From 6157ebe5e3df8e374bb74ef28ea27c533594818a Mon Sep 17 00:00:00 2001 From: Martin Budden Date: Thu, 29 Jun 2017 10:48:32 +0100 Subject: [PATCH] Removed abbreviations from SPI read/write functions --- src/main/drivers/accgyro/accgyro_mpu.c | 20 +++++----- src/main/drivers/accgyro/accgyro_spi_bmi160.c | 14 +++---- .../drivers/accgyro/accgyro_spi_icm20689.c | 4 +- .../drivers/accgyro/accgyro_spi_mpu6000.c | 28 +++++++------- .../drivers/accgyro/accgyro_spi_mpu6500.c | 4 +- .../drivers/accgyro/accgyro_spi_mpu9250.c | 38 +++++++++---------- .../drivers/accgyro/accgyro_spi_mpu9250.h | 4 +- src/main/drivers/bus_spi.c | 6 +-- src/main/drivers/bus_spi.h | 6 +-- src/main/drivers/bus_spi_hal.c | 6 +-- src/main/drivers/compass/compass_ak8963.c | 32 ++++++++-------- 11 files changed, 81 insertions(+), 81 deletions(-) diff --git a/src/main/drivers/accgyro/accgyro_mpu.c b/src/main/drivers/accgyro/accgyro_mpu.c index 710bf98e0..bab581391 100644 --- a/src/main/drivers/accgyro/accgyro_mpu.c +++ b/src/main/drivers/accgyro/accgyro_mpu.c @@ -241,8 +241,8 @@ static bool detectSPISensorsAndUpdateDetectionResult(gyroDev_t *gyro) if (mpu6000SpiDetect(&gyro->bus)) { gyro->mpuDetectionResult.sensor = MPU_60x0_SPI; gyro->mpuConfiguration.gyroReadXRegister = MPU_RA_GYRO_XOUT_H; - gyro->mpuConfiguration.readFn = spiReadRegBuf; - gyro->mpuConfiguration.writeFn = spiWriteReg; + gyro->mpuConfiguration.readFn = spiReadRegisterBuffer; + gyro->mpuConfiguration.writeFn = spiWriteRegister; return true; } #endif @@ -255,8 +255,8 @@ static bool detectSPISensorsAndUpdateDetectionResult(gyroDev_t *gyro) if (mpu6500Sensor != MPU_NONE) { gyro->mpuDetectionResult.sensor = mpu6500Sensor; gyro->mpuConfiguration.gyroReadXRegister = MPU_RA_GYRO_XOUT_H; - gyro->mpuConfiguration.readFn = spiReadRegBuf; - gyro->mpuConfiguration.writeFn = spiWriteReg; + gyro->mpuConfiguration.readFn = spiReadRegisterBuffer; + gyro->mpuConfiguration.writeFn = spiWriteRegister; return true; } #endif @@ -267,8 +267,8 @@ static bool detectSPISensorsAndUpdateDetectionResult(gyroDev_t *gyro) if (mpu9250SpiDetect(&gyro->bus)) { gyro->mpuDetectionResult.sensor = MPU_9250_SPI; gyro->mpuConfiguration.gyroReadXRegister = MPU_RA_GYRO_XOUT_H; - gyro->mpuConfiguration.readFn = spiReadRegBuf; - gyro->mpuConfiguration.writeFn = mpu9250SpiWriteReg; + gyro->mpuConfiguration.readFn = spiReadRegisterBuffer; + gyro->mpuConfiguration.writeFn = spiWriteRegister; gyro->mpuConfiguration.resetFn = mpu9250SpiResetGyro; return true; } @@ -280,8 +280,8 @@ static bool detectSPISensorsAndUpdateDetectionResult(gyroDev_t *gyro) if (icm20689SpiDetect(&gyro->bus)) { gyro->mpuDetectionResult.sensor = ICM_20689_SPI; gyro->mpuConfiguration.gyroReadXRegister = MPU_RA_GYRO_XOUT_H; - gyro->mpuConfiguration.readFn = spiReadRegBuf; - gyro->mpuConfiguration.writeFn = spiWriteReg; + gyro->mpuConfiguration.readFn = spiReadRegisterBuffer; + gyro->mpuConfiguration.writeFn = spiWriteRegister; return true; } #endif @@ -291,8 +291,8 @@ static bool