src/main/target/common_hardware.c

   1 /*
   2  * This file is part of INAV.
   3  *
   4  * INAV is free software: you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation, either version 3 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * INAV is distributed in the hope that it will be useful,
  10  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  12  * GNU General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License
  15  * along with INAV.  If not, see <http://www.gnu.org/licenses/>.
  16  */
  17
  18 #include <platform.h>
  19 #include "drivers/io.h"
  20 #include "drivers/bus.h"
  21 #include "drivers/sensor.h"
  22
  23 #if !defined(USE_TARGET_HARDWARE_DESCRIPTORS)
  24
  25 /** IMU **/
  26 #if !defined(USE_TARGET_IMU_HARDWARE_DESCRIPTORS)
  27     #if !defined(GYRO_INT_EXTI)
  28     #define GYRO_INT_EXTI NONE
  29     #endif
  30
  31     #if !defined(MPU_ADDRESS)
  32     #define MPU_ADDRESS 0x68
  33     #endif
  34
  35     #if defined(USE_IMU_L3GD20)
  36         #if defined(GYRO_L3GD20_ALIGN)
  37             #define GYRO_0_ALIGN    GYRO_L3GD20_ALIGN
  38         #else
  39             #define GYRO_0_ALIGN    ALIGN_DEFAULT
  40         #endif
  41         BUSDEV_REGISTER_SPI(busdev_l3gd20,      DEVHW_L3GD20,       L3GD20_SPI_BUS,     L3GD20_CS_PIN,      NONE,           DEVFLAGS_NONE,  IMU_L3GD20_ALIGN);
  42     #endif
  43
  44     #if defined(USE_IMU_LSM303DLHC)
  45         BUSDEV_REGISTER_I2C(busdev_lsm303,      DEVHW_LSM303DLHC,   LSM303DLHC_I2C_BUS, 0x19,               NONE,           DEVFLAGS_NONE,  IMU_LSM303DLHC_ALIGN);
  46     #endif
  47
  48     #if defined(USE_IMU_MPU6000)
  49         BUSDEV_REGISTER_SPI(busdev_mpu6000,     DEVHW_MPU6000,      MPU6000_SPI_BUS,    MPU6000_CS_PIN,     GYRO_INT_EXTI,  DEVFLAGS_NONE,  IMU_MPU6000_ALIGN);
  50     #endif
  51
  52     #if defined(USE_IMU_MPU6050)
  53         BUSDEV_REGISTER_I2C(busdev_mpu6050,     DEVHW_MPU6050,      MPU6050_I2C_BUS,    MPU_ADDRESS,        GYRO_INT_EXTI,  DEVFLAGS_NONE,  IMU_MPU6050_ALIGN);
  54     #endif
  55
  56     #if defined(USE_IMU_MPU6500)
  57         #if defined(MPU6500_SPI_BUS)
  58         BUSDEV_REGISTER_SPI(busdev_mpu6500,     DEVHW_MPU6500,      MPU6500_SPI_BUS,    MPU6500_CS_PIN,     GYRO_INT_EXTI,  DEVFLAGS_NONE,  IMU_MPU6500_ALIGN);
  59         #elif defined(MPU6500_I2C_BUS)
  60         BUSDEV_REGISTER_I2C(busdev_mpu6500,     DEVHW_MPU6500,      MPU6500_I2C_BUS,    MPU_ADDRESS,        GYRO_INT_EXTI,  DEVFLAGS_NONE,  IMU_MPU6500_ALIGN);
  61         #endif
  62     #endif
  63
  64     #if defined(USE_IMU_MPU9250)
  65         #if defined(MPU9250_SPI_BUS)
  66         BUSDEV_REGISTER_SPI(busdev_mpu9250,     DEVHW_MPU9250,      MPU9250_SPI_BUS,    MPU9250_CS_PIN,     GYRO_INT_EXTI,  DEVFLAGS_NONE,  IMU_MPU9250_ALIGN);
