #include "drivers/io.h"
-
+#include "drivers/exti.h"
 #include "hardware_revision.h"
 
 static const char * const hardwareRevisionNames[] = {
@@ -56,3 +56,22 @@ void detectHardwareRevision(void)
 void updateHardwareRevision(void)
 {
 }
+
+const extiConfig_t *selectMPUIntExtiConfigByHardwareRevision(void)
+{
+    // MPU_INT output on V1 PA15
+    static const extiConfig_t alienFlightF3V1MPUIntExtiConfig = {
+        .io = IO_TAG(PA15)
+    };
+    // MPU_INT output on V2 PB13
+    static const extiConfig_t alienFlightF3V2MPUIntExtiConfig = {
+        .io = IO_TAG(PB13)
+    };
+
+    if (hardwareRevision == AFF3_REV_1) {
+        return &alienFlightF3V1MPUIntExtiConfig;
+    }
+    else {
+        return &alienFlightF3V2MPUIntExtiConfig;
+    }
+}

src/main/target/ALIENFLIGHTF3/hardware_revision.h

@@ -14,6 +14,9 @@
  * You should have received a copy of the GNU General Public License
  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  */
+#pragma once
+ 
+#include "drivers/exti.h"
 
 typedef enum awf3HardwareRevision_t {
     UNKNOWN = 0,
@@ -25,3 +28,5 @@ extern uint8_t hardwareRevision;
 
 void updateHardwareRevision(void);
 void detectHardwareRevision(void);
+
+const extiConfig_t *selectMPUIntExtiConfigByHardwareRevision(void);

src/main/target/ALIENFLIGHTF3/target.mk

@@ -8,6 +8,5 @@ TARGET_SRC = \
             drivers/accgyro_mpu6500.c \
             drivers/accgyro_spi_mpu6500.c \
             drivers/compass_ak8963.c \
-            hardware_revision.c \
             drivers/sonar_hcsr04.c
 

src/main/target/NAZE/hardware_revision.c

@@ -26,6 +26,7 @@
 #include "drivers/system.h"
 #include "drivers/bus_spi.h"
 #include "drivers/sensor.h"
+#include "drivers/io.h"
 #include "drivers/exti.h"
 #include "drivers/accgyro.h"
 #include "drivers/accgyro_mpu.h"
@@ -109,3 +110,26 @@ void updateHardwareRevision(void)
         hardwareRevision = NAZE32_SP;
 #endif
 }
+
+const extiConfig_t *selectMPUIntExtiConfigByHardwareRevision(void)
+{
+    // MPU_INT output on rev4 PB13
+    static const extiConfig_t nazeRev4MPUIntExtiConfig = {
+        .io = IO_TAG(PB13)
+    };
+    // MPU_INT output on rev5 hardware PC13
+    static const extiConfig_t nazeRev5MPUIntExtiConfig = {
+        .io = IO_TAG(PC13)
+    };
+
+#ifdef AFROMINI
+    return &nazeRev5MPUIntExtiConfig;
+#else
+    if (hardwareRevision < NAZE32_REV5) {
+        return &nazeRev4MPUIntExtiConfig;
+    }
+    else {
+        return &nazeRev5MPUIntExtiConfig;
+    }
+#endif
+}

src/main/target/NAZE/hardware_revision.h

@@ -14,6 +14,9 @@
  * You should have received a copy of the GNU General Public License
  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  */
+#pragma once
+
+#include "drivers/exti.h"
 
 typedef enum nazeHardwareRevision_t {
     UNKNOWN = 0,
@@ -28,3 +31,5 @@ void updateHardwareRevision(void);
 void detectHardwareRevision(void);
 
 void spiBusInit(void);
+
+const extiConfig_t *selectMPUIntExtiConfigByHardwareRevision(void);

src/main/target/NAZE/target.mk

@@ -17,5 +17,4 @@ TARGET_SRC = \
             drivers/compass_hmc5883l.c \
             drivers/light_ws2811strip.c \
             drivers/light_ws2811strip_stm32f10x.c \
-            drivers/sonar_hcsr04.c \
+            drivers/sonar_hcsr04.c
-            hardware_revision.c