static void serialInputPortActivate(softSerial_t *softSerial)
{
if (softSerial->port.options & SERIAL_INVERTED) {
#ifdef STM32F1
IOConfigGPIO(softSerial->rxIO, IOCFG_IPD);
#else
IOConfigGPIO(softSerial->rxIO, IOCFG_AF_PP_PD);
#endif
} else {
#ifdef STM32F1
IOConfigGPIO(softSerial->rxIO, IOCFG_IPU);
#else
IOConfigGPIO(softSerial->rxIO, IOCFG_AF_PP_UP);
#endif
}
softSerial->rxActive = true;
softSerial->isSearchingForStartBit = true;
softSerial->rxBitIndex = 0;
// Enable input capture
#ifdef USE_HAL_DRIVER
TIM_CCxChannelCmd(softSerial->timerHardware->tim, softSerial->timerHardware->channel, TIM_CCx_ENABLE);
#else
TIM_CCxCmd(softSerial->timerHardware->tim, softSerial->timerHardware->channel, TIM_CCx_Enable);
#endif
}
static void serialInputPortActivate(softSerial_t *softSerial)
{
if (softSerial->port.options & SERIAL_INVERTED) {
#ifdef STM32F1
IOConfigGPIO(softSerial->rxIO, IOCFG_IPD);
#elif defined(STM32F7)
IOConfigGPIOAF(softSerial->rxIO, IOCFG_AF_PP_PD, softSerial->timerHardware->alternateFunction);
#else
IOConfigGPIO(softSerial->rxIO, IOCFG_AF_PP_PD);
#endif
} else {
#ifdef STM32F1
IOConfigGPIO(softSerial->rxIO, IOCFG_IPU);
#elif defined(STM32F7)
IOConfigGPIOAF(softSerial->rxIO, IOCFG_AF_PP_UP, softSerial->timerHardware->alternateFunction);
#else
IOConfigGPIO(softSerial->rxIO, IOCFG_AF_PP_UP);
#endif
}
softSerial->rxActive = true;
softSerial->isSearchingForStartBit = true;
softSerial->rxBitIndex = 0;
// Enable input capture
serialEnableCC(softSerial);
}
static void i2cUnstick(IO_t scl, IO_t sda)
{
int i;
int timeout = 100;
IOHi(scl);
IOHi(sda);
IOConfigGPIO(scl, IOCFG_OUT_OD);
IOConfigGPIO(sda, IOCFG_OUT_OD);
for (i = 0; i < 8; i++) {
// Wait for any clock stretching to finish
while (!IORead(scl) && timeout) {
delayMicroseconds(10);
timeout--;
}
// Pull low
IOLo(scl); // Set bus low
delayMicroseconds(10);
IOHi(scl); // Set bus high
delayMicroseconds(10);
}
// Generate a start then stop condition
IOLo(sda); // Set bus data low
delayMicroseconds(10);
IOLo(scl); // Set bus scl low
delayMicroseconds(10);
IOHi(scl); // Set bus scl high
delayMicroseconds(10);
IOHi(sda); // Set bus sda high
}
void serialInputPortConfig(ioTag_t pin, uint8_t portIndex)
{
IOInit(IOGetByTag(pin), OWNER_SOFTSERIAL, RESOURCE_UART_RX, RESOURCE_INDEX(portIndex));
#ifdef STM32F1
IOConfigGPIO(IOGetByTag(pin), IOCFG_IPU);
#else
IOConfigGPIO(IOGetByTag(pin), IOCFG_AF_PP_UP);
#endif
}
void i2cInit(I2CDevice device)
{
UNUSED(device);
scl = IOGetByTag(IO_TAG(SOFT_I2C_SCL));
sda = IOGetByTag(IO_TAG(SOFT_I2C_SDA));
IOConfigGPIO(scl, IOCFG_OUT_OD);
