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Merge pull request #574 from blckmn/spi_update 

Updated 6500 to run at 5.25mhz (rated to 8mhz)
This commit is contained in:
Martin Budden 2016-06-24 11:03:12 +01:00 committed by GitHub
parent 0b0eb8147b 869d639a00
commit 674364f719
10 changed files with 222 additions and 220 deletions
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2
src/main/drivers/accgyro_l3gd20.c
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@ -81,7 +81,7 @@ static void l3gd20SpiInit(SPI_TypeDef *SPIx)
DISABLE_L3GD20;
spiSetDivisor(L3GD20_SPI, SPI_9MHZ_CLOCK_DIVIDER);
spiSetDivisor(L3GD20_SPI, SPI_CLOCK_STANDARD);
}
void l3gd20GyroInit(uint8_t lpf)

10
src/main/drivers/accgyro_spi_mpu6000.c
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@ -128,13 +128,13 @@ void mpu6000SpiGyroInit(uint8_t lpf)
mpu6000AccAndGyroInit();
spiSetDivisor(MPU6000_SPI_INSTANCE, SPI_0_5625MHZ_CLOCK_DIVIDER);
spiSetDivisor(MPU6000_SPI_INSTANCE, SPI_CLOCK_INITIALIZATON);
// Accel and Gyro DLPF Setting
mpu6000WriteRegister(MPU6000_CONFIG, lpf);
delayMicroseconds(1);
spiSetDivisor(MPU6000_SPI_INSTANCE, SPI_18MHZ_CLOCK_DIVIDER); // 18 MHz SPI clock
spiSetDivisor(MPU6000_SPI_INSTANCE, SPI_CLOCK_FAST); // 18 MHz SPI clock
int16_t data[3];
mpuGyroRead(data);
@ -162,7 +162,7 @@ bool mpu6000SpiDetect(void)
IOInit(mpuSpi6000CsPin, OWNER_SYSTEM, RESOURCE_SPI);
IOConfigGPIO(mpuSpi6000CsPin, SPI_IO_CS_CFG);
spiSetDivisor(MPU6000_SPI_INSTANCE, SPI_0_5625MHZ_CLOCK_DIVIDER);
spiSetDivisor(MPU6000_SPI_INSTANCE, SPI_CLOCK_INITIALIZATON);
mpu6000WriteRegister(MPU_RA_PWR_MGMT_1, BIT_H_RESET);
@ -209,7 +209,7 @@ static void mpu6000AccAndGyroInit(void) {
return;
}
spiSetDivisor(MPU6000_SPI_INSTANCE, SPI_0_5625MHZ_CLOCK_DIVIDER);
spiSetDivisor(MPU6000_SPI_INSTANCE, SPI_CLOCK_INITIALIZATON);
// Device Reset
mpu6000WriteRegister(MPU_RA_PWR_MGMT_1, BIT_H_RESET);
@ -251,7 +251,7 @@ static void mpu6000AccAndGyroInit(void) {
delayMicroseconds(15);
#endif
spiSetDivisor(MPU6000_SPI_INSTANCE, SPI_18MHZ_CLOCK_DIVIDER); // 18 MHz SPI clock
spiSetDivisor(MPU6000_SPI_INSTANCE, SPI_CLOCK_FAST);
delayMicroseconds(1);
mpuSpi6000InitDone = true;

6
src/main/drivers/accgyro_spi_mpu6500.c
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@ -72,11 +72,7 @@ static void mpu6500SpiInit(void)
IOInit(mpuSpi6500CsPin, OWNER_SYSTEM, RESOURCE_SPI);
IOConfigGPIO(mpuSpi6500CsPin, SPI_IO_CS_CFG);
#if defined(STM32F4)
spiSetDivisor(MPU6500_SPI_INSTANCE, SPI_SLOW_CLOCK);
#else
spiSetDivisor(MPU6500_SPI_INSTANCE, SPI_STANDARD_CLOCK);
#endif
spiSetDivisor(MPU6500_SPI_INSTANCE, SPI_CLOCK_FAST);
hardwareInitialised = true;
}

