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Make SPI read and write register generic

This commit is contained in:
Martin Budden 2017-06-29 05:40:31 +01:00
parent e36ad629e4
commit 8df87bc47d
6 changed files with 74 additions and 53 deletions
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6
src/main/drivers/accgyro/accgyro_mpu.c
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@ -30,6 +30,7 @@
#include "common/utils.h"
#include "drivers/bus_i2c.h"
#include "drivers/bus_spi.h"
#include "drivers/exti.h"
#include "drivers/io.h"
#include "drivers/nvic.h"
@ -233,14 +234,15 @@ static bool detectSPISensorsAndUpdateDetectionResult(gyroDev_t *gyro)
{
UNUSED(gyro); // since there are FCs which have gyro on I2C but other devices on SPI
#ifdef USE_GYRO_SPI_MPU6000
gyro->bus.spi.instance = MPU6000_SPI_INSTANCE;
#ifdef MPU6000_CS_PIN
gyro->bus.spi.csnPin = gyro->bus.spi.csnPin == IO_NONE ? IOGetByTag(IO_TAG(MPU6000_CS_PIN)) : gyro->bus.spi.csnPin;
#endif
if (mpu6000SpiDetect(&gyro->bus)) {
gyro->mpuDetectionResult.sensor = MPU_60x0_SPI;
gyro->mpuConfiguration.gyroReadXRegister = MPU_RA_GYRO_XOUT_H;
gyro->mpuConfiguration.readFn = mpu6000SpiReadRegister;
gyro->mpuConfiguration.writeFn = mpu6000SpiWriteRegister;
gyro->mpuConfiguration.readFn = spiReadRegister;
gyro->mpuConfiguration.writeFn = spiWriteRegister;
return true;
}
#endif

61
src/main/drivers/accgyro/accgyro_spi_mpu6000.c
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@ -99,42 +99,19 @@ static bool mpuSpi6000InitDone = false;
#define MPU6000_REV_D9 0x59
#define MPU6000_REV_D10 0x5A
#define DISABLE_MPU6000(spiCsnPin) IOHi(spiCsnPin)
#define ENABLE_MPU6000(spiCsnPin) IOLo(spiCsnPin)
bool mpu6000SpiWriteRegister(const busDevice_t *bus, uint8_t reg, uint8_t data)
{
ENABLE_MPU6000(bus->spi.csnPin);
spiTransferByte(MPU6000_SPI_INSTANCE, reg);
spiTransferByte(MPU6000_SPI_INSTANCE, data);
DISABLE_MPU6000(bus->spi.csnPin);
return true;
}
bool mpu6000SpiReadRegister(const busDevice_t *bus, uint8_t reg, uint8_t length, uint8_t *data)
{
ENABLE_MPU6000(bus->spi.csnPin);
spiTransferByte(MPU6000_SPI_INSTANCE, reg | 0x80); // read transaction
spiTransfer(MPU6000_SPI_INSTANCE, data, NULL, length);
DISABLE_MPU6000(bus->spi.csnPin);
return true;
}
void mpu6000SpiGyroInit(gyroDev_t *gyro)
{
mpuGyroInit(gyro);
mpu6000AccAndGyroInit(gyro);
spiSetDivisor(MPU6000_SPI_INSTANCE, SPI_CLOCK_INITIALIZATON);
spiSetDivisor(gyro->bus.spi.instance, SPI_CLOCK_INITIALIZATON);
// Accel and Gyro DLPF Setting
mpu6000SpiWriteRegister(&gyro->bus, MPU6000_CONFIG, gyro->lpf);
spiWriteRegister(&gyro->bus, MPU6000_CONFIG, gyro->lpf);
delayMicroseconds(1);
spiSetDivisor(MPU6000_SPI_INSTANCE, SPI_CLOCK_FAST); // 18 MHz SPI clock
spiSetDivisor(gyro->bus.spi.instance, SPI_CLOCK_FAST); // 18 MHz SPI clock
mpuGyroRead(gyro);
@ -157,14 +134,14 @@ bool mpu6000SpiDetect(const busDevice_t *bus)
IOConfigGPIO(bus->spi.csnPin, SPI_IO_CS_CFG);
IOHi(bus->spi.csnPin);
spiSetDivisor(MPU6000_SPI_INSTANCE, SPI_CLOCK_INITIALIZATON);
spiSetDivisor(bus->spi.instance, SPI_CLOCK_INITIALIZATON);
mpu6000SpiWriteRegister(bus, MPU_RA_PWR_MGMT_1, BIT_H_RESET);
spiWriteRegister(bus, MPU_RA_PWR_MGMT_1, BIT_H_RESET);
do {
delay(150);
mpu6000SpiReadRegister(bus, MPU_RA_WHO_AM_I, 1, &in);
spiReadRegister(bus, MPU_RA_WHO_AM_I, 1, &in);
if (in == MPU6000_WHO_AM_I_CONST) {
break;
}
@ -173,7 +150,7 @@ bool mpu6000SpiDetect(const busDevice_t *bus)
}
} while (attemptsRemaining--);
mpu6000SpiReadRegister(bus, MPU_RA_PRODUCT_ID, 1, &in);
spiReadRegister(bus, MPU_RA_PRODUCT_ID, 1, &in);
/* look for a product ID we recognise */
@ -203,48 +180,48 @@ static void mpu6000AccAndGyroInit(gyroDev_t *gyro)
return;
}
spiSetDivisor(MPU6000_SPI_INSTANCE, SPI_CLOCK_INITIALIZATON);
spiSetDivisor(gyro->bus.spi.instance, SPI_CLOCK_INITIALIZATON);
// Device Reset
mpu6000SpiWriteRegister(&gyro->bus, MPU_RA_PWR_MGMT_1, BIT_H_RESET);
spiWriteRegister(&gyro->bus, MPU_RA_PWR_MGMT_1, BIT_H_RESET);
delay(150);
mpu6000SpiWriteRegister(&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
mpu6000SpiWriteRegister(&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
mpu6000SpiWriteRegister(&gyro->bus, MPU_RA_USER_CTRL, BIT_I2C_IF_DIS);
spiWriteRegister(&gyro->bus, MPU_RA_USER_CTRL, BIT_I2C_IF_DIS);
delayMicroseconds(15);
mpu6000SpiWriteRegister(&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
mpu6000SpiWriteRegister(&gyro->bus, MPU_RA_SMPLRT_DIV, gyroMPU6xxxGetDividerDrops(gyro));
spiWriteRegister(&gyro->bus, MPU_RA_SMPLRT_DIV, gyroMPU6xxxGetDividerDrops(gyro));
delayMicroseconds(15);
// Gyro +/- 1000 DPS Full Scale
mpu6000SpiWriteRegister(&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
mpu6000SpiWriteRegister(&gyro->bus, MPU_RA_ACCEL_CONFIG, INV_FSR_8G << 3);
spiWriteRegister(&gyro->bus, MPU_RA_ACCEL_CONFIG, INV_FSR_8G << 3);
delayMicroseconds(15);
mpu6000SpiWriteRegister(&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
mpu6000SpiWriteRegister(&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
spiSetDivisor(MPU6000_SPI_INSTANCE, SPI_CLOCK_FAST);
spiSetDivisor(gyro->bus.spi.instance, SPI_CLOCK_FAST);
delayMicroseconds(1);
mpuSpi6000InitDone = true;