IOConfigGPIO(sda, IOCFG_OUT_OD);
}
static void serialOutputPortDeActivate(softSerial_t *softSerial)
{
#ifdef STM32F7
if (softSerial->exTimerHardware)
IOConfigGPIOAF(softSerial->txIO, IOCFG_IN_FLOATING, softSerial->exTimerHardware->alternateFunction);
else
IOConfigGPIO(softSerial->txIO, IOCFG_IN_FLOATING);
#else
IOConfigGPIO(softSerial->txIO, IOCFG_IN_FLOATING);
#endif
}
// USART2 - GPS or Spektrum or ?? (RX + TX by IRQ)
uartPort_t *serialUART2(uint32_t baudRate, portMode_t mode, portOptions_t options)
{
uartPort_t *s;
static volatile uint8_t rx2Buffer[UART2_RX_BUFFER_SIZE];
static volatile uint8_t tx2Buffer[UART2_TX_BUFFER_SIZE];
NVIC_InitTypeDef NVIC_InitStructure;
s = &uartPort2;
s->port.vTable = uartVTable;
s->port.baudRate = baudRate;
s->port.rxBufferSize = UART2_RX_BUFFER_SIZE;
s->port.txBufferSize = UART2_TX_BUFFER_SIZE;
s->port.rxBuffer = rx2Buffer;
s->port.txBuffer = tx2Buffer;
s->USARTx = USART2;
s->txDMAPeripheralBaseAddr = (uint32_t)&s->USARTx->DR;
s->rxDMAPeripheralBaseAddr = (uint32_t)&s->USARTx->DR;
RCC_ClockCmd(RCC_APB1(USART2), ENABLE);
// UART2_TX PA2
// UART2_RX PA3
if (options & SERIAL_BIDIR) {
IOInit(IOGetByTag(IO_TAG(PA2)), OWNER_SERIAL_TX, 2);
IOConfigGPIO(IOGetByTag(IO_TAG(PA2)), IOCFG_AF_OD);
} else {
if (mode & MODE_TX) {
IOInit(IOGetByTag(IO_TAG(PA2)), OWNER_SERIAL_TX, 2);
IOConfigGPIO(IOGetByTag(IO_TAG(PA2)), IOCFG_AF_PP);
}
if (mode & MODE_RX) {
IOInit(IOGetByTag(IO_TAG(PA3)), OWNER_SERIAL_RX, 2);
IOConfigGPIO(IOGetByTag(IO_TAG(PA3)), IOCFG_IPU);
}
}
// RX/TX Interrupt
NVIC_InitStructure.NVIC_IRQChannel = USART2_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = NVIC_PRIORITY_BASE(NVIC_PRIO_SERIALUART2);
NVIC_InitStructure.NVIC_IRQChannelSubPriority = NVIC_PRIORITY_SUB(NVIC_PRIO_SERIALUART2);
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
return s;
}
void servoInit(const servoConfig_t *servoConfig)
{
for (uint8_t servoIndex = 0; servoIndex < MAX_SUPPORTED_SERVOS; servoIndex++) {
const ioTag_t tag = servoConfig->ioTags[servoIndex];
if (!tag) {
break;
}
servos[servoIndex].io = IOGetByTag(tag);
IOInit(servos[servoIndex].io, OWNER_SERVO, RESOURCE_INDEX(servoIndex));
IOConfigGPIO(servos[servoIndex].io, IOCFG_AF_PP);
const timerHardware_t *timer = timerGetByTag(tag, TIM_USE_ANY);
if (timer == NULL) {
/* flag failure and disable ability to arm */
break;
}
pwmOutConfig(&servos[servoIndex], timer, PWM_TIMER_MHZ, 1000000 / servoConfig->servoPwmRate, servoConfig->servoCenterPulse);
servos[servoIndex].enabled = 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.
