bool icm20689SpiDetect(const busDevice_t *bus)
{
icm20689SpiInit(bus);
spiSetDivisor(bus->spi.instance, SPI_CLOCK_INITIALIZATON); //low speed
spiWriteRegister(bus, MPU_RA_PWR_MGMT_1, ICM20689_BIT_RESET);
uint8_t attemptsRemaining = 20;
do {
delay(150);
const uint8_t whoAmI = spiReadRegister(bus, MPU_RA_WHO_AM_I);
if (whoAmI == ICM20689_WHO_AM_I_CONST) {
break;
}
if (!attemptsRemaining) {
return false;
}
} while (attemptsRemaining--);
spiSetDivisor(bus->spi.instance, SPI_CLOCK_STANDARD);
return true;
}
/**
* Initialize the driver, must be called before any other routines.
*
* Attempts to detect a connected m25p16. If found, true is returned and device capacity can be fetched with
* m25p16_getGeometry().
*/
bool m25p16_init()
{
//Maximum speed for standard READ command is 20mHz, other commands tolerate 25mHz
#ifdef STM32F40_41xxx
spiSetDivisor(M25P16_SPI_INSTANCE, SPI_21MHZ_CLOCK_DIVIDER);
#else
spiSetDivisor(M25P16_SPI_INSTANCE, SPI_18MHZ_CLOCK_DIVIDER);
#endif
return m25p16_readIdentification();
}
static void mpu6000AccAndGyroInit(void) {
if (mpuSpi6000InitDone) {
return;
}
spiSetDivisor(MPU6000_SPI_INSTANCE, SPI_0_5625MHZ_CLOCK_DIVIDER);
// Device Reset
mpu6000WriteRegister(MPU_RA_PWR_MGMT_1, BIT_H_RESET);
delay(150);
mpu6000WriteRegister(MPU_RA_SIGNAL_PATH_RESET, BIT_GYRO | BIT_ACC | BIT_TEMP);
delay(150);
// Clock Source PPL with Z axis gyro reference
mpu6000WriteRegister(MPU_RA_PWR_MGMT_1, MPU_CLK_SEL_PLLGYROZ);
delayMicroseconds(15);
// Disable Primary I2C Interface
mpu6000WriteRegister(MPU_RA_USER_CTRL, BIT_I2C_IF_DIS);
delayMicroseconds(15);
mpu6000WriteRegister(MPU_RA_PWR_MGMT_2, 0x00);
delayMicroseconds(15);
// Accel Sample Rate 1kHz
// Gyroscope Output Rate = 1kHz when the DLPF is enabled
mpu6000WriteRegister(MPU_RA_SMPLRT_DIV, gyroMPU6xxxGetDividerDrops());
delayMicroseconds(15);
// Gyro +/- 1000 DPS Full Scale
mpu6000WriteRegister(MPU_RA_GYRO_CONFIG, INV_FSR_2000DPS << 3);
delayMicroseconds(15);
// Accel +/- 8 G Full Scale
mpu6000WriteRegister(MPU_RA_ACCEL_CONFIG, INV_FSR_16G << 3);
delayMicroseconds(15);
mpu6000WriteRegister(MPU_RA_INT_PIN_CFG, 0 << 7 | 0 << 6 | 0 << 5 | 1 << 4 | 0 << 3 | 0 << 2 | 0 << 1 | 0 << 0); // INT_ANYRD_2CLEAR
delayMicroseconds(15);
#ifdef USE_MPU_DATA_READY_SIGNAL
mpu6000WriteRegister(MPU_RA_INT_ENABLE, MPU_RF_DATA_RDY_EN);
delayMicroseconds(15);
#endif
spiSetDivisor(MPU6000_SPI_INSTANCE, SPI_18MHZ_CLOCK_DIVIDER); // 18 MHz SPI clock
delayMicroseconds(1);
mpuSpi6000InitDone = true;
}
void max7456Init(const vcdProfile_t *pVcdProfile)
{
#ifdef MAX7456_SPI_CS_PIN
max7456CsPin = IOGetByTag(IO_TAG(MAX7456_SPI_CS_PIN));
#endif
IOInit(max7456CsPin, OWNER_OSD_CS, 0);
IOConfigGPIO(max7456CsPin, SPI_IO_CS_CFG);
spiSetDivisor(MAX7456_SPI_INSTANCE, SPI_CLOCK_STANDARD);
// force soft reset on Max7456
ENABLE_MAX7456;
max7456Send(MAX7456ADD_VM0, MAX7456_RESET);
DISABLE_MAX7456;
// Setup values to write to registers
videoSignalCfg = pVcdProfile->video_system;
hosRegValue = 32 - pVcdProfile->h_offset;
vosRegValue = 16 - pVcdProfile->v_offset;
#ifdef MAX7456_DMA_CHANNEL_TX
dmaSetHandler(MAX7456_DMA_IRQ_HANDLER_ID, max7456_dma_irq_handler, NVIC_PRIO_MAX7456_DMA, 0);
#endif
// Real init will be made later when driver detect idle.