3
src/main/drivers/accgyro/accgyro_spi_mpu6000.h
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@ -21,6 +21,3 @@ bool mpu6000SpiDetect(const busDevice_t *bus);
bool mpu6000SpiAccDetect(accDev_t *acc);
bool mpu6000SpiGyroDetect(gyroDev_t *gyro);
bool mpu6000SpiWriteRegister(const busDevice_t *bus, uint8_t reg, uint8_t data);
bool mpu6000SpiReadRegister(const busDevice_t *bus, uint8_t reg, uint8_t length, uint8_t *data);

25
src/main/drivers/bus_spi.c
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@ -20,11 +20,12 @@
#include <platform.h>
#include "drivers/bus.h"
#include "drivers/bus_spi.h"
#include "drivers/exti.h"
#include "drivers/io.h"
#include "io_impl.h"
#include "rcc.h"
#include "drivers/io_impl.h"
#include "drivers/rcc.h"
/* for F30x processors */
#if defined(STM32F303xC)
@ -351,3 +352,23 @@ void spiResetErrorCounter(SPI_TypeDef *instance)
if (device != SPIINVALID)
spiHardwareMap[device].errorCount = 0;
}
bool spiWriteRegister(const busDevice_t *bus, uint8_t reg, uint8_t data)
{
IOLo(bus->spi.csnPin);
spiTransferByte(bus->spi.instance, reg);
spiTransferByte(bus->spi.instance, data);
IOHi(bus->spi.csnPin);
return true;
}
bool spiReadRegister(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
spiTransfer(bus->spi.instance, data, NULL, length);
IOHi(bus->spi.csnPin);
return true;
}

6
src/main/drivers/bus_spi.h
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@ -18,7 +18,8 @@
#pragma once
#include "drivers/io_types.h"
#include "rcc_types.h"
#include "drivers/bus.h"
#include "drivers/rcc_types.h"
#if defined(STM32F4) || defined(STM32F3)
#define SPI_IO_AF_CFG IO_CONFIG(GPIO_Mode_AF, GPIO_Speed_50MHz, GPIO_OType_PP, GPIO_PuPd_NOPULL)
@ -101,3 +102,6 @@ SPIDevice spiDeviceByInstance(SPI_TypeDef *instance);
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 spiWriteRegister(const busDevice_t *bus, uint8_t reg, uint8_t data);
bool spiReadRegister(const busDevice_t *bus, uint8_t reg, uint8_t length, uint8_t *data);

26
src/main/drivers/bus_spi_hal.c
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@ -21,11 +21,11 @@
#include <platform.h>
#include "drivers/bus_spi.h"
#include "dma.h"
#include "drivers/dma.h"
#include "drivers/io.h"
#include "io_impl.h"
#include "drivers/io_impl.h"
#include "drivers/nvic.h"
#include "rcc.h"
#include "drivers/rcc.h"
#ifndef SPI1_SCK_PIN
#define SPI1_NSS_PIN PA4
@ -346,6 +346,26 @@ void spiResetErrorCounter(SPI_TypeDef *instance)
spiHardwareMap[device].errorCount = 0;
}
bool spiWriteRegister(const busDevice_t *bus, uint8_t reg, uint8_t data)
{
IOLo(bus->spi.csnPin);
spiTransferByte(bus->spi.instance, reg);
spiTransferByte(bus->spi.instance, data);
IOHi(bus->spi.csnPin);
return true;
}
bool spiReadRegister(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
spiTransfer(bus->spi.instance, data, NULL, length);
IOHi(bus->spi.csnPin);
return true;
}
void dmaSPIIRQHandler(dmaChannelDescriptor_t* descriptor)
{
SPIDevice device = descriptor->userParam;