  67         #elif defined(MPU9250_I2C_BUS)
  68         BUSDEV_REGISTER_I2C(busdev_mpu9250,     DEVHW_MPU9250,      MPU9250_I2C_BUS,    MPU_ADDRESS,        GYRO_INT_EXTI,  DEVFLAGS_NONE,  IMU_MPU9250_ALIGN);
  69         #endif
  70     #endif
  71
  72     #if defined(USE_IMU_ICM20689)
  73         BUSDEV_REGISTER_SPI(busdev_icm20689,    DEVHW_ICM20689,     ICM20689_SPI_BUS,   ICM20689_CS_PIN,    GYRO_INT_EXTI,  DEVFLAGS_NONE,  IMU_ICM20689_ALIGN);
  74     #endif
  75
  76     #if defined(USE_IMU_BMI160)
  77         #if defined(BMI160_SPI_BUS)
  78         BUSDEV_REGISTER_SPI(busdev_bmi160,      DEVHW_BMI160,       BMI160_SPI_BUS,     BMI160_CS_PIN,      GYRO_INT_EXTI,  DEVFLAGS_NONE,  IMU_BMI160_ALIGN);
  79         #elif defined(BMI160_I2C_BUS)
  80         BUSDEV_REGISTER_I2C(busdev_bmi160,      DEVHW_BMI160,       BMI160_I2C_BUS,     0x68,               GYRO_INT_EXTI,  DEVFLAGS_NONE,  IMU_BMI160_ALIGN);
  81         #endif
  82     #endif
  83 #endif
  84
  85
  86 /** BAROMETERS **/
  87
  88 #if defined(USE_BARO_BMP085)
  89     #if !defined(BMP085_I2C_BUS)
  90         #define BMP085_I2C_BUS BARO_I2C_BUS
  91     #endif
  92     BUSDEV_REGISTER_I2C(busdev_bmp085,      DEVHW_BMP085,       BMP085_I2C_BUS,     0x77,               NONE,           DEVFLAGS_NONE,      0);
  93 #endif
  94
  95 #if defined(USE_BARO_BMP280)
  96     #if defined(BMP280_SPI_BUS)
  97     BUSDEV_REGISTER_SPI(busdev_bmp280,      DEVHW_BMP280,       BMP280_SPI_BUS,     BMP280_CS_PIN,      NONE,           DEVFLAGS_NONE,      0);
  98     #elif defined(BMP280_I2C_BUS) || defined(BARO_I2C_BUS)
  99     #if !defined(BMP280_I2C_BUS)
 100         #define BMP280_I2C_BUS BARO_I2C_BUS
 101     #endif
 102     BUSDEV_REGISTER_I2C(busdev_bmp280,      DEVHW_BMP280,       BMP280_I2C_BUS,     0x76,               NONE,           DEVFLAGS_NONE,      0);
 103     #endif
 104 #endif
 105
 106 #if defined(USE_BARO_BMP388)
 107     #if defined(BMP388_SPI_BUS)
 108     BUSDEV_REGISTER_SPI(busdev_bmp388,      DEVHW_BMP388,       BMP388_SPI_BUS,     BMP388_CS_PIN,      NONE,           DEVFLAGS_NONE,      0);
 109     #elif defined(BMP388_I2C_BUS) || defined(BARO_I2C_BUS)
 110     #if !defined(BMP388_I2C_BUS)
 111         #define BMP388_I2C_BUS BARO_I2C_BUS
 112     #endif
 113     BUSDEV_REGISTER_I2C(busdev_bmp388,      DEVHW_BMP388,       BMP388_I2C_BUS,     0x76,               NONE,           DEVFLAGS_NONE,      0);
 114     #endif
 115 #endif
 116
 117 #if defined(USE_BARO_SPL06)
 118     #if defined(SPL06_SPI_BUS)
 119       BUSDEV_REGISTER_SPI(busdev_spl06,     DEVHW_SPL06,        SPL06_SPI_BUS,      SPL06_CS_PIN,       NONE,           DEVFLAGS_NONE,      0);
 120     #elif defined(SPL06_I2C_BUS) || defined(BARO_I2C_BUS)
 121       #if !defined(SPL06_I2C_BUS)