18
src/main/drivers/accgyro_spi_mpu9250.c
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@ -55,7 +55,8 @@ static IO_t mpuSpi9250CsPin = IO_NONE;
#define DISABLE_MPU9250 IOHi(mpuSpi9250CsPin)
#define ENABLE_MPU9250 IOLo(mpuSpi9250CsPin)
void mpu9250ResetGyro(void) {
void mpu9250ResetGyro(void)
{
// Device Reset
mpu9250WriteRegister(MPU_RA_PWR_MGMT_1, MPU9250_BIT_RESET);
delay(150);
@ -105,7 +106,7 @@ void mpu9250SpiGyroInit(uint8_t lpf)
spiResetErrorCounter(MPU9250_SPI_INSTANCE);
spiSetDivisor(MPU9250_SPI_INSTANCE, 5); //high speed now that we don't need to write to the slow registers
spiSetDivisor(MPU9250_SPI_INSTANCE, SPI_CLOCK_FAST); //high speed now that we don't need to write to the slow registers
int16_t data[3];
mpuGyroRead(data);
@ -123,9 +124,8 @@ void mpu9250SpiAccInit(acc_t *acc)
acc->acc_1G = 512 * 8;
}
bool verifympu9250WriteRegister(uint8_t reg, uint8_t data) {
bool verifympu9250WriteRegister(uint8_t reg, uint8_t data)
{
uint8_t in;
uint8_t attemptsRemaining = 20;
@ -151,7 +151,7 @@ static void mpu9250AccAndGyroInit(uint8_t lpf) {
return;
}
spiSetDivisor(MPU9250_SPI_INSTANCE, SPI_SLOW_CLOCK); //low speed for writing to slow registers
spiSetDivisor(MPU9250_SPI_INSTANCE, SPI_CLOCK_INITIALIZATON); //low speed for writing to slow registers
mpu9250WriteRegister(MPU_RA_PWR_MGMT_1, MPU9250_BIT_RESET);
delay(50);
@ -177,6 +177,8 @@ static void mpu9250AccAndGyroInit(uint8_t lpf) {
verifympu9250WriteRegister(MPU_RA_INT_ENABLE, 0x01); //this resets register MPU_RA_PWR_MGMT_1 and won't read back correctly.
#endif
spiSetDivisor(MPU9250_SPI_INSTANCE, SPI_CLOCK_FAST);
mpuSpi9250InitDone = true; //init done
}
@ -192,7 +194,7 @@ bool mpu9250SpiDetect(void)
IOInit(mpuSpi9250CsPin, OWNER_SYSTEM, RESOURCE_SPI);
IOConfigGPIO(mpuSpi9250CsPin, SPI_IO_CS_CFG);
spiSetDivisor(MPU9250_SPI_INSTANCE, SPI_SLOW_CLOCK); //low speed
spiSetDivisor(MPU9250_SPI_INSTANCE, SPI_CLOCK_INITIALIZATON); //low speed
mpu9250WriteRegister(MPU_RA_PWR_MGMT_1, MPU9250_BIT_RESET);
do {
@ -207,6 +209,8 @@ bool mpu9250SpiDetect(void)
}
} while (attemptsRemaining--);
spiSetDivisor(MPU9250_SPI_INSTANCE, SPI_CLOCK_FAST);
return true;
}

2
src/main/drivers/barometer_spi_bmp280.c
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@ -87,7 +87,7 @@ void bmp280SpiInit(void)
GPIO_SetBits(BMP280_CS_GPIO, BMP280_CS_PIN);
spiSetDivisor(BMP280_SPI_INSTANCE, SPI_9MHZ_CLOCK_DIVIDER);
spiSetDivisor(BMP280_SPI_INSTANCE, SPI_CLOCK_STANDARD);
hardwareInitialised = true;
}