detectSPISensorsAndUpdateDetectionResult(gyroDev_t *gyro) gyro->bus.spi.csnPin = gyro->bus.spi.csnPin == IO_NONE ? IOGetByTag(IO_TAG(BMI160_CS_PIN)) : gyro->bus.spi.csnPin; if (bmi160Detect(&gyro->bus)) { gyro->mpuDetectionResult.sensor = BMI_160_SPI; - gyro->mpuConfiguration.readFn = spiReadRegBuf; - gyro->mpuConfiguration.writeFn = spiWriteReg; + gyro->mpuConfiguration.readFn = spiReadRegisterBuffer; + gyro->mpuConfiguration.writeFn = spiWriteRegister; return true; } #endif diff --git a/src/main/drivers/accgyro/accgyro_spi_bmi160.c b/src/main/drivers/accgyro/accgyro_spi_bmi160.c index 6deade00a..ee3077421 100644 --- a/src/main/drivers/accgyro/accgyro_spi_bmi160.c +++ b/src/main/drivers/accgyro/accgyro_spi_bmi160.c @@ -106,11 +106,11 @@ bool bmi160Detect(const busDevice_t *bus) spiSetDivisor(bus->spi.instance, BMI160_SPI_DIVISOR); /* Read this address to acticate SPI (see p. 84) */ - spiReadReg(bus, 0x7F); + spiReadRegister(bus, 0x7F); delay(10); // Give SPI some time to start up /* Check the chip ID */ - if (spiReadReg(bus, BMI160_REG_CHIPID) != 0xd1){ + if (spiReadRegister(bus, BMI160_REG_CHIPID) != 0xd1){ return false; } @@ -163,7 +163,7 @@ static int32_t BMI160_Config(const busDevice_t *bus) delay(5); // can take up to 3.8ms // Verify that normal power mode was entered - uint8_t pmu_status = spiReadReg(bus, BMI160_REG_PMU_STAT); + uint8_t pmu_status = spiReadRegister(bus, BMI160_REG_PMU_STAT); if ((pmu_status & 0x3C) != 0x14){ return -3; } @@ -192,7 +192,7 @@ static int32_t BMI160_Config(const busDevice_t *bus) delay(1); // Enable offset compensation - uint8_t val = spiReadReg(bus, BMI160_REG_OFFSET_0); + uint8_t val = spiReadRegister(bus, BMI160_REG_OFFSET_0); if (BMI160_WriteReg(bus, BMI160_REG_OFFSET_0, val | 0xC0) != 0){ return -7; } @@ -233,7 +233,7 @@ static int32_t BMI160_do_foc(const busDevice_t *bus) // Wait for FOC to complete for (int i=0; i<50; i++) { - val = spiReadReg(bus, BMI160_REG_STATUS); + val = spiReadRegister(bus, BMI160_REG_STATUS); if (val & BMI160_REG_STATUS_FOC_RDY) { break; } @@ -244,7 +244,7 @@ static int32_t BMI160_do_foc(const busDevice_t *bus) } // Program NVM - val = spiReadReg(bus, BMI160_REG_CONF); + val = spiReadRegister(bus, BMI160_REG_CONF); if (BMI160_WriteReg(bus, BMI160_REG_CONF, val | BMI160_REG_CONF_NVM_PROG_EN) != 0) { return -4; } @@ -255,7 +255,7 @@ static int32_t BMI160_do_foc(const busDevice_t *bus) // Wait for NVM programming to complete for (int i=0; i<50; i++) { - val = spiReadReg(bus, BMI160_REG_STATUS); + val = spiReadRegister(bus, BMI160_REG_STATUS); if (val & BMI160_REG_STATUS_NVM_RDY) { break; } diff --git a/src/main/drivers/accgyro/accgyro_spi_icm20689.c b/src/main/drivers/accgyro/accgyro_spi_icm20689.c index 54eefdf53..762ac1a61 100644 --- a/src/main/drivers/accgyro/accgyro_spi_icm20689.c +++ b/src/main/drivers/accgyro/accgyro_spi_icm20689.c @@ -59,12 +59,12 @@ bool icm20689SpiDetect(const busDevice_t *bus) spiSetDivisor(bus->spi.instance, SPI_CLOCK_INITIALIZATON); //low speed - spiWriteReg(bus, MPU_RA_PWR_MGMT_1, ICM20689_BIT_RESET); + spiWriteRegister(bus, MPU_RA_PWR_MGMT_1, ICM20689_BIT_RESET); uint8_t attemptsRemaining = 20; do { delay(150); - const uint8_t whoAmI = spiReadReg(bus, MPU_RA_WHO_AM_I); + const uint8_t whoAmI = spiReadRegister(bus, MPU_RA_WHO_AM_I); if (whoAmI == ICM20689_WHO_AM_I_CONST) { break; } diff --git a/src/main/drivers/accgyro/accgyro_spi_mpu6000.c b/src/main/drivers/accgyro/accgyro_spi_mpu6000.c index 5dd924d4b..94a9e2e56 100644 --- a/src/main/drivers/accgyro/accgyro_spi_mpu6000.c +++ b/src/main/drivers/accgyro/accgyro_spi_mpu6000.c @@ -108,7 +108,7 @@ void mpu6000SpiGyroInit(gyroDev_t *gyro) spiSetDivisor(gyro->bus.spi.instance, SPI_CLOCK_INITIALIZATON); // Accel and Gyro DLPF Setting - spiWriteReg(&gyro->bus, MPU6000_CONFIG, gyro->lpf); + spiWriteRegister(&gyro->bus, MPU6000_CONFIG, gyro->lpf); delayMicroseconds(1); spiSetDivisor(gyro->bus.spi.instance, SPI_CLOCK_FAST); // 18 MHz SPI clock @@ -133,13 +133,13 @@ bool mpu6000SpiDetect(const busDevice_t *bus) spiSetDivisor(bus->spi.instance, SPI_CLOCK_INITIALIZATON); - spiWriteReg(bus, MPU_RA_PWR_MGMT_1, BIT_H_RESET); + spiWriteRegister(bus, MPU_RA_PWR_MGMT_1, BIT_H_RESET); uint8_t attemptsRemaining = 5; do { delay(150); - const uint8_t whoAmI = spiReadReg(bus, MPU_RA_WHO_AM_I); + const uint8_t whoAmI = spiReadRegister(bus, MPU_RA_WHO_AM_I); if (whoAmI == MPU6000_WHO_AM_I_CONST) { break; } @@ -148,7 +148,7 @@ bool mpu6000SpiDetect(const busDevice_t *bus) } } while (attemptsRemaining--); - const uint8_t productID = spiReadReg(bus, MPU_RA_PRODUCT_ID); + const uint8_t productID = spiReadRegister(bus, MPU_RA_PRODUCT_ID); /* look for a product ID we recognise */ @@ -181,41 +181,41 @@ static void mpu6000AccAndGyroInit(gyroDev_t *gyro) spiSetDivisor(gyro->bus.spi.instance, SPI_CLOCK_INITIALIZATON); // Device Reset - spiWriteReg(&gyro->bus, MPU_RA_PWR_MGMT_1, BIT_H_RESET); + spiWriteRegister(&gyro->bus, MPU_RA_PWR_MGMT_1, BIT_H_RESET); delay(150); - spiWriteReg(&gyro->bus, MPU_RA_SIGNAL_PATH_RESET, BIT_GYRO | BIT_ACC | BIT_TEMP); + spiWriteRegister(&gyro->bus, MPU_RA_SIGNAL_PATH_RESET, BIT_GYRO | BIT_ACC | BIT_TEMP); delay(150); // Clock Source PPL with Z axis gyro reference - spiWriteReg(&gyro->bus, MPU_RA_PWR_MGMT_1, MPU_CLK_SEL_PLLGYROZ); + spiWriteRegister(&gyro->bus, MPU_RA_PWR_MGMT_1, MPU_CLK_SEL_PLLGYROZ); delayMicroseconds(15); // Disable Primary I2C Interface - spiWriteReg(&gyro->bus, MPU_RA_USER_CTRL, BIT_I2C_IF_DIS); + spiWriteRegister(&gyro->bus, MPU_RA_USER_CTRL, BIT_I2C_IF_DIS); delayMicroseconds(15); - spiWriteReg(&gyro->bus, MPU_RA_PWR_MGMT_2, 0x00); + spiWriteRegister(&gyro->bus, MPU_RA_PWR_MGMT_2, 0x00); delayMicroseconds(15); // Accel Sample Rate 1kHz // Gyroscope Output Rate = 1kHz when the DLPF is enabled - spiWriteReg(&gyro->bus, MPU_RA_SMPLRT_DIV, gyroMPU6xxxGetDividerDrops(gyro)); + spiWriteRegister(&gyro->bus, MPU_RA_SMPLRT_DIV, gyroMPU6xxxGetDividerDrops(gyro)); delayMicroseconds(15); // Gyro +/- 1000 DPS Full Scale - spiWriteReg(&gyro->bus, MPU_RA_GYRO_CONFIG, INV_FSR_2000DPS << 3); + spiWriteRegister(&gyro->bus, MPU_RA_GYRO_CONFIG, INV_FSR_2000DPS << 3); delayMicroseconds(15); // Accel +/- 8 G Full Scale - spiWriteReg(&gyro->bus, MPU_RA_ACCEL_CONFIG, INV_FSR_8G << 3); + spiWriteRegister(&gyro->bus, MPU_RA_ACCEL_CONFIG, INV_FSR_8G << 3); delayMicroseconds(15); - spiWriteReg(&gyro->bus, MPU_RA_INT_PIN_CFG, 0 << 7 | 0 << 6 | 0 << 5 | 1 << 4 | 0 << 3 | 0 << 2 | 0 << 1 | 0 << 0); // INT_ANYRD_2CLEAR + spiWriteRegister(&gyro->bus, MPU_RA_INT_PIN_CFG, 0 << 7 | 0 << 6 | 0 << 5 | 1 << 4 | 0 << 3 | 0 << 2 | 0 << 1 | 0 << 0); // INT_ANYRD_2CLEAR delayMicroseconds(15); #ifdef USE_MPU_DATA_READY_SIGNAL - spiWriteReg(&gyro->bus, MPU_RA_INT_ENABLE, MPU_RF_DATA_RDY_EN); + spiWriteRegister(&gyro->bus, MPU_RA_INT_ENABLE, MPU_RF_DATA_RDY_EN); delayMicroseconds(15); #endif diff --git a/src/main/drivers/accgyro/accgyro_spi_mpu6500.c b/src/main/drivers/accgyro/accgyro_spi_mpu6500.c index 85dc688b2..8f2f4db21 100755 --- a/src/main/drivers/accgyro/accgyro_spi_mpu6500.c +++ b/src/main/drivers/accgyro/accgyro_spi_mpu6500.c @@ -57,7 +57,7 @@ uint8_t mpu6500SpiDetect(const busDevice_t *bus) { mpu6500SpiInit(bus); - const uint8_t whoAmI = spiReadReg(bus, MPU_RA_WHO_AM_I); + const uint8_t whoAmI = spiReadRegister(bus, MPU_RA_WHO_AM_I); uint8_t mpuDetected = MPU_NONE; switch (whoAmI) { @@ -96,7 +96,7 @@ void mpu6500SpiGyroInit(gyroDev_t *gyro) mpu6500GyroInit(gyro); // Disable Primary I2C Interface - spiWriteReg(&gyro->bus, MPU_RA_USER_CTRL, MPU6500_BIT_I2C_IF_DIS); + spiWriteRegister(&gyro->bus, MPU_RA_USER_CTRL, MPU6500_BIT_I2C_IF_DIS); delay(100); spiSetDivisor(gyro->bus.spi.instance, SPI_CLOCK_FAST); diff --git a/src/main/drivers/accgyro/accgyro_spi_mpu9250.c b/src/main/drivers/accgyro/accgyro_spi_mpu9250.c index 8f96184be..1df220046 100644 --- a/src/main/drivers/accgyro/accgyro_spi_mpu9250.c +++ b/src/main/drivers/accgyro/accgyro_spi_mpu9250.c @@ -50,7 +50,7 @@ static void mpu9250AccAndGyroInit(gyroDev_t *gyro); static bool mpuSpi9250InitDone = false; -bool mpu9250SpiWriteReg(const busDevice_t *bus, uint8_t reg, uint8_t data) +bool mpu9250SpiWriteRegister(const busDevice_t *bus, uint8_t reg, uint8_t data) { IOLo(bus->spi.csnPin); delayMicroseconds(1); @@ -62,7 +62,7 @@ bool mpu9250SpiWriteReg(const busDevice_t *bus, uint8_t reg, uint8_t data) return true; } -static bool mpu9250SpiSlowReadRegBuf(const busDevice_t *bus, uint8_t reg, uint8_t length, uint8_t *data) +static bool mpu9250SpiSlowReadRegisterBuffer(const busDevice_t *bus, uint8_t reg, uint8_t length, uint8_t *data) { IOLo(bus->spi.csnPin); delayMicroseconds(1); @@ -79,7 +79,7 @@ void mpu9250SpiResetGyro(void) // Device Reset #ifdef MPU9250_CS_PIN busDevice_t bus = { .spi = { .csnPin = IOGetByTag(IO_TAG(MPU9250_CS_PIN)) } }; - mpu9250SpiWriteReg(&bus, MPU_RA_PWR_MGMT_1, MPU9250_BIT_RESET); + mpu9250SpiWriteRegister(&bus, MPU_RA_PWR_MGMT_1, MPU9250_BIT_RESET); delay(150); #endif } @@ -107,20 +107,20 @@ void mpu9250SpiAccInit(accDev_t *acc) acc->acc_1G = 512 * 