}
/**
* Initialize the driver, must be called before any other routines.
*
* Attempts to detect a connected m25p16. If found, true is returned and device capacity can be fetched with
* m25p16_getGeometry().
*/
bool m25p16_init(ioTag_t csTag)
{
/*
if we have already detected a flash device we can simply exit
TODO: change the init param in favour of flash CFG when ParamGroups work is done
then cs pin can be specified in hardware_revision.c or config.c (dependent on revision).
*/
if (geometry.sectors) {
return true;
}
if (csTag) {
m25p16CsPin = IOGetByTag(csTag);
} else {
#ifdef M25P16_CS_PIN
m25p16CsPin = IOGetByTag(IO_TAG(M25P16_CS_PIN));
#else
return false;
#endif
}
IOInit(m25p16CsPin, OWNER_FLASH_CS, 0);
IOConfigGPIO(m25p16CsPin, SPI_IO_CS_CFG);
DISABLE_M25P16;
#ifndef M25P16_SPI_SHARED
//Maximum speed for standard READ command is 20mHz, other commands tolerate 25mHz
spiSetDivisor(M25P16_SPI_INSTANCE, SPI_CLOCK_FAST);
#endif
return m25p16_readIdentification();
}
/**
* Initialize the driver, must be called before any other routines.
*
* Attempts to detect a connected m25p16. If found, true is returned and device capacity can be fetched with
* m25p16_getGeometry().
*/
bool m25p16_init()
{
//Maximum speed for standard READ command is 20mHz, other commands tolerate 25mHz
spiSetDivisor(M25P16_SPI_INSTANCE, HIGH_SPEED_SPI);
return m25p16_readIdentification();
}
bool mpu6000SpiGyroDetect(const mpu6000Config_t *configToUse, gyro_t *gyro, uint16_t lpf)
{
mpu6000Config = configToUse;
if (!mpu6000SpiDetect()) {
return false;
}
spiResetErrorCounter(MPU6000_SPI_INSTANCE);
mpu6000AccAndGyroInit();
uint8_t mpuLowPassFilter = BITS_DLPF_CFG_42HZ;
int16_t data[3];
// default lpf is 42Hz
if (lpf == 256)
mpuLowPassFilter = BITS_DLPF_CFG_256HZ;
else if (lpf >= 188)
mpuLowPassFilter = BITS_DLPF_CFG_188HZ;
else if (lpf >= 98)
mpuLowPassFilter = BITS_DLPF_CFG_98HZ;
else if (lpf >= 42)
mpuLowPassFilter = BITS_DLPF_CFG_42HZ;
else if (lpf >= 20)
mpuLowPassFilter = BITS_DLPF_CFG_20HZ;
else if (lpf >= 10)
mpuLowPassFilter = BITS_DLPF_CFG_10HZ;
else if (lpf > 0)
mpuLowPassFilter = BITS_DLPF_CFG_5HZ;
else
mpuLowPassFilter = BITS_DLPF_CFG_256HZ;
spiSetDivisor(MPU6000_SPI_INSTANCE, SPI_0_5625MHZ_CLOCK_DIVIDER);
// Determine the new sample divider
mpu6000WriteRegister(MPU6000_SMPLRT_DIV, gyroMPU6xxxGetDividerDrops());
delayMicroseconds(1);
// Accel and Gyro DLPF Setting
mpu6000WriteRegister(MPU6000_CONFIG, mpuLowPassFilter);
delayMicroseconds(1);
mpu6000SpiGyroRead(data);
if ((((int8_t)data[1]) == -1 && ((int8_t)data[0]) == -1) || spiGetErrorCounter(MPU6000_SPI_INSTANCE) != 0) {
spiResetErrorCounter(MPU6000_SPI_INSTANCE);
return false;
}
gyro->init = mpu6000SpiGyroInit;
gyro->read = mpu6000SpiGyroRead;
gyro->intStatus = checkMPU6000DataReady;
// 16.4 dps/lsb scalefactor
gyro->scale = 1.0f / 16.4f;
//gyro->scale = (4.0f / 16.4f) * (M_PIf / 180.0f) * 0.000001f;
delay(100);
return true;
}
static void hmc5883SpiInit(busDevice_t *busdev)
{
IOHi(busdev->busdev_u.spi.csnPin); // Disable