}
void mpuIntExtiInit(void)
{
static bool mpuExtiInitDone = false;
if (mpuExtiInitDone || !mpuIntExtiConfig) {
return;
}
#if defined(USE_MPU_DATA_READY_SIGNAL) && defined(USE_EXTI)
IO_t mpuIntIO = IOGetByTag(mpuIntExtiConfig->tag);
#ifdef ENSURE_MPU_DATA_READY_IS_LOW
uint8_t status = IORead(mpuIntIO);
if (status) {
return;
}
#endif
IOInit(mpuIntIO, OWNER_MPU, RESOURCE_EXTI, 0);
IOConfigGPIO(mpuIntIO, IOCFG_IN_FLOATING); // TODO - maybe pullup / pulldown ?
EXTIHandlerInit(&mpuIntCallbackRec, mpuIntExtiHandler);
EXTIConfig(mpuIntIO, &mpuIntCallbackRec, NVIC_PRIO_MPU_INT_EXTI, EXTI_Trigger_Rising);
EXTIEnable(mpuIntIO, true);
#endif
mpuExtiInitDone = 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(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();
}
void ledInit(bool alternative_led)
{
uint32_t i;
#if defined(LED0_A) || defined(LED1_A) || defined(LED2_A)
if (alternative_led)
ledOffset = LED_NUMBER;
#else
UNUSED(alternative_led);
#endif
LED0_OFF;
LED1_OFF;
LED2_OFF;
for (i = 0; i < LED_NUMBER; i++) {
if (leds[i + ledOffset]) {
IOInit(leds[i + ledOffset], OWNER_LED, RESOURCE_OUTPUT, RESOURCE_INDEX(i));
IOConfigGPIO(leds[i + ledOffset], IOCFG_OUT_PP);
}
}
LED0_OFF;
LED1_OFF;
LED2_OFF;
}
static void hmc5883lConfigureDataReadyInterruptHandling(magDev_t* mag)
{
#ifdef USE_MAG_DATA_READY_SIGNAL
if (mag->magIntExtiTag == IO_TAG_NONE) {
return;
}
const IO_t magIntIO = IOGetByTag(mag->magIntExtiTag);
#ifdef ENSURE_MAG_DATA_READY_IS_HIGH
uint8_t status = IORead(magIntIO);
if (!status) {
return;
}
#endif
#if defined (STM32F7)
IOInit(magIntIO, OWNER_COMPASS_EXTI, 0);
EXTIHandlerInit(&mag->exti, hmc5883_extiHandler);
EXTIConfig(magIntIO, &mag->exti, NVIC_PRIO_MPU_INT_EXTI, IO_CONFIG(GPIO_MODE_INPUT,0,GPIO_NOPULL));
EXTIEnable(magIntIO, true);
#else
IOInit(magIntIO, OWNER_COMPASS_EXTI, 0);
IOConfigGPIO(magIntIO, IOCFG_IN_FLOATING);
EXTIHandlerInit(&mag->exti, hmc5883_extiHandler);
EXTIConfig(magIntIO, &mag->exti, NVIC_PRIO_MAG_INT_EXTI, EXTI_Trigger_Rising);
EXTIEnable(magIntIO, true);
#endif
#else
UNUSED(mag);
#endif
}
void adcHardwareInit(drv_adc_config_t *init)
{
UNUSED(init);
int configuredAdcChannels = 0;
for (int i = ADC_CHN_1; i < ADC_CHN_COUNT; i++) {
if (!adcConfig[i].tag)
continue;
adcDevice_t * adc = &adcHardware[adcConfig[i].adcDevice];
IOInit(IOGetByTag(adcConfig[i].tag), OWNER_ADC, RESOURCE_ADC_CH1 + (i - ADC_CHN_1), 0);
IOConfigGPIO(IOGetByTag(adcConfig[i].tag), IO_CONFIG(GPIO_Mode_AN, 0, GPIO_OType_OD, GPIO_PuPd_NOPULL));