 122         #define SPL06_I2C_BUS BARO_I2C_BUS
 123       #endif
 124       BUSDEV_REGISTER_I2C(busdev_spl06,     DEVHW_SPL06,        SPL06_I2C_BUS,      0x76,               NONE,           DEVFLAGS_NONE,      0);
 125     #endif
 126 #endif
 127
 128 #if defined(USE_BARO_LPS25H)
 129     #if defined(LPS25H_SPI_BUS)
 130     BUSDEV_REGISTER_SPI(busdev_lps25h,      DEVHW_LPS25H,       LPS25H_SPI_BUS,     LPS25H_CS_PIN,      NONE,           DEVFLAGS_NONE,      0);
 131     #endif
 132 #endif
 133
 134 #if defined(USE_BARO_MS5607)
 135     #if !defined(MS5607_I2C_BUS)
 136         #define MS5607_I2C_BUS BARO_I2C_BUS
 137     #endif
 138     BUSDEV_REGISTER_I2C(busdev_ms5607,      DEVHW_MS5607,       MS5607_I2C_BUS,     0x77,               NONE,           DEVFLAGS_USE_RAW_REGISTERS, 0);
 139 #endif
 140
 141 #if defined(USE_BARO_MS5611)
 142     #if defined(MS5611_SPI_BUS)
 143     BUSDEV_REGISTER_SPI(busdev_ms5611,      DEVHW_MS5611,       MS5611_SPI_BUS,     MS5611_CS_PIN,      NONE,           DEVFLAGS_USE_RAW_REGISTERS, 0);
 144     #elif defined(MS5611_I2C_BUS) || defined(BARO_I2C_BUS)
 145     #if !defined(MS5611_I2C_BUS)
 146         #define MS5611_I2C_BUS BARO_I2C_BUS
 147     #endif
 148     BUSDEV_REGISTER_I2C(busdev_ms5611,      DEVHW_MS5611,       MS5611_I2C_BUS,     0x77,               NONE,           DEVFLAGS_USE_RAW_REGISTERS, 0);
 149     #endif
 150 #endif
 151
 152 #if defined(USE_BARO_DPS310)
 153     #if defined(DPS310_SPI_BUS)
 154     BUSDEV_REGISTER_SPI(busdev_dps310,      DEVHW_DPS310,       DPS310_SPI_BUS,     DPS310_CS_PIN,      NONE,           DEVFLAGS_NONE, 0);
 155     #elif defined(DPS310_I2C_BUS) || defined(BARO_I2C_BUS)
 156     #if !defined(DPS310_I2C_BUS)
 157         #define DPS310_I2C_BUS BARO_I2C_BUS
 158     #endif
 159     BUSDEV_REGISTER_I2C(busdev_dps310,      DEVHW_DPS310,       DPS310_I2C_BUS,     0x76,               NONE,           DEVFLAGS_NONE, 0);
 160     #endif
 161 #endif
 162
 163
 164 /** COMPASS SENSORS **/
 165 #if !defined(USE_TARGET_MAG_HARDWARE_DESCRIPTORS)
 166 #if defined(USE_MAG_HMC5883)
 167     #if !defined(HMC5883_I2C_BUS)
 168         #define HMC5883_I2C_BUS MAG_I2C_BUS
 169     #endif
 170     BUSDEV_REGISTER_I2C(busdev_hmc5883,     DEVHW_HMC5883,      HMC5883_I2C_BUS,    0x1E,               NONE,           DEVFLAGS_NONE,  0);
 171 #endif
 172
 173 #if defined(USE_MAG_QMC5883)
 174     #if !defined(QMC5883_I2C_BUS)
 175         #define QMC5883_I2C_BUS MAG_I2C_BUS
 176     #endif
 177     BUSDEV_REGISTER_I2C(busdev_qmc5883,     DEVHW_QMC5883,      QMC5883_I2C_BUS,    0x0D,               NONE,           DEVFLAGS_NONE,  0);
 178 #endif
 179
 180 #if defined(USE_MAG_AK8963)
 181     #if defined(AK8963_SPI_BUS)