7
src/main/drivers/bus_spi.c
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@ -72,14 +72,14 @@
#endif
static spiDevice_t spiHardwareMap[] = {
#if defined(STM32F10X)
#if defined(STM32F1)
{ .dev = SPI1, .nss = IO_TAG(SPI1_NSS_PIN), .sck = IO_TAG(SPI1_SCK_PIN), .miso = IO_TAG(SPI1_MISO_PIN), .mosi = IO_TAG(SPI1_MOSI_PIN), .rcc = RCC_APB2(SPI1), .af = 0, false },
{ .dev = SPI2, .nss = IO_TAG(SPI2_NSS_PIN), .sck = IO_TAG(SPI2_SCK_PIN), .miso = IO_TAG(SPI2_MISO_PIN), .mosi = IO_TAG(SPI2_MOSI_PIN), .rcc = RCC_APB1(SPI2), .af = 0, false },
#else
{ .dev = SPI1, .nss = IO_TAG(SPI1_NSS_PIN), .sck = IO_TAG(SPI1_SCK_PIN), .miso = IO_TAG(SPI1_MISO_PIN), .mosi = IO_TAG(SPI1_MOSI_PIN), .rcc = RCC_APB2(SPI1), .af = GPIO_AF_SPI1, false },
{ .dev = SPI2, .nss = IO_TAG(SPI2_NSS_PIN), .sck = IO_TAG(SPI2_SCK_PIN), .miso = IO_TAG(SPI2_MISO_PIN), .mosi = IO_TAG(SPI2_MOSI_PIN), .rcc = RCC_APB1(SPI2), .af = GPIO_AF_SPI2, false },
#endif
#if defined(STM32F303xC) || defined(STM32F40_41xxx) || defined(STM32F411xE)
#if defined(STM32F3) || defined(STM32F4)
{ .dev = SPI3, .nss = IO_TAG(SPI3_NSS_PIN), .sck = IO_TAG(SPI3_SCK_PIN), .miso = IO_TAG(SPI3_MISO_PIN), .mosi = IO_TAG(SPI3_MOSI_PIN), .rcc = RCC_APB1(SPI3), .af = GPIO_AF_SPI3, false }
#endif
};
@ -265,7 +265,6 @@ bool spiTransfer(SPI_TypeDef *instance, uint8_t *out, const uint8_t *in, int len
}
#ifdef STM32F303xC
SPI_SendData8(instance, b);
//SPI_I2S_SendData16(instance, b);
#else
SPI_I2S_SendData(instance, b);
#endif
@ -276,7 +275,6 @@ bool spiTransfer(SPI_TypeDef *instance, uint8_t *out, const uint8_t *in, int len
}
#ifdef STM32F303xC
b = SPI_ReceiveData8(instance);
//b = SPI_I2S_ReceiveData16(instance);
#else
b = SPI_I2S_ReceiveData(instance);
#endif
@ -287,7 +285,6 @@ bool spiTransfer(SPI_TypeDef *instance, uint8_t *out, const uint8_t *in, int len
return true;
}
void spiSetDivisor(SPI_TypeDef *instance, uint16_t divisor)
{
#define BR_CLEAR_MASK 0xFFC7

33
src/main/drivers/bus_spi.h
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@ -17,41 +17,46 @@
#pragma once
/*
#define SPI_0_28125MHZ_CLOCK_DIVIDER 256
#define SPI_0_5625MHZ_CLOCK_DIVIDER 128
#define SPI_18MHZ_CLOCK_DIVIDER 2
#define SPI_9MHZ_CLOCK_DIVIDER 4
*/
#include <stdint.h>
#include "io.h"
#include "rcc.h"
#if defined(STM32F40_41xxx) || defined (STM32F411xE) || defined(STM32F303xC)
#if defined(STM32F4) || defined(STM32F3)
#define SPI_IO_AF_CFG IO_CONFIG(GPIO_Mode_AF, GPIO_Speed_50MHz, GPIO_OType_PP, GPIO_PuPd_NOPULL)
#define SPI_IO_AF_SCK_CFG IO_CONFIG(GPIO_Mode_AF, GPIO_Speed_50MHz, GPIO_OType_PP, GPIO_PuPd_DOWN)
#define SPI_IO_AF_MISO_CFG IO_CONFIG(GPIO_Mode_AF, GPIO_Speed_50MHz, GPIO_OType_PP, GPIO_PuPd_UP)
#define SPI_IO_CS_CFG IO_CONFIG(GPIO_Mode_OUT, GPIO_Speed_50MHz, GPIO_OType_PP, GPIO_PuPd_NOPULL)
#elif defined(STM32F10X)
#elif defined(STM32F1)
#define SPI_IO_AF_CFG IO_CONFIG(GPIO_Mode_AF_OD, GPIO_Speed_50MHz)
#define SPI_IO_CS_CFG IO_CONFIG(GPIO_Mode_Out_OD, GPIO_Speed_50MHz)
#else
#error "Unknown processor"
#endif
#if defined(STM32F40_41xxx) || defined (STM32F411xE)
#define SPI_SLOW_CLOCK 128 //00.65625 MHz
#define SPI_STANDARD_CLOCK 8 //11.50000 MHz
#define SPI_FAST_CLOCK 4 //21.00000 MHz
#define SPI_ULTRAFAST_CLOCK 2 //42.00000 MHz
/*
Flash M25p16 tolerates 20mhz, SPI_CLOCK_FAST should sit around 20 or less.
*/
typedef enum {
SPI_CLOCK_INITIALIZATON = 256,
#if defined(STM32F4)
SPI_CLOCK_SLOW = 128, //00.65625 MHz
SPI_CLOCK_STANDARD = 8, //10.50000 MHz
SPI_CLOCK_FAST = 4, //21.00000 MHz
SPI_CLOCK_ULTRAFAST = 2, //42.00000 MHz
#else
#define SPI_SLOW_CLOCK 128 //00.56250 MHz
#define SPI_STANDARD_CLOCK 4 //09.00000 MHz
#define SPI_FAST_CLOCK 2 //18.00000 MHz
#define SPI_ULTRAFAST_CLOCK 2 //18.00000 MHz
SPI_CLOCK_SLOW = 128, //00.56250 MHz
SPI_CLOCK_STANDARD = 4, //09.00000 MHz
SPI_CLOCK_FAST = 2, //18.00000 MHz
SPI_CLOCK_ULTRAFAST = 2, //18.00000 MHz
#endif
} SPIClockDivider_e;
typedef enum SPIDevice {
SPIINVALID = -1,