adcConfig[i].adcChannel = adcChannelByTag(adcConfig[i].tag);
adcConfig[i].dmaIndex = adc->usedChannelCount++;
adcConfig[i].sampleTime = ADC_SampleTime_601Cycles5;
adcConfig[i].enabled = true;
adc->enabled = true;
configuredAdcChannels++;
}
if (configuredAdcChannels == 0)
return;
RCC_ADCCLKConfig(RCC_ADC12PLLCLK_Div256); // 72 MHz divided by 256 = 281.25 kHz
for (int i = 0; i < ADCDEV_COUNT; i++) {
if (adcHardware[i].enabled) {
adcInstanceInit(i);
}
}
}
static pwmOutputPort_t *pwmOutConfig(const timerHardware_t *timerHardware, uint8_t mhz, uint16_t period, uint16_t value, bool enableOutput)
{
pwmOutputPort_t *p = &pwmOutputPorts[allocatedOutputPortCount++];
configTimeBase(timerHardware->tim, period, mhz);
const IO_t io = IOGetByTag(timerHardware->tag);
IOInit(io, OWNER_MOTOR, RESOURCE_OUTPUT, allocatedOutputPortCount);
if (enableOutput) {
// If PWM outputs are enabled - configure as AF_PP - map to timer
// AF itself was configured by timerInit();
IOConfigGPIO(io, IOCFG_AF_PP);
}
else {
// If PWM outputs are disabled - configure as GPIO and drive low
IOConfigGPIO(io, IOCFG_OUT_OD);
IOLo(io);
}
pwmOCConfig(timerHardware->tim, timerHardware->channel, value, timerHardware->output & TIMER_OUTPUT_INVERTED);
if (timerHardware->output & TIMER_OUTPUT_ENABLED) {
TIM_CtrlPWMOutputs(timerHardware->tim, ENABLE);
}
TIM_Cmd(timerHardware->tim, ENABLE);
switch (timerHardware->channel) {
case TIM_Channel_1:
p->ccr = &timerHardware->tim->CCR1;
break;
case TIM_Channel_2:
p->ccr = &timerHardware->tim->CCR2;
break;
case TIM_Channel_3:
p->ccr = &timerHardware->tim->CCR3;
break;
case TIM_Channel_4:
p->ccr = &timerHardware->tim->CCR4;
break;
}
p->period = period;
p->tim = timerHardware->tim;
*p->ccr = 0;
return p;
}
void sdcardInsertionDetectInit(void)
{
#ifdef SDCARD_DETECT_PIN
sdCardDetectPin = IOGetByTag(IO_TAG(SDCARD_DETECT_PIN));
IOInit(sdCardDetectPin, OWNER_SDCARD, RESOURCE_INPUT, 0);
IOConfigGPIO(sdCardDetectPin, IOCFG_IPU);
#endif
}
void usbCableDetectDeinit(void)
{
#ifdef USB_DETECT_PIN
IOInit(usbDetectPin, OWNER_FREE, 0);
IOConfigGPIO(usbDetectPin, IOCFG_IN_FLOATING);
usbDetectPin = IO_NONE;
#endif
}
static void NRF24L01_InitGpio(void)
{
// CE as OUTPUT
const SPIDevice rxSPIDevice = spiDeviceByInstance(RX_SPI_INSTANCE);
IOInit(DEFIO_IO(RX_CE_PIN), OWNER_RX_SPI_CS, rxSPIDevice + 1);
IOConfigGPIO(DEFIO_IO(RX_CE_PIN), SPI_IO_CS_CFG);
NRF24_CE_LO();
}
static void initInverter(ioTag_t ioTag)
{
IO_t pin = IOGetByTag(ioTag);
