rusefi
/
atbetaflight
mirror of https://github.com/rusefi/atbetaflight.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Fixed ownership of MPU_CS resource in case of multiple gyros (#5715)

This commit is contained in:
Andrey Mironov 2018-04-20 00:13:28 +03:00 committed by GitHub
parent bf984f39b1
commit bee2bacb66
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
8 changed files with 17 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
src/main/drivers/accgyro/accgyro_l3gd20.c
View File

@ -79,10 +79,12 @@ static void l3gd20SpiInit(SPI_TypeDef *SPIx)
UNUSED(SPIx); // FIXME
mpul3gd20CsPin = IOGetByTag(IO_TAG(L3GD20_CS_PIN));
#ifndef USE_DUAL_GYRO
IOInit(mpul3gd20CsPin, OWNER_MPU_CS, 0);
IOConfigGPIO(mpul3gd20CsPin, SPI_IO_CS_CFG);
DISABLE_L3GD20;
#endif
spiSetDivisor(L3GD20_SPI, SPI_CLOCK_STANDARD);
}

2
src/main/drivers/accgyro/accgyro_spi_bmi160.c
View File

@ -97,9 +97,11 @@ uint8_t bmi160Detect(const busDevice_t *bus)
return BMI_160_SPI;
}
#ifndef USE_DUAL_GYRO
IOInit(bus->busdev_u.spi.csnPin, OWNER_MPU_CS, 0);
IOConfigGPIO(bus->busdev_u.spi.csnPin, SPI_IO_CS_CFG);
IOHi(bus->busdev_u.spi.csnPin);
#endif
spiSetDivisor(bus->busdev_u.spi.instance, BMI160_SPI_DIVISOR);

2
src/main/drivers/accgyro/accgyro_spi_icm20649.c
View File

@ -42,9 +42,11 @@ static void icm20649SpiInit(const busDevice_t *bus)
return;
}
#ifndef USE_DUAL_GYRO
IOInit(bus->busdev_u.spi.csnPin, OWNER_MPU_CS, 0);
IOConfigGPIO(bus->busdev_u.spi.csnPin, SPI_IO_CS_CFG);
IOHi(bus->busdev_u.spi.csnPin);
#endif
// all registers can be read/written at full speed (7MHz +-10%)
// TODO verify that this works at 9MHz and 10MHz on non F7

2
src/main/drivers/accgyro/accgyro_spi_icm20689.c
View File

@ -42,9 +42,11 @@ static void icm20689SpiInit(const busDevice_t *bus)
return;
}
#ifndef USE_DUAL_GYRO
IOInit(bus->busdev_u.spi.csnPin, OWNER_MPU_CS, 0);
IOConfigGPIO(bus->busdev_u.spi.csnPin, SPI_IO_CS_CFG);
IOHi(bus->busdev_u.spi.csnPin);
#endif
spiSetDivisor(bus->busdev_u.spi.instance, SPI_CLOCK_STANDARD);

2
src/main/drivers/accgyro/accgyro_spi_mpu6000.c
View File

@ -125,9 +125,11 @@ void mpu6000SpiAccInit(accDev_t *acc)
uint8_t mpu6000SpiDetect(const busDevice_t *bus)
{
#ifndef USE_DUAL_GYRO
IOInit(bus->busdev_u.spi.csnPin, OWNER_MPU_CS, 0);
IOConfigGPIO(bus->busdev_u.spi.csnPin, SPI_IO_CS_CFG);
IOHi(bus->busdev_u.spi.csnPin);
#endif
spiSetDivisor(bus->busdev_u.spi.instance, SPI_CLOCK_INITIALIZATON);

2
src/main/drivers/accgyro/accgyro_spi_mpu6500.c
View File

@ -38,9 +38,11 @@
static void mpu6500SpiInit(const busDevice_t *bus)
{
#ifndef USE_DUAL_GYRO
IOInit(bus->busdev_u.spi.csnPin, OWNER_MPU_CS, 0);
IOConfigGPIO(bus->busdev_u.spi.csnPin, SPI_IO_CS_CFG);
IOHi(bus->busdev_u.spi.csnPin);
#endif
spiSetDivisor(bus->busdev_u.spi.instance, SPI_CLOCK_FAST);
}

3
src/main/drivers/accgyro/accgyro_spi_mpu9250.c
View File

@ -162,8 +162,11 @@ static void mpu9250AccAndGyroInit(gyroDev_t *gyro) {
uint8_t mpu9250SpiDetect(const busDevice_t *bus)
{
#ifndef USE_DUAL_GYRO
IOInit(bus->busdev_u.spi.csnPin, OWNER_MPU_CS, 0);
IOConfigGPIO(bus->busdev_u.spi.csnPin, SPI_IO_CS_CFG);
IOHi(bus->busdev_u.spi.csnPin);
#endif
spiSetDivisor(bus->busdev_u.spi.instance, SPI_CLOCK_INITIALIZATON); //low speed
mpu9250SpiWriteRegister(bus, MPU_RA_PWR_MGMT_1, MPU9250_BIT_RESET);

4
src/main/sensors/gyro.c
View File

@ -493,7 +493,7 @@ bool gyroInit(void)
#if defined(USE_DUAL_GYRO) && defined(GYRO_1_CS_PIN)
if (gyroToUse == GYRO_CONFIG_USE_GYRO_1 || gyroToUse == GYRO_CONFIG_USE_GYRO_BOTH) {
gyroSensor1.gyroDev.bus.busdev_u.spi.csnPin = IOGetByTag(IO_TAG(GYRO_1_CS_PIN));
IOInit(gyroSensor1.gyroDev.bus.busdev_u.spi.csnPin, OWNER_MPU_CS, 0);
IOInit(gyroSensor1.gyroDev.bus.busdev_u.spi.csnPin, OWNER_MPU_CS, RESOURCE_INDEX(0));
IOHi(gyroSensor1.gyroDev.bus.busdev_u.spi.csnPin); // Ensure device is disabled, important when two devices are on the same bus.
IOConfigGPIO(gyroSensor1.gyroDev.bus.busdev_u.spi.csnPin, SPI_IO_CS_CFG);
}
@ -502,7 +502,7 @@ bool gyroInit(void)
#if defined(USE_DUAL_GYRO) && defined(GYRO_2_CS_PIN)
if (gyroToUse == GYRO_CONFIG_USE_GYRO_2 || gyroToUse == GYRO_CONFIG_USE_GYRO_BOTH) {
gyroSensor2.gyroDev.bus.busdev_u.spi.csnPin = IOGetByTag(IO_TAG(GYRO_2_CS_PIN));
IOInit(gyroSensor2.gyroDev.bus.busdev_u.spi.csnPin, OWNER_MPU_CS, 1);
IOInit(gyroSensor2.gyroDev.bus.busdev_u.spi.csnPin, OWNER_MPU_CS, RESOURCE_INDEX(1));
IOHi(gyroSensor2.gyroDev.bus.busdev_u.spi.csnPin); // Ensure device is disabled, important when two devices are on the same bus.
IOConfigGPIO(gyroSensor2.gyroDev.bus.busdev_u.spi.csnPin, SPI_IO_CS_CFG);
}