8; } -bool mpu9250SpiWriteRegVerify(const busDevice_t *bus, uint8_t reg, uint8_t data) +bool mpu9250SpiWriteRegisterVerify(const busDevice_t *bus, uint8_t reg, uint8_t data) { - mpu9250SpiWriteReg(bus, reg, data); + mpu9250SpiWriteRegister(bus, reg, data); delayMicroseconds(100); uint8_t attemptsRemaining = 20; do { uint8_t in; - mpu9250SpiSlowReadRegBuf(bus, reg, 1, &in); + mpu9250SpiSlowReadRegisterBuffer(bus, reg, 1, &in); if (in == data) { return true; } else { debug[3]++; - mpu9250SpiWriteReg(bus, reg, data); + mpu9250SpiWriteRegister(bus, reg, data); delayMicroseconds(100); } } while (attemptsRemaining--); @@ -135,30 +135,30 @@ static void mpu9250AccAndGyroInit(gyroDev_t *gyro) { spiSetDivisor(gyro->bus.spi.instance, SPI_CLOCK_INITIALIZATON); //low speed for writing to slow registers - mpu9250SpiWriteReg(&gyro->bus, MPU_RA_PWR_MGMT_1, MPU9250_BIT_RESET); + mpu9250SpiWriteRegister(&gyro->bus, MPU_RA_PWR_MGMT_1, MPU9250_BIT_RESET); delay(50); - mpu9250SpiWriteRegVerify(&gyro->bus, MPU_RA_PWR_MGMT_1, INV_CLK_PLL); + mpu9250SpiWriteRegisterVerify(&gyro->bus, MPU_RA_PWR_MGMT_1, INV_CLK_PLL); //Fchoice_b defaults to 00 which makes fchoice 11 const uint8_t raGyroConfigData = gyro->gyroRateKHz > GYRO_RATE_8_kHz ? (INV_FSR_2000DPS << 3 | FCB_3600_32) : (INV_FSR_2000DPS << 3 | FCB_DISABLED); - mpu9250SpiWriteRegVerify(&gyro->bus, MPU_RA_GYRO_CONFIG, raGyroConfigData); + mpu9250SpiWriteRegisterVerify(&gyro->bus, MPU_RA_GYRO_CONFIG, raGyroConfigData); if (gyro->lpf == 4) { - mpu9250SpiWriteRegVerify(&gyro->bus, MPU_RA_CONFIG, 1); //1KHz, 184DLPF + mpu9250SpiWriteRegisterVerify(&gyro->bus, MPU_RA_CONFIG, 1); //1KHz, 184DLPF } else if (gyro->lpf < 4) { - mpu9250SpiWriteRegVerify(&gyro->bus, MPU_RA_CONFIG, 7); //8KHz, 3600DLPF + mpu9250SpiWriteRegisterVerify(&gyro->bus, MPU_RA_CONFIG, 7); //8KHz, 3600DLPF } else if (gyro->lpf > 4) { - mpu9250SpiWriteRegVerify(&gyro->bus, MPU_RA_CONFIG, 0); //8KHz, 250DLPF + mpu9250SpiWriteRegisterVerify(&gyro->bus, MPU_RA_CONFIG, 0); //8KHz, 250DLPF } - mpu9250SpiWriteRegVerify(&gyro->bus, MPU_RA_SMPLRT_DIV, gyroMPU6xxxGetDividerDrops(gyro)); + mpu9250SpiWriteRegisterVerify(&gyro->bus, MPU_RA_SMPLRT_DIV, gyroMPU6xxxGetDividerDrops(gyro)); - mpu9250SpiWriteRegVerify(&gyro->bus, MPU_RA_ACCEL_CONFIG, INV_FSR_8G << 3); - mpu9250SpiWriteRegVerify(&gyro->bus, MPU_RA_INT_PIN_CFG, 0 << 7 | 0 << 6 | 0 << 5 | 1 << 4 | 0 << 3 | 0 << 2 | 1 << 1 | 0 << 0); // INT_ANYRD_2CLEAR, BYPASS_EN + mpu9250SpiWriteRegisterVerify(&gyro->bus, MPU_RA_ACCEL_CONFIG, INV_FSR_8G << 3); + mpu9250SpiWriteRegisterVerify(&gyro->bus, MPU_RA_INT_PIN_CFG, 0 << 7 | 0 << 6 | 0 << 5 | 1 << 4 | 0 << 3 | 0 << 2 | 1 << 1 | 0 << 0); // INT_ANYRD_2CLEAR, BYPASS_EN #if defined(USE_MPU_DATA_READY_SIGNAL) - mpu9250SpiWriteRegVerify(&gyro->bus, MPU_RA_INT_ENABLE, 0x01); //this resets register MPU_RA_PWR_MGMT_1 and won't read back correctly. + mpu9250SpiWriteRegisterVerify(&gyro->bus, MPU_RA_INT_ENABLE, 0x01); //this resets register MPU_RA_PWR_MGMT_1 and won't read back