IOInit(pin, OWNER_INVERTER, RESOURCE_OUTPUT, 0);
IOConfigGPIO(pin, IOCFG_OUT_PP);
inverterSet(pin, false);
}
void sdcardInsertionDetectDeinit(void)
{
#ifdef SDCARD_DETECT_PIN
sdCardDetectPin = IOGetByTag(IO_TAG(SDCARD_DETECT_PIN));
IOInit(sdCardDetectPin, OWNER_FREE, RESOURCE_NONE, 0);
IOConfigGPIO(sdCardDetectPin, IOCFG_IN_FLOATING);
#endif
}
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);
}
void usbCableDetectInit(void)
{
#ifdef USB_DETECT_PIN
usbDetectPin = IOGetByTag(IO_TAG(USB_DETECT_PIN));
IOInit(usbDetectPin, OWNER_USB_DETECT, 0);
IOConfigGPIO(usbDetectPin, IOCFG_OUT_PP);
#endif
}
void detectHardwareRevision(void)
{
IO_t pin1 = IOGetByTag(IO_TAG(PB12));
IOInit(pin1, OWNER_SYSTEM, RESOURCE_INPUT, 1);
IOConfigGPIO(pin1, IOCFG_IPU);
IO_t pin2 = IOGetByTag(IO_TAG(PB13));
IOInit(pin2, OWNER_SYSTEM, RESOURCE_INPUT, 2);
IOConfigGPIO(pin2, IOCFG_IPU);
// Check hardware revision
delayMicroseconds(10); // allow configuration to settle
/*
if both PB12 and 13 are tied to GND then it is Rev3A (mini)
if only PB12 is tied to GND then it is a Rev3 (full size)
*/
if (!IORead(pin1)) {
if (!IORead(pin2)) {
hardwareRevision = BJF4_REV3A;
}
hardwareRevision = BJF4_REV3;
}
if (hardwareRevision == UNKNOWN) {
hardwareRevision = BJF4_REV2;
return;
}
/*
enable the UART1 inversion PC9
TODO: once param groups are in place, inverter outputs
can be moved to be simple IO outputs, and merely set them
HI or LO in configuration.
*/
IO_t uart1invert = IOGetByTag(IO_TAG(PC9));
IOInit(uart1invert, OWNER_INVERTER, RESOURCE_OUTPUT, 2);
IOConfigGPIO(uart1invert, IOCFG_AF_PP);
IOLo(uart1invert);
}
void beeperInit(const beeperDevConfig_t *config)
{
#if !defined(BEEPER)
UNUSED(config);
#else
beeperIO = IOGetByTag(config->ioTag);
beeperInverted = config->isInverted;
if (beeperIO) {
IOInit(beeperIO, OWNER_BEEPER, RESOURCE_OUTPUT, 0);
#if defined(BEEPER_PWM)
configBeeperPWMTimer(config);
IOConfigGPIO(beeperIO, config->isOD ? IOCFG_AF_OD : IOCFG_AF_PP);
#else
IOConfigGPIO(beeperIO, config->isOD ? IOCFG_OUT_OD : IOCFG_OUT_PP);
#endif
}
systemBeep(false);
#endif
}
void usbGenerateDisconnectPulse(void)
{
/* Pull down PA12 to create USB disconnect pulse */
IO_t usbPin = IOGetByTag(IO_TAG(PA12));
IOConfigGPIO(usbPin, IOCFG_OUT_OD);
IOLo(usbPin);
delay(200);
IOHi(usbPin);
}
static inline void mma8451ConfigureInterrupt(void)
{
#ifdef MMA8451_INT_PIN
IOInit(IOGetByTag(IO_TAG(MMA8451_INT_PIN)), OWNER_MPU_EXTI, 0);
// TODO - maybe pullup / pulldown ?
