Merge pull request #17 from henn1001/betaflight_cc3d_int

Betaflight cc3d interrupt fix

src/main/drivers/accgyro_mpu.c

@@ -218,6 +218,33 @@ void MPU_DATA_READY_EXTI_Handler(void)
 #endif
 }
 
+    //// Hack for cc3d
+void EXTI3_IRQHandler(void)
+{
+    if (EXTI_GetITStatus(mpuIntExtiConfig->exti_line) == RESET) {
+        return;
+    }
+
+    EXTI_ClearITPendingBit(mpuIntExtiConfig->exti_line);
+
+    mpuDataReady = true;
+
+#ifdef DEBUG_MPU_DATA_READY_INTERRUPT
+    // Measure the delta in micro seconds between calls to the interrupt handler
+    static uint32_t lastCalledAt = 0;
+    static int32_t callDelta = 0;
+
+    uint32_t now = micros();
+    callDelta = now - lastCalledAt;
+
+    //UNUSED(callDelta);
+    debug[0] = callDelta;
+
+    lastCalledAt = now;
+#endif
+}
+    //// Hack for cc3d
+
 void configureMPUDataReadyInterruptHandling(void)
 {
 #ifdef USE_MPU_DATA_READY_SIGNAL
@@ -247,7 +274,9 @@ void configureMPUDataReadyInterruptHandling(void)
     }
 #endif
 
+#ifndef CC3D
     registerExti15_10_CallbackHandler(MPU_DATA_READY_EXTI_Handler);
+#endif
 
     EXTI_ClearITPendingBit(mpuIntExtiConfig->exti_line);
 

src/main/drivers/accgyro_spi_mpu6000.c

@@ -126,6 +126,8 @@ void mpu6000SpiGyroInit(uint16_t lpf)
 
     mpu6000AccAndGyroInit();
 
+    mpuIntExtiInit();
+
     spiResetErrorCounter(MPU6000_SPI_INSTANCE);
 
     spiSetDivisor(MPU6000_SPI_INSTANCE, SPI_0_5625MHZ_CLOCK_DIVIDER);
@@ -145,6 +147,7 @@ void mpu6000SpiGyroInit(uint16_t lpf)
 
 void mpu6000SpiAccInit(void)
 {
+    mpuIntExtiInit();
     acc_1G = 512 * 8;
 }
 
@@ -234,6 +237,13 @@ static void mpu6000AccAndGyroInit(void) {
     delayMicroseconds(1);
 
     spiSetDivisor(MPU6000_SPI_INSTANCE, SPI_18MHZ_CLOCK_DIVIDER);  // 18 MHz SPI clock
+    delayMicroseconds(1);
+
+    #ifdef USE_MPU_DATA_READY_SIGNAL
+        // Set MPU Data Ready Signal
+        mpu6000WriteRegister(MPU6000_INT_ENABLE , MPU_RF_DATA_RDY_EN);
+        delayMicroseconds(1);
+    #endif
 
     mpuSpi6000InitDone = true;
 }

src/main/drivers/accgyro_spi_mpu6000.h

@@ -44,10 +44,13 @@
 
 #define MPU6000_WHO_AM_I_CONST              (0x68)
 
+// RF = Register Flag
+#define MPU_RF_DATA_RDY_EN (1 << 0)
+
 bool mpu6000SpiDetect(void);
 
 bool mpu6000SpiAccDetect(acc_t *acc);
 bool mpu6000SpiGyroDetect(gyro_t *gyro);
 
 bool mpu6000WriteRegister(uint8_t reg, uint8_t data);
-bool mpu6000ReadRegister(uint8_t reg, uint8_t length, uint8_t *data);
+bool mpu6000ReadRegister(uint8_t reg, uint8_t length, uint8_t *data);