 182     BUSDEV_REGISTER_SPI(busdev_ak8963,      DEVHW_AK8963,       AK8963_SPI_BUS,     AK8963_CS_PIN,      NONE,           DEVFLAGS_NONE,  0);
 183     #elif defined(AK8963_I2C_BUS) || defined(MAG_I2C_BUS)
 184     #if !defined(AK8963_I2C_BUS)
 185         #define AK8963_I2C_BUS MAG_I2C_BUS
 186     #endif
 187     BUSDEV_REGISTER_I2C(busdev_ak8963,      DEVHW_AK8963,       AK8963_I2C_BUS,     0x0C,               NONE,           DEVFLAGS_NONE,  0);
 188     #endif
 189 #endif
 190
 191 #if defined(USE_MAG_AK8975)
 192     #if defined(AK8975_SPI_BUS)
 193     BUSDEV_REGISTER_SPI(busdev_ak8975,      DEVHW_AK8975,       AK8975_SPI_BUS,     AK8975_CS_PIN,      NONE,           DEVFLAGS_NONE,  0);
 194     #elif defined(AK8975_I2C_BUS) || defined(MAG_I2C_BUS)
 195     #if !defined(AK8975_I2C_BUS)
 196         #define AK8975_I2C_BUS MAG_I2C_BUS
 197     #endif
 198     BUSDEV_REGISTER_I2C(busdev_ak8975,      DEVHW_AK8975,       AK8975_I2C_BUS,     0x0C,               NONE,           DEVFLAGS_NONE,  0);
 199     #endif
 200 #endif
 201
 202 #if defined(USE_MAG_MAG3110)
 203     #if !defined(MAG3110_I2C_BUS)
 204         #define MAG3110_I2C_BUS MAG_I2C_BUS
 205     #endif
 206     BUSDEV_REGISTER_I2C(busdev_mag3110,     DEVHW_MAG3110,      MAG3110_I2C_BUS,    0x0E,               NONE,           DEVFLAGS_NONE,  0);
 207 #endif
 208
 209 #if defined(USE_MAG_LIS3MDL)
 210     #if !defined(LIS3MDL_I2C_BUS)
 211         #define LIS3MDL_I2C_BUS MAG_I2C_BUS
 212     #endif
 213     BUSDEV_REGISTER_I2C(busdev_lis3mdl,     DEVHW_LIS3MDL,      LIS3MDL_I2C_BUS,    0x1E,               NONE,           DEVFLAGS_NONE,  0);
 214 //  ST LIS3MDL address can be changed by connecting it's SDO/SA1 pin to either supply or ground.
 215 //  BUSDEV_REGISTER_I2C(busdev_lis3mdl,     DEVHW_LIS3MDL,      LIS3MDL_I2C_BUS,    0x1C,               NONE,           DEVFLAGS_NONE);
 216 #endif
 217
 218 #if defined(USE_MAG_IST8310)
 219     #if !defined(IST8310_I2C_BUS)
 220         #define IST8310_I2C_BUS MAG_I2C_BUS
 221     #endif
 222     BUSDEV_REGISTER_I2C(busdev_ist8310_0,   DEVHW_IST8310_0,    IST8310_I2C_BUS,    0x0C,               NONE,           DEVFLAGS_NONE,  0);
 223     BUSDEV_REGISTER_I2C(busdev_ist8310_1,   DEVHW_IST8310_1,    IST8310_I2C_BUS,    0x0E,               NONE,           DEVFLAGS_NONE,  0);
 224 #endif
 225
 226 #if defined(USE_MAG_IST8308)
 227     #if !defined(IST8308_I2C_BUS)
 228         #define IST8308_I2C_BUS MAG_I2C_BUS
 229     #endif
 230     BUSDEV_REGISTER_I2C(busdev_ist8308,     DEVHW_IST8308,      IST8308_I2C_BUS,    0x0C,               NONE,           DEVFLAGS_NONE,  0);
 231 #endif
 232 #endif
 233
 234
 235 /** 1-Wire IF **/
 236
 237 #ifdef USE_1WIRE
 238
 239 #if defined(TEMPERATURE_I2C_BUS) && !defined(DS2482_I2C_BUS)
 240     #define DS2482_I2C_BUS TEMPERATURE_I2C_BUS
 241 #endif
 242
