COLIBRI_RACE MPU_DATA_READY Handler

Colibri Race MPU INT support

revert some things

revert more

Update Colibri Race Binaries

Update target.h Colibri_race

Update Target.h

Makefile

@@ -538,6 +538,7 @@ COLIBRI_RACE_SRC = \
 		   $(STM32F30x_COMMON_SRC) \
 		   drivers/display_ug2864hsweg01.c \
 		   drivers/accgyro_mpu.c \
+		   drivers/accgyro_mpu6500.c \
 		   drivers/accgyro_spi_mpu6500.c \
 		   drivers/barometer_ms5611.c \
 		   drivers/compass_ak8975.c \

src/main/drivers/system.c

@@ -83,10 +83,19 @@ void EXTI15_10_IRQHandler(void)
     extiHandler(EXTI15_10_IRQn);
 }
 
+#if defined(CC3D)
 void EXTI3_IRQHandler(void)
 {
     extiHandler(EXTI3_IRQn);
 }
+#endif
+
+#if defined (COLIBRI_RACE)
+void EXTI9_5_IRQHandler(void)
+{
+    extiHandler(EXTI9_5_IRQn);
+}
+#endif
 
 // cycles per microsecond
 static uint32_t usTicks = 0;

src/main/sensors/initialisation.c

@@ -138,6 +138,19 @@ const extiConfig_t *selectMPUIntExtiConfig(void)
     return &cc3dMPUIntExtiConfig;
 #endif
 
+#if defined(COLIBRI_RACE)
+    static const extiConfig_t colibriRaceMPUIntExtiConfig = {
+         .gpioAHBPeripherals = RCC_AHBPeriph_GPIOA,
+         .gpioPort = GPIOA,
+         .gpioPin = Pin_5,
+         .exti_port_source = EXTI_PortSourceGPIOA,
+         .exti_pin_source = EXTI_PinSource5,
+         .exti_line = EXTI_Line5,
+         .exti_irqn = EXTI9_5_IRQn
+    };
+    return &colibriRaceMPUIntExtiConfig;
+#endif
+
 #if defined(MOTOLAB) || defined(SPARKY)
     static const extiConfig_t MotolabF3MPU6050Config = {
             .gpioAHBPeripherals = RCC_AHBPeriph_GPIOA,

src/main/target/COLIBRI_RACE/target.h

@@ -55,11 +55,16 @@
 
 #define USABLE_TIMER_CHANNEL_COUNT 11
 
+#define EXTI_CALLBACK_HANDLER_COUNT 1 // MPU data ready
+
 #define GYRO
+#define USE_GYRO_MPU6500
 #define USE_GYRO_SPI_MPU6500
+
 #define GYRO_MPU6500_ALIGN CW270_DEG
 
 #define ACC
+#define USE_ACC_MPU6500
 #define USE_ACC_SPI_MPU6500
 #define ACC_MPU6500_ALIGN CW270_DEG
 
@@ -138,6 +143,11 @@
 #define EXTERNAL1_ADC_GPIO_PIN      GPIO_Pin_3
 #define EXTERNAL1_ADC_CHANNEL       ADC_Channel_9
 
+// MPU6500 interrupt
+//#define DEBUG_MPU_DATA_READY_INTERRUPT
+#define USE_MPU_DATA_READY_SIGNAL
+#define ENSURE_MPU_DATA_READY_IS_LOW
+
 #define BLACKBOX
 #define GPS
 #define GTUNE