correctly. #endif spiSetDivisor(gyro->bus.spi.instance, SPI_CLOCK_FAST); @@ -172,12 +172,12 @@ bool mpu9250SpiDetect(const busDevice_t *bus) IOConfigGPIO(bus->spi.csnPin, SPI_IO_CS_CFG); spiSetDivisor(bus->spi.instance, SPI_CLOCK_INITIALIZATON); //low speed - mpu9250SpiWriteReg(bus, MPU_RA_PWR_MGMT_1, MPU9250_BIT_RESET); + mpu9250SpiWriteRegister(bus, MPU_RA_PWR_MGMT_1, MPU9250_BIT_RESET); uint8_t attemptsRemaining = 20; do { delay(150); - const uint8_t in = spiReadReg(bus, MPU_RA_WHO_AM_I); + const uint8_t in = spiReadRegister(bus, MPU_RA_WHO_AM_I); if (in == MPU9250_WHO_AM_I_CONST || in == MPU9255_WHO_AM_I_CONST) { break; } diff --git a/src/main/drivers/accgyro/accgyro_spi_mpu9250.h b/src/main/drivers/accgyro/accgyro_spi_mpu9250.h index c9a07e9af..a9d9b1b0d 100644 --- a/src/main/drivers/accgyro/accgyro_spi_mpu9250.h +++ b/src/main/drivers/accgyro/accgyro_spi_mpu9250.h @@ -33,6 +33,6 @@ bool mpu9250SpiDetect(const busDevice_t *bus); bool mpu9250SpiAccDetect(accDev_t *acc); bool mpu9250SpiGyroDetect(gyroDev_t *gyro); -bool mpu9250SpiWriteReg(const busDevice_t *bus, uint8_t reg, uint8_t data); -bool mpu9250SpiWriteRegVerify(const busDevice_t *bus, uint8_t reg, uint8_t data); +bool mpu9250SpiWriteRegister(const busDevice_t *bus, uint8_t reg, uint8_t data); +bool mpu9250SpiWriteRegisterVerify(const busDevice_t *bus, uint8_t reg, uint8_t data); bool mpu9250SpiReadRegBuf(const busDevice_t *bus, uint8_t reg, uint8_t length, uint8_t *data); diff --git a/src/main/drivers/bus_spi.c b/src/main/drivers/bus_spi.c index ce3fdce1a..0eb381509 100644 --- a/src/main/drivers/bus_spi.c +++ b/src/main/drivers/bus_spi.c @@ -353,7 +353,7 @@ void spiResetErrorCounter(SPI_TypeDef *instance) spiHardwareMap[device].errorCount = 0; } -bool spiWriteReg(const busDevice_t *bus, uint8_t reg, uint8_t data) +bool spiWriteRegister(const busDevice_t *bus, uint8_t reg, uint8_t data) { IOLo(bus->spi.csnPin); spiTransferByte(bus->spi.instance, reg); @@ -363,7 +363,7 @@ bool spiWriteReg(const busDevice_t *bus, uint8_t reg, uint8_t data) return true; } -bool spiReadRegBuf(const busDevice_t *bus, uint8_t reg, uint8_t length, uint8_t *data) +bool spiReadRegisterBuffer(const busDevice_t *bus, uint8_t reg, uint8_t length, uint8_t *data) { IOLo(bus->spi.csnPin); spiTransferByte(bus->spi.instance, reg | 0x80); // read transaction @@ -373,7 +373,7 @@ bool spiReadRegBuf(const busDevice_t *bus, uint8_t reg, uint8_t length, uint8_t return true; } -uint8_t spiReadReg(const busDevice_t *bus, uint8_t reg) +uint8_t spiReadRegister(const busDevice_t *bus, uint8_t reg) { uint8_t data; IOLo(bus->spi.csnPin); diff --git a/src/main/drivers/bus_spi.h b/src/main/drivers/bus_spi.h index 1546de0ba..8c6ad6f40 100644 --- a/src/main/drivers/bus_spi.h +++ b/src/main/drivers/bus_spi.h @@ -103,6 +103,6 @@ SPI_HandleTypeDef* spiHandleByInstance(SPI_TypeDef *instance); DMA_HandleTypeDef* spiSetDMATransmit(DMA_Stream_TypeDef *Stream, uint32_t Channel, SPI_TypeDef *Instance, uint8_t *pData, uint16_t Size); #endif -bool