IOInit(busdev->busdev_u.spi.csnPin, OWNER_COMPASS_CS, 0);
IOConfigGPIO(busdev->busdev_u.spi.csnPin, IOCFG_OUT_PP);
spiSetDivisor(busdev->busdev_u.spi.instance, SPI_CLOCK_STANDARD);
}
/**
* Set a band and channel
*/
void rtc6705SetBandAndChannel(uint8_t band, uint8_t channel)
{
band = constrain(band, 0, VTX_RTC6705_BAND_COUNT - 1);
channel = constrain(channel, 0, VTX_RTC6705_CHANNEL_COUNT - 1);
spiSetDivisor(RTC6705_SPI_INSTANCE, SPI_CLOCK_SLOW);
rtc6705Transfer(RTC6705_SET_HEAD);
rtc6705Transfer(channelArray[band][channel]);
}
static void mpu6500SpiInit(void)
{
static bool hardwareInitialised = false;
if (hardwareInitialised) {
return;
}
mpuSpi6500CsPin = IOGetByTag(IO_TAG(MPU6500_CS_PIN));
IOInit(mpuSpi6500CsPin, OWNER_SYSTEM, RESOURCE_SPI);
IOConfigGPIO(mpuSpi6500CsPin, SPI_IO_CS_CFG);
#if defined(STM32F40_41xxx) || defined (STM32F411xE)
spiSetDivisor(MPU6500_SPI_INSTANCE, SPI_SLOW_CLOCK);
#else
spiSetDivisor(MPU6500_SPI_INSTANCE, SPI_STANDARD_CLOCK);
#endif
hardwareInitialised = true;
}
void mpu6000SpiAccRead(int16_t *gyroData)
{
uint8_t buf[6];
spiSetDivisor(MPU6000_SPI_INSTANCE, SPI_18MHZ_CLOCK_DIVIDER); // 18 MHz SPI clock
mpu6000ReadRegister(MPU6000_ACCEL_XOUT_H, buf, 6);
gyroData[X] = (int16_t)((buf[0] << 8) | buf[1]);
gyroData[Y] = (int16_t)((buf[2] << 8) | buf[3]);
gyroData[Z] = (int16_t)((buf[4] << 8) | buf[5]);
}
void mpu6000SpiGyroInit(uint8_t lpf)
{
mpuIntExtiInit();
mpu6000AccAndGyroInit();
spiSetDivisor(MPU6000_SPI_INSTANCE, SPI_0_5625MHZ_CLOCK_DIVIDER);
// Accel and Gyro DLPF Setting
mpu6000WriteRegister(MPU6000_CONFIG, lpf);
delayMicroseconds(1);
spiSetDivisor(MPU6000_SPI_INSTANCE, SPI_18MHZ_CLOCK_DIVIDER); // 18 MHz SPI clock
int16_t data[3];
mpuGyroRead(data);
if (((int8_t)data[1]) == -1 && ((int8_t)data[0]) == -1) {
failureMode(FAILURE_GYRO_INIT_FAILED);
}
}
static void mpu6000AccAndGyroInit(uint8_t lpf) {
if (mpuSpi6000InitDone) {
return;
}
spiSetDivisor(MPU6000_SPI_INSTANCE, SPI_SLOW_CLOCK); //low speed for writing to slow registers
mpu6000WriteRegister(MPU_RA_PWR_MGMT_1, BIT_H_RESET);
delay(50);
mpu6000WriteRegister(MPU_RA_PWR_MGMT_1, BIT_H_RESET);
delay(50);
verifympu6000WriteRegister(MPU_RA_PWR_MGMT_1, 0x0B); //temp sensor disabled Z axis is timer
// Disable Primary I2C Interface
mpu6000WriteRegister(MPU_RA_USER_CTRL, BIT_I2C_IF_DIS|5);
verifympu6000WriteRegister(MPU_RA_PWR_MGMT_2, 0x00);
// Accel Sample Rate 1kHz
// Gyroscope Output Rate = 1kHz when the DLPF is enabled
verifympu6000WriteRegister(MPU_RA_SMPLRT_DIV, gyroMPU6xxxGetDividerDrops());
// Gyro +/- 1000 DPS Full Scale
verifympu6000WriteRegister(MPU_RA_GYRO_CONFIG, INV_FSR_2000DPS << 3);
// Accel +/- 8 G Full Scale
verifympu6000WriteRegister(MPU_RA_ACCEL_CONFIG, INV_FSR_8G << 3);
verifympu6000WriteRegister(MPU_RA_INT_PIN_CFG, 0 << 7 | 0 << 6 | 0 << 5 | 1 << 4 | 0 << 3 | 0 << 2 | 0 << 1 | 0 << 0); // INT_ANYRD_2CLEAR
#if defined(USE_MPU_DATA_READY_SIGNAL)
mpu6000WriteRegister(MPU_RA_INT_ENABLE, MPU_RF_DATA_RDY_EN); //this resets register MPU_RA_PWR_MGMT_1 and won't read back correctly.