IOConfigGPIO(IOGetByTag(IO_TAG(MMA8451_INT_PIN)), IOCFG_IN_FLOATING);
#endif
i2cWrite(MPU_I2C_INSTANCE, MMA8452_ADDRESS, MMA8452_CTRL_REG3, MMA8452_CTRL_REG3_IPOL); // Interrupt polarity (active HIGH)
i2cWrite(MPU_I2C_INSTANCE, MMA8452_ADDRESS, MMA8452_CTRL_REG4, MMA8452_CTRL_REG4_INT_EN_DRDY); // Enable DRDY interrupt (unused by this driver)
i2cWrite(MPU_I2C_INSTANCE, MMA8452_ADDRESS, MMA8452_CTRL_REG5, 0); // DRDY routed to INT2
}
void targetPreInit(void)
{
switch (hardwareRevision) {
case BJF4_REV3:
case BJF4_MINI_REV3A:
case BJF4_REV4:
break;
default:
return;
}
IO_t inverter = IOGetByTag(IO_TAG(UART1_INVERTER));
IOInit(inverter, OWNER_INVERTER, 1);
IOConfigGPIO(inverter, IOCFG_OUT_PP);
bool high = false;
serialPortConfig_t *portConfig = serialFindPortConfiguration(SERIAL_PORT_USART1);
if (portConfig) {
bool smartportEnabled = (portConfig->functionMask & FUNCTION_TELEMETRY_SMARTPORT);
if (smartportEnabled && (telemetryConfig()->telemetry_inversion) && (feature(FEATURE_TELEMETRY))) {
high = true;
}
}
/* reverse this for rev4, as it does not use the XOR gate */
if (hardwareRevision == BJF4_REV4) {
high = !high;
}
IOWrite(inverter, high);
/* ensure the CS pin for the flash is pulled hi so any SD card initialisation does not impact the chip */
if (hardwareRevision == BJF4_REV3) {
IO_t flashIo = IOGetByTag(IO_TAG(M25P16_CS_PIN));
IOConfigGPIO(flashIo, IOCFG_OUT_PP);
IOHi(flashIo);
IO_t sdcardIo = IOGetByTag(IO_TAG(SDCARD_SPI_CS_PIN));
IOConfigGPIO(sdcardIo, IOCFG_OUT_PP);
IOHi(sdcardIo);
}
}
static void i2cUnstick(IO_t scl, IO_t sda)
{
int i;
IOHi(scl);
IOHi(sda);
IOConfigGPIO(scl, IOCFG_OUT_OD);
IOConfigGPIO(sda, IOCFG_OUT_OD);
// Clock out, with SDA high:
// 7 data bits
// 1 READ bit
// 1 cycle for the ACK
for (i = 0; i < (LEN_ADDR + LEN_RW + LEN_ACK); i++) {
// Wait for any clock stretching to finish
int timeout = UNSTICK_CLK_STRETCH;
while (!IORead(scl) && timeout) {
delayMicroseconds(UNSTICK_CLK_US);
timeout--;
}
// Pull low
IOLo(scl); // Set bus low
delayMicroseconds(UNSTICK_CLK_US/2);
IOHi(scl); // Set bus high
delayMicroseconds(UNSTICK_CLK_US/2);
}
// Generate a stop condition in case there was none
IOLo(scl);
delayMicroseconds(UNSTICK_CLK_US/2);
IOLo(sda);
delayMicroseconds(UNSTICK_CLK_US/2);
IOHi(scl); // Set bus scl high
delayMicroseconds(UNSTICK_CLK_US/2);
IOHi(sda); // Set bus sda high
}
static void serialInputPortDeActivate(softSerial_t *softSerial)
{
// Disable input capture
#ifdef USE_HAL_DRIVER
TIM_CCxChannelCmd(softSerial->timerHardware->tim, softSerial->timerHardware->channel, TIM_CCx_DISABLE);
#else
TIM_CCxCmd(softSerial->timerHardware->tim, softSerial->timerHardware->channel, TIM_CCx_Disable);
#endif
IOConfigGPIO(softSerial->rxIO, IOCFG_IN_FLOATING);
softSerial->rxActive = false;
}
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;
}