spiWriteReg(const busDevice_t *bus, uint8_t reg, uint8_t data); -bool spiReadRegBuf(const busDevice_t *bus, uint8_t reg, uint8_t length, uint8_t *data); -uint8_t spiReadReg(const busDevice_t *bus, uint8_t reg); +bool spiWriteRegister(const busDevice_t *bus, uint8_t reg, uint8_t data); +bool spiReadRegisterBuffer(const busDevice_t *bus, uint8_t reg, uint8_t length, uint8_t *data); +uint8_t spiReadRegister(const busDevice_t *bus, uint8_t reg); diff --git a/src/main/drivers/bus_spi_hal.c b/src/main/drivers/bus_spi_hal.c index 2a1711f2e..1d0011e80 100644 --- a/src/main/drivers/bus_spi_hal.c +++ b/src/main/drivers/bus_spi_hal.c @@ -346,7 +346,7 @@ void spiResetErrorCounter(SPI_TypeDef *instance) spiHardwareMap[device].errorCount = 0; } -bool spiWriteReg(const busDevice_t *bus, uint8_t reg, uint8_t data) +bool spiWriteRegister(const busDevice_t *bus, uint8_t reg, uint8_t data) { IOLo(bus->spi.csnPin); spiTransferByte(bus->spi.instance, reg); @@ -356,7 +356,7 @@ bool spiWriteReg(const busDevice_t *bus, uint8_t reg, uint8_t data) return true; } -bool spiReadRegBuf(const busDevice_t *bus, uint8_t reg, uint8_t length, uint8_t *data) +bool spiReadRegisterBuffer(const busDevice_t *bus, uint8_t reg, uint8_t length, uint8_t *data) { IOLo(bus->spi.csnPin); spiTransferByte(bus->spi.instance, reg | 0x80); // read transaction @@ -366,7 +366,7 @@ bool spiReadRegBuf(const busDevice_t *bus, uint8_t reg, uint8_t length, uint8_t return true; } -uint8_t spiReadReg(const busDevice_t *bus, uint8_t reg) +uint8_t spiReadRegister(const busDevice_t *bus, uint8_t reg) { uint8_t data; IOLo(bus->spi.csnPin); diff --git a/src/main/drivers/compass/compass_ak8963.c b/src/main/drivers/compass/compass_ak8963.c index d8f23b947..8523dfb1c 100644 --- a/src/main/drivers/compass/compass_ak8963.c +++ b/src/main/drivers/compass/compass_ak8963.c @@ -90,7 +90,7 @@ static busDevice_t *bus = NULL; // HACK // Is an separate MPU9250 driver really needed? The GYRO/ACC part between MPU6500 and MPU9250 is exactly the same. #if defined(MPU6500_SPI_INSTANCE) && !defined(MPU9250_SPI_INSTANCE) #define MPU9250_SPI_INSTANCE -#define mpu9250SpiWriteRegVerify mpu6500SpiWriteRegDelayed +#define mpu9250SpiWriteRegisterVerify mpu6500SpiWriteRegDelayed static bool mpu6500SpiWriteRegDelayed(const busDevice_t *bus, uint8_t reg, uint8_t data) { IOLo(bus->spi.csnPin); @@ -121,22 +121,22 @@ static queuedReadState_t queuedRead = { false, 0, 0}; static bool ak8963SensorRead(uint8_t addr_, uint8_t reg_, uint8_t len_, uint8_t *buf) { - mpu9250SpiWriteRegVerify(bus, MPU_RA_I2C_SLV0_ADDR, addr_ | READ_FLAG); // set I2C slave address for read - mpu9250SpiWriteRegVerify(bus, MPU_RA_I2C_SLV0_REG, reg_); // set I2C slave register - mpu9250SpiWriteRegVerify(bus, MPU_RA_I2C_SLV0_CTRL, len_ | 0x80); // read number of bytes + mpu9250SpiWriteRegisterVerify(bus, MPU_RA_I2C_SLV0_ADDR, addr_ | READ_FLAG); // set I2C slave address for read + mpu9250SpiWriteRegisterVerify(bus, MPU_RA_I2C_SLV0_REG, reg_); // set I2C slave register + mpu9250SpiWriteRegisterVerify(bus, MPU_RA_I2C_SLV0_CTRL, len_ | 0x80); // read number of bytes delay(10); __disable_irq(); - bool ack = spiReadRegBuf(bus, MPU_RA_EXT_SENS_DATA_00, len_, buf); // read I2C + bool ack = spiReadRegisterBuffer(bus, MPU_RA_EXT_SENS_DATA_00, len_, buf); // read I2C __enable_irq(); return ack; } static bool ak8963SensorWrite(uint8_t addr_, uint8_t reg_, uint8_t data) { - mpu9250SpiWriteRegVerify(bus, MPU_RA_I2C_SLV0_ADDR, addr_); // set I2C slave address for write - mpu9250SpiWriteRegVerify(bus, MPU_RA_I2C_SLV0_REG, reg_); // set I2C slave register - mpu9250SpiWriteRegVerify(bus, MPU_RA_I2C_SLV0_DO, data); // set I2C salve value - mpu9250SpiWriteRegVerify(bus, MPU_RA_I2C_SLV0_CTRL, 0x81); // write 1 byte + mpu9250SpiWriteRegisterVerify(bus, MPU_RA_I2C_SLV0_ADDR, addr_); // set I2C slave address for write + mpu9250SpiWriteRegisterVerify(bus, MPU_RA_I2C_SLV0_REG, reg_); // set I2C slave register + mpu9250SpiWriteRegisterVerify(bus, MPU_RA_I2C_SLV0_DO, data); // set I2C salve value + mpu9250SpiWriteRegisterVerify(bus, MPU_RA_I2C_SLV0_CTRL, 0x81); // write 1 byte return true; } @@ -148,9 +148,9 @@ static bool ak8963SensorStartRead(uint8_t addr_, uint8_t reg_, uint8_t len_) queuedRead.len = len_; - mpu9250SpiWriteRegVerify(bus, MPU_RA_I2C_SLV0_ADDR, addr_ | READ_FLAG); // set I2C slave address for read - mpu9250SpiWriteRegVerify(bus, MPU_RA_I2C_SLV0_REG, reg_); // set I2C slave register - mpu9250SpiWriteRegVerify(bus, MPU_RA_I2C_SLV0_CTRL, len_ | 0x80); // read number of bytes + mpu9250SpiWriteRegisterVerify(bus, MPU_RA_I2C_SLV0_ADDR, addr_ | READ_FLAG); // set I2C slave address for read + mpu9250SpiWriteRegisterVerify(bus, MPU_RA_I2C_SLV0_REG, reg_); // set I2C slave register + mpu9250SpiWriteRegisterVerify(bus, MPU_RA_I2C_SLV0_CTRL, len_ | 0x80); // read number of bytes queuedRead.readStartedAt = micros(); queuedRead.waiting = true; @@ -185,7 +185,7 @@ static bool ak8963SensorCompleteRead(uint8_t *buf) queuedRead.waiting = false; - spiReadRegBuf(bus, MPU_RA_EXT_SENS_DATA_00, queuedRead.len, buf); // read I2C buffer + spiReadRegisterBuffer(bus, MPU_RA_EXT_SENS_DATA_00, queuedRead.len, buf); // read I2C buffer return true; } #else @@ -334,13 +334,13 @@ bool ak8963Detect(magDev_t *mag) bus->spi.instance = MPU9250_SPI_INSTANCE; // initialze I2C master via SPI bus (MPU9250) - mpu9250SpiWriteRegVerify(&mag->bus, MPU_RA_INT_PIN_CFG, MPU6500_BIT_INT_ANYRD_2CLEAR | MPU6500_BIT_BYPASS_EN); + mpu9250SpiWriteRegisterVerify(&mag->bus, MPU_RA_INT_PIN_CFG, MPU6500_BIT_INT_ANYRD_2CLEAR | MPU6500_BIT_BYPASS_EN); delay(10); - mpu9250SpiWriteRegVerify(&mag->bus, MPU_RA_I2C_MST_CTRL, 0x0D); // I2C multi-master / 400kHz + mpu9250SpiWriteRegisterVerify(&mag->bus, MPU_RA_I2C_MST_CTRL, 0x0D); // I2C multi-master / 400kHz delay(10); - mpu9250SpiWriteRegVerify(&mag->bus, MPU_RA_USER_CTRL, 0x30); // I2C master mode, SPI mode only + mpu9250SpiWriteRegisterVerify(&mag->bus, MPU_RA_USER_CTRL, 0x30); // I2C master mode, SPI mode only delay(10); #endif #endif