delayMicroseconds(100);
verifympu6000WriteRegister(MPU_RA_PWR_MGMT_1, 0x0B); //need to redo MPU_RA_PWR_MGMT_1
verifympu6000WriteRegister(MPU_RA_INT_ENABLE, MPU_RF_DATA_RDY_EN); //should work correctly this time
#endif
// Accel and Gyro DLPF Setting
if (lpf == 4) {
verifympu6000WriteRegister(MPU6000_CONFIG, 1); //1KHz, 188DLPF
} else if (lpf < 4) {
verifympu6000WriteRegister(MPU6000_CONFIG, 7); //8KHz, Raw
} else if (lpf > 4) {
verifympu6000WriteRegister(MPU6000_CONFIG, 0); //8KHz, 256DLPF
}
// Clock Source PPL with Z axis gyro reference
verifympu6000WriteRegister(MPU_RA_PWR_MGMT_1, 0x09);
mpuSpi6000InitDone = true; //init done
}
void rtc6705SetRFPower(uint8_t rf_power)
{
rf_power = constrain(rf_power, VTX_RTC6705_MIN_POWER, VTX_RTC6705_POWER_COUNT - 1);
spiSetDivisor(RTC6705_SPI_INSTANCE, SPI_CLOCK_SLOW);
uint32_t val_hex = RTC6705_RW_CONTROL_BIT; // write
val_hex |= RTC6705_ADDRESS; // address
const uint32_t data = rf_power > 1 ? PA_CONTROL_DEFAULT : (PA_CONTROL_DEFAULT | PD_Q5G_MASK) & (~(PA5G_PW_MASK | PA5G_BS_MASK));
val_hex |= data << 5; // 4 address bits and 1 rw bit.
rtc6705Transfer(val_hex);
}
bool mpu6000SpiDetect(void)
{
uint8_t in;
uint8_t attemptsRemaining = 5;
#ifdef MPU6000_CS_PIN
mpuSpi6000CsPin = IOGetByTag(IO_TAG(MPU6000_CS_PIN));
#endif
IOInit(mpuSpi6000CsPin, OWNER_MPU, RESOURCE_SPI_CS, 0);
IOConfigGPIO(mpuSpi6000CsPin, SPI_IO_CS_CFG);
spiSetDivisor(MPU6000_SPI_INSTANCE, SPI_CLOCK_INITIALIZATON);
mpu6000WriteRegister(MPU_RA_PWR_MGMT_1, BIT_H_RESET);
do {
delay(150);
mpu6000ReadRegister(MPU_RA_WHO_AM_I, 1, &in);
if (in == MPU6000_WHO_AM_I_CONST) {
break;
}
if (!attemptsRemaining) {
return false;
}
} while (attemptsRemaining--);
mpu6000ReadRegister(MPU_RA_PRODUCT_ID, 1, &in);
/* look for a product ID we recognise */
// verify product revision
switch (in) {
case MPU6000ES_REV_C4:
case MPU6000ES_REV_C5:
case MPU6000_REV_C4:
case MPU6000_REV_C5:
case MPU6000ES_REV_D6:
case MPU6000ES_REV_D7:
case MPU6000ES_REV_D8:
case MPU6000_REV_D6:
case MPU6000_REV_D7:
case MPU6000_REV_D8:
case MPU6000_REV_D9:
case MPU6000_REV_D10:
return true;
}
return false;
}
/**
* Handle a failure of an SD card operation by resetting the card back to its initialization phase.
*
* Increments the failure counter, and when the failure threshold is reached, disables the card until
* the next call to sdcard_init().