6
src/main/drivers/flash_m25p16.c
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@ -95,7 +95,7 @@ static void m25p16_writeEnable()
static uint8_t m25p16_readStatus()
{
uint8_t command[2] = {M25P16_INSTRUCTION_READ_STATUS_REG, 0};
uint8_t command[2] = { M25P16_INSTRUCTION_READ_STATUS_REG, 0 };
uint8_t in[2];
ENABLE_M25P16;
@ -134,7 +134,7 @@ bool m25p16_waitForReady(uint32_t timeoutMillis)
*/
static bool m25p16_readIdentification()
{
uint8_t out[] = { M25P16_INSTRUCTION_RDID, 0, 0, 0};
uint8_t out[] = { M25P16_INSTRUCTION_RDID, 0, 0, 0 };
uint8_t in[4];
uint32_t chipID;
@ -210,7 +210,7 @@ bool m25p16_init()
#ifndef M25P16_SPI_SHARED
//Maximum speed for standard READ command is 20mHz, other commands tolerate 25mHz
spiSetDivisor(M25P16_SPI_INSTANCE, SPI_18MHZ_CLOCK_DIVIDER);
spiSetDivisor(M25P16_SPI_INSTANCE, SPI_CLOCK_FAST);
#endif
return m25p16_readIdentification();

10
src/main/drivers/max7456.c
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@ -55,11 +55,11 @@ uint8_t max7456_send(uint8_t add, uint8_t data) {
}
void max7456_init(uint8_t video_system) {
void max7456_init(uint8_t video_system)
{
uint8_t max_screen_rows;
uint8_t srdata = 0;
uint16_t x;
char buf[LINE];
#ifdef MAX7456_SPI_CS_PIN
max7456CsPin = IOGetByTag(IO_TAG(MAX7456_SPI_CS_PIN));
@ -68,7 +68,7 @@ void max7456_init(uint8_t video_system) {
IOConfigGPIO(max7456CsPin, SPI_IO_CS_CFG);
//Minimum spi clock period for max7456 is 100ns (10Mhz)
spiSetDivisor(MAX7456_SPI_INSTANCE, SPI_9MHZ_CLOCK_DIVIDER);
spiSetDivisor(MAX7456_SPI_INSTANCE, SPI_CLOCK_STANDARD);
delay(1000);
// force soft reset on Max7456
@ -77,10 +77,10 @@ void max7456_init(uint8_t video_system) {
delay(100);
srdata = max7456_send(0xA0, 0xFF);
if ((0x01 & srdata) == 0x01){ //PAL
if ((0x01 & srdata) == 0x01) { //PAL
video_signal_type = VIDEO_MODE_PAL;
}
else if((0x02 & srdata) == 0x02){ //NTSC
else if ((0x02 & srdata) == 0x02) { //NTSC
video_signal_type = VIDEO_MODE_NTSC;
}

2
src/main/drivers/vtx_rtc6705.c
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@ -133,7 +133,7 @@ static uint32_t reverse32(uint32_t in)
bool rtc6705Init(void)
{
DISABLE_RTC6705;
spiSetDivisor(RTC6705_SPI_INSTANCE, SPI_0_5625MHZ_CLOCK_DIVIDER);
spiSetDivisor(RTC6705_SPI_INSTANCE, SPI_CLOCK_SLOW);
return rtc6705IsReady();
}