 243 #if defined(USE_1WIRE_DS2482) && defined(DS2482_I2C_BUS)
 244     BUSDEV_REGISTER_I2C(busdev_ds2482,      DEVHW_DS2482,       DS2482_I2C_BUS,     0x18,               NONE,           DEVFLAGS_USE_RAW_REGISTERS,  0);
 245 #endif
 246
 247 #endif
 248
 249
 250 /** TEMP SENSORS **/
 251
 252 #if defined(TEMPERATURE_I2C_BUS) && !defined(LM75_I2C_BUS)
 253     #define LM75_I2C_BUS TEMPERATURE_I2C_BUS
 254 #endif
 255
 256 #if defined(USE_TEMPERATURE_LM75) && defined(LM75_I2C_BUS)
 257     BUSDEV_REGISTER_I2C(busdev_lm75_0,      DEVHW_LM75_0,         LM75_I2C_BUS,     0x48,               NONE,           DEVFLAGS_NONE,  0);
 258     BUSDEV_REGISTER_I2C(busdev_lm75_1,      DEVHW_LM75_1,         LM75_I2C_BUS,     0x49,               NONE,           DEVFLAGS_NONE,  0);
 259     BUSDEV_REGISTER_I2C(busdev_lm75_2,      DEVHW_LM75_2,         LM75_I2C_BUS,     0x4A,               NONE,           DEVFLAGS_NONE,  0);
 260     BUSDEV_REGISTER_I2C(busdev_lm75_3,      DEVHW_LM75_3,         LM75_I2C_BUS,     0x4B,               NONE,           DEVFLAGS_NONE,  0);
 261     BUSDEV_REGISTER_I2C(busdev_lm75_4,      DEVHW_LM75_4,         LM75_I2C_BUS,     0x4C,               NONE,           DEVFLAGS_NONE,  0);
 262     BUSDEV_REGISTER_I2C(busdev_lm75_5,      DEVHW_LM75_5,         LM75_I2C_BUS,     0x4D,               NONE,           DEVFLAGS_NONE,  0);
 263     BUSDEV_REGISTER_I2C(busdev_lm75_6,      DEVHW_LM75_6,         LM75_I2C_BUS,     0x4E,               NONE,           DEVFLAGS_NONE,  0);
 264     BUSDEV_REGISTER_I2C(busdev_lm75_7,      DEVHW_LM75_7,         LM75_I2C_BUS,     0x4F,               NONE,           DEVFLAGS_NONE,  0);
 265 #endif
 266
 267
 268 /** RANGEFINDER SENSORS **/
 269
 270 #if defined(USE_RANGEFINDER_SRF10)
 271     #if !defined(SRF10_I2C_BUS)
 272         #define SRF10_I2C_BUS RANGEFINDER_I2C_BUS
 273     #endif
 274     #if defined(SRF10_I2C_BUS)
 275     BUSDEV_REGISTER_I2C(busdev_srf10,       DEVHW_SRF10,        SRF10_I2C_BUS,      0x70,               NONE,           DEVFLAGS_NONE,  0);
 276     #endif
 277 #endif
 278
 279 #if defined(USE_RANGEFINDER_HCSR04_I2C) && (defined(HCSR04_I2C_BUS) || defined(RANGEFINDER_I2C_BUS))
 280     #if !defined(HCSR04_I2C_BUS)
 281         #define HCSR04_I2C_BUS RANGEFINDER_I2C_BUS
 282     #endif
 283     #if defined(HCSR04_I2C_BUS)
 284     BUSDEV_REGISTER_I2C(busdev_hcsr04,      DEVHW_HCSR04_I2C,   HCSR04_I2C_BUS,     0x14,               NONE,           DEVFLAGS_NONE,  0);
 285     #endif
 286 #endif
 287
 288 #if defined(USE_RANGEFINDER_VL53L0X)
 289     #if !defined(VL53L0X_I2C_BUS) && defined(RANGEFINDER_I2C_BUS)
 290         #define VL53L0X_I2C_BUS RANGEFINDER_I2C_BUS
 291     #endif
 292
 293     #if defined(VL53L0X_I2C_BUS)