*/
static void sdcard_reset(void)
{
if (sdcard.state >= SDCARD_STATE_READY) {
spiSetDivisor(SDCARD_SPI_INSTANCE, SDCARD_SPI_INITIALIZATION_CLOCK_DIVIDER);
}
sdcard.failureCount++;
if (sdcard.failureCount >= SDCARD_MAX_CONSECUTIVE_FAILURES) {
sdcard.state = SDCARD_STATE_NOT_PRESENT;
} else {
sdcard.operationStartTime = millis();
sdcard.state = SDCARD_STATE_RESET;
}
}
static void mpu9250AccAndGyroInit(uint8_t lpf) {
if (mpuSpi9250InitDone) {
return;
}
spiSetDivisor(MPU9250_SPI_INSTANCE, SPI_SLOW_CLOCK); //low speed for writing to slow registers
mpu9250WriteRegister(MPU_RA_PWR_MGMT_1, MPU9250_BIT_RESET);
delay(50);
verifympu9250WriteRegister(MPU_RA_PWR_MGMT_1, INV_CLK_PLL);
#if defined (REVONANO) || defined (SPARKY2) || defined(ALIENFLIGHTF4) || defined(BLUEJAYF4) || defined(VRCORE)
//mpu9250WriteRegister(MPU_RA_GYRO_CONFIG, INV_FSR_2000DPS << 3 | FCB_8800_32); //Fchoice_b defaults to 00 which makes fchoice 11
verifympu9250WriteRegister(MPU_RA_GYRO_CONFIG, INV_FSR_2000DPS << 3 | FCB_DISABLED); //Fchoice_b defaults to 00 which makes fchoice 11
if (lpf == 4) {
verifympu9250WriteRegister(MPU_RA_CONFIG, 1); //1KHz, 184DLPF
} else if (lpf < 4) {
verifympu9250WriteRegister(MPU_RA_CONFIG, 7); //8KHz, 3600DLPF
} else if (lpf > 4) {
verifympu9250WriteRegister(MPU_RA_CONFIG, 0); //8KHz, 250DLPF
}
verifympu9250WriteRegister(MPU_RA_SMPLRT_DIV, gyroMPU6xxxGetDividerDrops()); // Get Divider Drops
#else
verifympu9250WriteRegister(MPU_RA_GYRO_CONFIG, INV_FSR_2000DPS << 3 | FCB_DISABLED); //Fchoice_b defaults to 00 which makes fchoice 11
if (lpf == 4) {
verifympu9250WriteRegister(MPU_RA_CONFIG, 1); //1KHz, 184DLPF
} else if (lpf < 4) {
verifympu9250WriteRegister(MPU_RA_CONFIG, 7); //8KHz, 3600DLPF
} else if (lpf > 4) {
verifympu9250WriteRegister(MPU_RA_CONFIG, 0); //8KHz, 250DLPF
}
verifympu9250WriteRegister(MPU_RA_SMPLRT_DIV, gyroMPU6xxxGetDividerDrops()); // Get Divider Drops
#endif
verifympu9250WriteRegister(MPU_RA_ACCEL_CONFIG, INV_FSR_8G << 3);
verifympu9250WriteRegister(MPU_RA_INT_PIN_CFG, 0 << 7 | 0 << 6 | 0 << 5 | 1 << 4 | 0 << 3 | 0 << 2 | 1 << 1 | 0 << 0); // INT_ANYRD_2CLEAR, BYPASS_EN
#if defined(USE_MPU_DATA_READY_SIGNAL)
verifympu9250WriteRegister(MPU_RA_INT_ENABLE, 0x01); //this resets register MPU_RA_PWR_MGMT_1 and won't read back correctly.
#endif
mpuSpi9250InitDone = true; //init done
}
void icm20689GyroInit(gyroDev_t *gyro)
{
mpuGyroInit(gyro);
spiSetDivisor(gyro->bus.spi.instance, SPI_CLOCK_INITIALIZATON);
gyro->mpuConfiguration.writeFn(&gyro->bus, MPU_RA_PWR_MGMT_1, ICM20689_BIT_RESET);
delay(100);
gyro->mpuConfiguration.writeFn(&gyro->bus, MPU_RA_SIGNAL_PATH_RESET, 0x03);
delay(100);
// gyro->mpuConfiguration.writeFn(&gyro->bus, MPU_RA_PWR_MGMT_1, 0);
// delay(100);
gyro->mpuConfiguration.writeFn(&gyro->bus, MPU_RA_PWR_MGMT_1, INV_CLK_PLL);
delay(15);
