src/main/pg/gyrodev.c

   1 /*
   2  * This file is part of Cleanflight and Betaflight.
   3  *
   4  * Cleanflight and Betaflight are free software. You can redistribute
   5  * this software and/or modify this software under the terms of the
   6  * GNU General Public License as published by the Free Software
   7  * Foundation, either version 3 of the License, or (at your option)
   8  * any later version.
   9  *
  10  * Cleanflight and Betaflight are distributed in the hope that they
  11  * will be useful, but WITHOUT ANY WARRANTY; without even the implied
  12  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  13  * See the GNU General Public License for more details.
  14  *
  15  * You should have received a copy of the GNU General Public License
  16  * along with this software.
  17  *
  18  * If not, see <http://www.gnu.org/licenses/>.
  19  */
  20
  21 #include <stdbool.h>
  22 #include <stdint.h>
  23
  24 #include "platform.h"
  25
  26 #include "common/sensor_alignment.h"
  27
  28 #include "pg/pg.h"
  29 #include "pg/pg_ids.h"
  30 #include "pg/gyrodev.h"
  31
  32 #include "drivers/io.h"
  33 #include "drivers/bus_spi.h"
  34 #include "drivers/sensor.h"
  35 #include "sensors/gyro.h"
  36
  37
  38 ioTag_t selectMPUIntExtiConfigByHardwareRevision(void); // XXX Should be gone
  39
  40 #if defined(USE_SPI_GYRO) || defined(USE_I2C_GYRO)
  41 static void gyroResetCommonDeviceConfig(gyroDeviceConfig_t *devconf, ioTag_t extiTag, uint8_t alignment, sensorAlignment_t customAlignment)
  42 {
  43     devconf->extiTag = extiTag;
  44     devconf->alignment = alignment;
  45     devconf->customAlignment = customAlignment;
  46 }
  47 #endif
  48
  49 #ifdef USE_SPI_GYRO
  50 static void gyroResetSpiDeviceConfig(gyroDeviceConfig_t *devconf, SPI_TypeDef *instance, ioTag_t csnTag, ioTag_t extiTag, uint8_t alignment, sensorAlignment_t customAlignment)
  51 {
  52     devconf->busType = BUS_TYPE_SPI;
  53     devconf->spiBus = SPI_DEV_TO_CFG(spiDeviceByInstance(instance));
  54     devconf->csnTag = csnTag;
  55     gyroResetCommonDeviceConfig(devconf, extiTag, alignment, customAlignment);
  56 }
  57 #endif
  58
  59 #if defined(USE_I2C_GYRO) && !defined(USE_MULTI_GYRO)
  60 static void gyroResetI2cDeviceConfig(gyroDeviceConfig_t *devconf, I2CDevice i2cbus, ioTag_t extiTag, uint8_t alignment, sensorAlignment_t customAlignment)
  61 {
  62     devconf->busType = BUS_TYPE_I2C;
  63     devconf->i2cBus = I2C_DEV_TO_CFG(i2cbus);
  64     devconf->i2cAddress = GYRO_I2C_ADDRESS;
  65     gyroResetCommonDeviceConfig(devconf, extiTag, alignment, customAlignment);
  66 }
  67 #endif
  68
  69 PG_REGISTER_ARRAY_WITH_RESET_FN(gyroDeviceConfig_t, MAX_GYRODEV_COUNT, gyroDeviceConfig, PG_GYRO_DEVICE_CONFIG, 0);
  70
  71 void pgResetFn_gyroDeviceConfig(gyroDeviceConfig_t *devconf)
  72 {
  73     devconf[0].index = 0;
  74     sensorAlignment_t customAlignment1 = CUSTOM_ALIGN_CW0_DEG;
  75 #ifdef GYRO_1_CUSTOM_ALIGN
  76     customAlignment1 = GYRO_1_CUSTOM_ALIGN;
  77 #else
  78     buildAlignmentFromStandardAlignment(&customAlignment1, GYRO_1_ALIGN);
  79 #endif // GYRO_1_CUSTOM_ALIGN
  80
  81     // All multi-gyro boards use SPI based gyros.
  82 #ifdef USE_SPI_GYRO
  83     gyroResetSpiDeviceConfig(&devconf[0], GYRO_1_SPI_INSTANCE, IO_TAG(GYRO_1_CS_PIN), IO_TAG(GYRO_1_EXTI_PIN), GYRO_1_ALIGN, customAlignment1);
  84 #ifdef USE_MULTI_GYRO
  85     devconf[1].index = 1;
  86     sensorAlignment_t customAlignment2 = CUSTOM_ALIGN_CW0_DEG;
  87 #ifdef GYRO_2_CUSTOM_ALIGN
  88     customAlignment2 = GYRO_2_CUSTOM_ALIGN;
  89 #else
  90     buildAlignmentFromStandardAlignment(&customAlignment2, GYRO_2_ALIGN);
  91 #endif // GYRO_2_CUSTOM_ALIGN
  92     gyroResetSpiDeviceConfig(&devconf[1], GYRO_2_SPI_INSTANCE, IO_TAG(GYRO_2_CS_PIN), IO_TAG(GYRO_2_EXTI_PIN), GYRO_2_ALIGN, customAlignment2);
  93 #endif // USE_MULTI_GYRO
  94 #endif // USE_SPI_GYRO
  95
  96     // I2C gyros appear as a sole gyro in single gyro boards.
  97 #if defined(USE_I2C_GYRO) && !defined(USE_MULTI_GYRO)
  98     devconf[0].i2cBus = I2C_DEV_TO_CFG(I2CINVALID); // XXX Not required?
  99     gyroResetI2cDeviceConfig(&devconf[0], I2C_DEVICE, IO_TAG(GYRO_1_EXTI_PIN), GYRO_1_ALIGN, customAlignment1);
 100 #endif
 101
 102 // Special treatment for very rare F3 targets with variants having either I2C or SPI acc/gyro chip; mark it for run time detection.
 103 #if defined(USE_SPI_GYRO) && defined(USE_I2C_GYRO)
 104     devconf[0].busType = BUS_TYPE_GYRO_AUTO;
 105 #endif
 106 }