 294     BUSDEV_REGISTER_I2C(busdev_vl53l0x,     DEVHW_VL53L0X,      VL53L0X_I2C_BUS,    0x29,               NONE,           DEVFLAGS_NONE,  0);
 295     #endif
 296 #endif
 297
 298
 299 /** AIRSPEED SENSORS **/
 300
 301 #if defined(PITOT_I2C_BUS) && !defined(MS4525_I2C_BUS)
 302     #define MS4525_I2C_BUS PITOT_I2C_BUS
 303 #endif
 304
 305 #if defined(USE_PITOT_MS4525) && defined(MS4525_I2C_BUS)
 306     BUSDEV_REGISTER_I2C(busdev_ms5425,      DEVHW_MS4525,       MS4525_I2C_BUS,     0x28,               NONE,           DEVFLAGS_USE_RAW_REGISTERS,  0);    // Requires 0xFF to passthrough
 307 #endif
 308
 309
 310 /** OTHER HARDWARE **/
 311
 312 #if defined(USE_MAX7456)
 313     BUSDEV_REGISTER_SPI(busdev_max7456,     DEVHW_MAX7456,      MAX7456_SPI_BUS,    MAX7456_CS_PIN,     NONE,           DEVFLAGS_USE_RAW_REGISTERS,  0);
 314 #endif
 315
 316 #if defined(USE_FLASH_M25P16)
 317     BUSDEV_REGISTER_SPI(busdev_m25p16,      DEVHW_M25P16,       M25P16_SPI_BUS,     M25P16_CS_PIN,      NONE,           DEVFLAGS_NONE,  0);
 318 #endif
 319
 320 #if defined(USE_SDCARD) && defined(USE_SDCARD_SPI)
 321     BUSDEV_REGISTER_SPI(busdev_sdcard_spi,  DEVHW_SDCARD,       SDCARD_SPI_BUS,     SDCARD_CS_PIN,      NONE,           DEVFLAGS_USE_MANUAL_DEVICE_SELECT | DEVFLAGS_SPI_MODE_0,  0);
 322 #endif
 323
 324 /*
 325 // FIXME(digitalentity): This is unnecessary at the moment as SDIO is not part of BusDevice infrastructure
 326 #if defined(USE_SDCARD) && defined(USE_SDCARD_SDIO)
 327     BUSDEV_REGISTER_SDIO(busdev_sdcard_sdio,DEVHW_SDCARD,       SDCARD_SDIO_BUS,    SDCARD_CS_PIN,      NONE,           DEVFLAGS_USE_MANUAL_DEVICE_SELECT);
 328 #endif
 329 */
 330
 331 #if defined(USE_OLED_UG2864)
 332     #if !defined(UG2864_I2C_BUS)
 333         #define UG2864_I2C_BUS BUS_I2C1
 334     #endif
 335     BUSDEV_REGISTER_I2C(busdev_ug2864,      DEVHW_UG2864,       UG2864_I2C_BUS,     0x3C,               NONE,           DEVFLAGS_NONE,  0);
 336 #endif
 337
 338 #if defined(USE_PWM_SERVO_DRIVER)
 339     #if defined(USE_PWM_DRIVER_PCA9685) && defined(USE_I2C)
 340         #if !defined(PCA9685_I2C_BUS)
 341             #define PCA9685_I2C_BUS BUS_I2C1
 342         #endif
 343         BUSDEV_REGISTER_I2C(busdev_pca9685,      DEVHW_PCA9685,       PCA9685_I2C_BUS,     0x40,               NONE,           DEVFLAGS_NONE,  0);
 344     #endif
 345 #endif
 346
 347 #if defined(USE_IRLOCK) && defined(USE_I2C)
 348     #if !defined(IRLOCK_I2C_BUS) && defined(EXTERNAL_I2C_BUS)
 349         #define IRLOCK_I2C_BUS EXTERNAL_I2C_BUS
 350     #else
 351         #define IRLOCK_I2C_BUS BUS_I2C1
 352     #endif
 353     BUSDEV_REGISTER_I2C(busdev_irlock,      DEVHW_IRLOCK,       IRLOCK_I2C_BUS,     0x54,               NONE,           DEVFLAGS_USE_RAW_REGISTERS);
 354 #endif
 355
 356 #endif  // USE_TARGET_HARDWARE_DESCRIPTORS