const uint8_t raGyroConfigData = gyro->gyroRateKHz > GYRO_RATE_8_kHz ? (INV_FSR_2000DPS << 3 | FCB_3600_32) : (INV_FSR_2000DPS << 3 | FCB_DISABLED);
gyro->mpuConfiguration.writeFn(&gyro->bus, MPU_RA_GYRO_CONFIG, raGyroConfigData);
delay(15);
gyro->mpuConfiguration.writeFn(&gyro->bus, MPU_RA_ACCEL_CONFIG, INV_FSR_16G << 3);
delay(15);
gyro->mpuConfiguration.writeFn(&gyro->bus, MPU_RA_CONFIG, gyro->lpf);
delay(15);
gyro->mpuConfiguration.writeFn(&gyro->bus, MPU_RA_SMPLRT_DIV, gyroMPU6xxxGetDividerDrops(gyro)); // Get Divider Drops
delay(100);
// Data ready interrupt configuration
// gyro->mpuConfiguration.writeFn(&gyro->bus, MPU_RA_INT_PIN_CFG, 0 << 7 | 0 << 6 | 0 << 5 | 1 << 4 | 0 << 3 | 0 << 2 | 0 << 1 | 0 << 0); // INT_ANYRD_2CLEAR, BYPASS_EN
gyro->mpuConfiguration.writeFn(&gyro->bus, MPU_RA_INT_PIN_CFG, 0x10); // INT_ANYRD_2CLEAR, BYPASS_EN
delay(15);
#ifdef USE_MPU_DATA_READY_SIGNAL
gyro->mpuConfiguration.writeFn(&gyro->bus, MPU_RA_INT_ENABLE, 0x01); // RAW_RDY_EN interrupt enable
#endif
spiSetDivisor(gyro->bus.spi.instance, SPI_CLOCK_STANDARD);
}
bool mpu6000SpiDetect(void)
{
uint8_t in;
uint8_t attemptsRemaining = 5;
if (mpuSpi6000InitDone) {
return true;
}
spiSetDivisor(MPU6000_SPI_INSTANCE, SPI_0_5625MHZ_CLOCK_DIVIDER);
mpu6000WriteRegister(MPU6000_PWR_MGMT_1, BIT_H_RESET);
do {
delay(150);
mpu6000ReadRegister(MPU6000_WHOAMI, &in, 1);
if (in == MPU6000_WHO_AM_I_CONST) {
break;
}
if (!attemptsRemaining) {
return false;
}
} while (attemptsRemaining--);
mpu6000ReadRegister(MPU6000_PRODUCT_ID, &in, 1);
/* look for a product ID we recognise */
// verify product revision
switch (in) {
case MPU6000ES_REV_C4:
case MPU6000ES_REV_C5:
case MPU6000_REV_C4:
case MPU6000_REV_C5:
case MPU6000ES_REV_D6:
case MPU6000ES_REV_D7:
case MPU6000ES_REV_D8:
case MPU6000_REV_D6:
case MPU6000_REV_D7:
case MPU6000_REV_D8:
case MPU6000_REV_D9:
case MPU6000_REV_D10:
return true;
}
return false;
}
static void mpu6500SpiInit(void)
{
static bool hardwareInitialised = false;
if (hardwareInitialised) {
return;
}
mpuSpi6500CsPin = IOGetByTag(IO_TAG(MPU6500_CS_PIN));
IOInit(mpuSpi6500CsPin, OWNER_MPU, RESOURCE_SPI_CS, 0);
IOConfigGPIO(mpuSpi6500CsPin, SPI_IO_CS_CFG);
spiSetDivisor(MPU6500_SPI_INSTANCE, SPI_CLOCK_FAST);
hardwareInitialised = true;
}
static void icm20689SpiInit(const busDevice_t *bus)
{
static bool hardwareInitialised = false;
if (hardwareInitialised) {
return;
}
IOInit(bus->spi.csnPin, OWNER_MPU_CS, 0);
IOConfigGPIO(bus->spi.csnPin, SPI_IO_CS_CFG);
IOHi(bus->spi.csnPin);
spiSetDivisor(bus->spi.instance, SPI_CLOCK_STANDARD);
hardwareInitialised = true;
}
void mpu6000AccAndGyroInit(void) {
if (mpuSpi6000InitDone) {
return;
}
spiSetDivisor(MPU6000_SPI_INSTANCE, SPI_0_5625MHZ_CLOCK_DIVIDER);
// Device Reset
mpu6000WriteRegister(MPU6000_PWR_MGMT_1, BIT_H_RESET);
delay(150);
mpu6000WriteRegister(MPU6000_SIGNAL_PATH_RESET, BIT_GYRO | BIT_ACC | BIT_TEMP);
delay(150);
// Clock Source PPL with Z axis gyro reference
mpu6000WriteRegister(MPU6000_PWR_MGMT_1, MPU_CLK_SEL_PLLGYROZ);
delayMicroseconds(1);
// Disable Primary I2C Interface
mpu6000WriteRegister(MPU6000_USER_CTRL, BIT_I2C_IF_DIS);
delayMicroseconds(1);
mpu6000WriteRegister(MPU6000_PWR_MGMT_2, 0x00);
delayMicroseconds(1);
// Accel Sample Rate 1kHz
// Gyroscope Output Rate = 1kHz when the DLPF is enabled
mpu6000WriteRegister(MPU6000_SMPLRT_DIV, 0x00);
delayMicroseconds(1);
// Accel +/- 8 G Full Scale
mpu6000WriteRegister(MPU6000_ACCEL_CONFIG, BITS_FS_8G);
delayMicroseconds(1);
// Gyro +/- 1000 DPS Full Scale
mpu6000WriteRegister(MPU6000_GYRO_CONFIG, BITS_FS_2000DPS);
delayMicroseconds(1);
#ifdef USE_MPU_DATA_READY_SIGNAL
// Set MPU Data Ready Signal
mpu6000WriteRegister(MPU_RA_INT_ENABLE, MPU_RF_DATA_RDY_EN);
delayMicroseconds(1);
#endif
mpuSpi6000InitDone = true;
}
/**
* Set a freq in mhz
* Formula derived from datasheet
*/
void rtc6705SetFreq(uint16_t frequency)
{
frequency = constrain(frequency, VTX_RTC6705_FREQ_MIN, VTX_RTC6705_FREQ_MAX);
const uint32_t val_a = ((((uint64_t)frequency*(uint64_t)RTC6705_SET_DIVMULT*(uint64_t)RTC6705_SET_R)/(uint64_t)RTC6705_SET_DIVMULT) % RTC6705_SET_FDIV) / RTC6705_SET_NDIV; //Casts required to make sure correct math (large numbers)
const uint32_t val_n = (((uint64_t)frequency*(uint64_t)RTC6705_SET_DIVMULT*(uint64_t)RTC6705_SET_R)/(uint64_t)RTC6705_SET_DIVMULT) / RTC6705_SET_FDIV; //Casts required to make sure correct math (large numbers)
uint32_t val_hex = RTC6705_SET_WRITE;
val_hex |= (val_a << 5);
val_hex |= (val_n << 12);
spiSetDivisor(RTC6705_SPI_INSTANCE, SPI_CLOCK_SLOW);
rtc6705Transfer(RTC6705_SET_HEAD);
delayMicroseconds(10);
rtc6705Transfer(val_hex);
}
bool mpu6000SpiDetect(void)
{
uint8_t in;
uint8_t attemptsRemaining = 5;
spiSetDivisor(MPU6000_SPI_INSTANCE, LOW_SPEED_SPI);
mpu6000WriteRegister(MPU_RA_PWR_MGMT_1, BIT_H_RESET);
return true;
do {
delay(150);
mpu6000ReadRegister(MPU_RA_WHO_AM_I, 1, &in);
if (in == MPU6000_WHO_AM_I_CONST) {
break;
}
if (!attemptsRemaining) {
return false;
}
} while (attemptsRemaining--);
mpu6000ReadRegister(MPU_RA_PRODUCT_ID, 1, &in);
/* look for a product ID we recognise */
// verify product revision
switch (in) {
case MPU6000ES_REV_C4:
case MPU6000ES_REV_C5:
case MPU6000_REV_C4:
case MPU6000_REV_C5:
case MPU6000ES_REV_D6:
case MPU6000ES_REV_D7:
case MPU6000ES_REV_D8:
case MPU6000_REV_D6:
case MPU6000_REV_D7:
case MPU6000_REV_D8:
case MPU6000_REV_D9:
case MPU6000_REV_D10:
return true;
}
return false;
}
/**
* Initialize the driver, must be called before any other routines.
*
* Attempts to detect a connected m25p16. If found, true is returned and device capacity can be fetched with
* m25p16_getGeometry().
*/
bool m25p16_init()
{
#ifdef M25P16_CS_PIN
m25p16CsPin = IOGetByTag(IO_TAG(M25P16_CS_PIN));
#endif
IOInit(m25p16CsPin, OWNER_FLASH, RESOURCE_SPI_CS, 0);
IOConfigGPIO(m25p16CsPin, SPI_IO_CS_CFG);
DISABLE_M25P16;
#ifndef M25P16_SPI_SHARED
//Maximum speed for standard READ command is 20mHz, other commands tolerate 25mHz
spiSetDivisor(M25P16_SPI_INSTANCE, SPI_CLOCK_FAST);
#endif
return m25p16_readIdentification();
}
void mpu6000SpiGyroInit(uint8_t lpf)
{
debug[3]++;
mpuIntExtiInit();
mpu6000AccAndGyroInit(lpf);
spiResetErrorCounter(MPU6000_SPI_INSTANCE);
spiSetDivisor(MPU6000_SPI_INSTANCE, SPI_FAST_CLOCK); //high speed now that we don't need to write to the slow registers
int16_t data[3];
mpuGyroRead(data);
if ((((int8_t)data[1]) == -1 && ((int8_t)data[0]) == -1) || spiGetErrorCounter(MPU6000_SPI_INSTANCE) != 0) {
spiResetErrorCounter(MPU6000_SPI_INSTANCE);
failureMode(FAILURE_GYRO_INIT_FAILED);
}
}
void rxSpiDeviceInit(rx_spi_type_e spiType)
{
static bool hardwareInitialised = false;
if (hardwareInitialised) {
return;
}
#ifdef USE_RX_SOFTSPI
if (spiType == RX_SPI_SOFTSPI) {
useSoftSPI = true;
softSpiInit(&softSPIDevice);
}
const SPIDevice rxSPIDevice = SOFT_SPIDEV_1;
#else
UNUSED(spiType);
const SPIDevice rxSPIDevice = spiDeviceByInstance(RX_SPI_INSTANCE);
IOInit(IOGetByTag(IO_TAG(RX_NSS_PIN)), OWNER_SPI, RESOURCE_SPI_CS, rxSPIDevice + 1);
#endif // USE_RX_SOFTSPI
#if defined(STM32F10X)
RCC_AHBPeriphClockCmd(RX_NSS_GPIO_CLK_PERIPHERAL, ENABLE);
RCC_AHBPeriphClockCmd(RX_CE_GPIO_CLK_PERIPHERAL, ENABLE);
#endif
#ifdef RX_CE_PIN
// CE as OUTPUT
IOInit(IOGetByTag(IO_TAG(RX_CE_PIN)), OWNER_RX_SPI, RESOURCE_RX_CE, rxSPIDevice + 1);
#if defined(STM32F10X)
IOConfigGPIO(IOGetByTag(IO_TAG(RX_CE_PIN)), SPI_IO_CS_CFG);
#elif defined(STM32F3) || defined(STM32F4)
IOConfigGPIOAF(IOGetByTag(IO_TAG(RX_CE_PIN)), SPI_IO_CS_CFG, 0);
#endif
RX_CE_LO();
#endif // RX_CE_PIN
DISABLE_RX();
#ifdef RX_SPI_INSTANCE
spiSetDivisor(RX_SPI_INSTANCE, SPI_CLOCK_STANDARD);
#endif
hardwareInitialised = true;
}
//here we init only CS and try to init MAX for first time
void max7456Init(uint8_t video_system)
{
#ifdef MAX7456_SPI_CS_PIN
max7456CsPin = IOGetByTag(IO_TAG(MAX7456_SPI_CS_PIN));
#endif
IOInit(max7456CsPin, OWNER_OSD, RESOURCE_SPI_CS, 0);
IOConfigGPIO(max7456CsPin, SPI_IO_CS_CFG);
spiSetDivisor(MAX7456_SPI_INSTANCE, SPI_CLOCK_STANDARD);
// force soft reset on Max7456
ENABLE_MAX7456;
max7456Send(VM0_REG, MAX7456_RESET);
DISABLE_MAX7456;
videoSignalCfg = video_system;
#ifdef MAX7456_DMA_CHANNEL_TX
dmaSetHandler(MAX7456_DMA_IRQ_HANDLER_ID, max7456_dma_irq_handler, NVIC_PRIO_MAX7456_DMA, 0);
#endif
//real init will be made letter when driver idle detect
}
bool mpu9250SpiDetect(void)
{
uint8_t in;
uint8_t attemptsRemaining = 20;
spiSetDivisor(MPU9250_SPI_INSTANCE, SPI_SLOW_CLOCK); //low speed
mpu9250WriteRegister(MPU_RA_PWR_MGMT_1, MPU9250_BIT_RESET);
do {
delay(150);
mpu9250ReadRegister(MPU_RA_WHO_AM_I, 1, &in);
if (in == MPU9250_WHO_AM_I_CONST) {
break;
}
if (!attemptsRemaining) {
return false;
}
} while (attemptsRemaining--);
return true;
}
void mpu6000SpiGyroInit(uint8_t lpf)
{
mpuIntExtiInit();
mpu6000AccAndGyroInit();
spiResetErrorCounter(MPU6000_SPI_INSTANCE);
spiSetDivisor(MPU6000_SPI_INSTANCE, LOW_SPEED_SPI);
// Accel and Gyro DLPF Setting
mpu6000WriteRegister(MPU6000_CONFIG, lpf);
delayMicroseconds(1);
int16_t data[3];
mpuGyroRead(data);
if ((((int8_t)data[1]) == -1 && ((int8_t)data[0]) == -1) || spiGetErrorCounter(MPU6000_SPI_INSTANCE) != 0) {
spiResetErrorCounter(MPU6000_SPI_INSTANCE);
failureMode(FAILURE_GYRO_INIT_FAILED);
}
}
