uartPort_t *serialUART5(uint32_t baudRate, portMode_t mode, portOptions_t options)
{
uartPort_t *s;
static volatile uint8_t rx5Buffer[UART5_RX_BUFFER_SIZE];
static volatile uint8_t tx5Buffer[UART5_TX_BUFFER_SIZE];
NVIC_InitTypeDef NVIC_InitStructure;
s = &uartPort5;
s->port.vTable = uartVTable;
s->port.baudRate = baudRate;
s->port.rxBufferSize = UART5_RX_BUFFER_SIZE;
s->port.txBufferSize = UART5_TX_BUFFER_SIZE;
s->port.rxBuffer = rx5Buffer;
s->port.txBuffer = tx5Buffer;
s->USARTx = UART5;
RCC_ClockCmd(RCC_APB1(UART5), ENABLE);
serialUARTInit(IOGetByTag(IO_TAG(UART5_TX_PIN)), IOGetByTag(IO_TAG(UART5_RX_PIN)), mode, options, GPIO_AF_5, 5);
NVIC_InitStructure.NVIC_IRQChannel = UART5_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = NVIC_PRIORITY_BASE(NVIC_PRIO_SERIALUART5);
NVIC_InitStructure.NVIC_IRQChannelSubPriority = NVIC_PRIORITY_SUB(NVIC_PRIO_SERIALUART5);
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
return s;
}
void pgResetFn_adcConfig(adcConfig_t *adcConfig)
{
adcConfig->device = ADC_DEV_TO_CFG(adcDeviceByInstance(ADC_INSTANCE));
#ifdef VBAT_ADC_PIN
adcConfig->vbat.enabled = true;
adcConfig->vbat.ioTag = IO_TAG(VBAT_ADC_PIN);
#endif
#ifdef EXTERNAL1_ADC_PIN
adcConfig->external1.enabled = true;
adcConfig->external1.ioTag = IO_TAG(EXTERNAL1_ADC_PIN);
#endif
#ifdef CURRENT_METER_ADC_PIN
adcConfig->current.enabled = true;
adcConfig->current.ioTag = IO_TAG(CURRENT_METER_ADC_PIN);
#endif
#ifdef RSSI_ADC_PIN
adcConfig->rssi.enabled = true;
adcConfig->rssi.ioTag = IO_TAG(RSSI_ADC_PIN);
#endif
}
void resetSonarConfig(sonarConfig_t *sonarConfig)
{
#if defined(SONAR_TRIGGER_PIN) && defined(SONAR_ECHO_PIN)
sonarConfig->triggerTag = IO_TAG(SONAR_TRIGGER_PIN);
sonarConfig->echoTag = IO_TAG(SONAR_ECHO_PIN);
#else
#error Sonar not defined for target
#endif
}
serialPort_t *usbVcpOpen(void)
{
vcpPort_t *s;
IOInit(IOGetByTag(IO_TAG(PA11)), OWNER_USB, 0);
IOInit(IOGetByTag(IO_TAG(PA12)), OWNER_USB, 0);
#if defined(STM32F4)
usbGenerateDisconnectPulse();
switch (usbDevConfig()->type) {
#ifdef USE_USB_CDC_HID
case COMPOSITE:
USBD_Init(&USB_OTG_dev, USB_OTG_FS_CORE_ID, &USR_desc, &USBD_HID_CDC_cb, &USR_cb);
break;
#endif
default:
USBD_Init(&USB_OTG_dev, USB_OTG_FS_CORE_ID, &USR_desc, &USBD_CDC_cb, &USR_cb);
break;
}
#elif defined(STM32F7)
usbGenerateDisconnectPulse();
/* Init Device Library */
USBD_Init(&USBD_Device, &VCP_Desc, 0);
/* Add Supported Class */
switch (usbDevConfig()->type) {
#ifdef USE_USB_CDC_HID
case COMPOSITE:
USBD_RegisterClass(&USBD_Device, USBD_HID_CDC_CLASS);
break;
#endif
default:
USBD_RegisterClass(&USBD_Device, USBD_CDC_CLASS);
break;
}
/* HID Interface doesn't have any callbacks... */
/* Add CDC Interface Class */
USBD_CDC_RegisterInterface(&USBD_Device, &USBD_CDC_fops);
/* Start Device Process */
USBD_Start(&USBD_Device);
#else
Set_System();
Set_USBClock();
USB_Init();
USB_Interrupts_Config();
#endif
s = &vcpPort;
s->port.vTable = usbVTable;
return (serialPort_t *)s;
}
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 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
}
uartPort_t *serialUART3(uint32_t baudRate, portMode_t mode, portOptions_t options)
{
uartPort_t *s;
static volatile uint8_t rx3Buffer[UART3_RX_BUFFER_SIZE];
static volatile uint8_t tx3Buffer[UART3_TX_BUFFER_SIZE];
s = &uartPort3;
s->port.vTable = uartVTable;
s->port.baudRate = baudRate;
s->port.rxBufferSize = UART3_RX_BUFFER_SIZE;
s->port.txBufferSize = UART3_TX_BUFFER_SIZE;
s->port.rxBuffer = rx3Buffer;
s->port.txBuffer = tx3Buffer;
s->USARTx = USART3;
#ifdef USE_UART3_RX_DMA
s->rxDMAChannel = DMA1_Channel3;
s->rxDMAPeripheralBaseAddr = (uint32_t)&s->USARTx->RDR;
#endif
#ifdef USE_UART3_TX_DMA
s->txDMAChannel = DMA1_Channel2;
s->txDMAPeripheralBaseAddr = (uint32_t)&s->USARTx->TDR;
#endif
RCC_ClockCmd(RCC_APB1(USART3), ENABLE);
#if defined(USE_UART3_TX_DMA) || defined(USE_UART3_RX_DMA)
RCC_AHBClockCmd(RCC_AHB(DMA1), ENABLE);
#endif
serialUARTInit(IOGetByTag(IO_TAG(UART3_TX_PIN)), IOGetByTag(IO_TAG(UART3_RX_PIN)), mode, options, GPIO_AF_7, 3);
#ifdef USE_UART3_TX_DMA
// DMA TX Interrupt
dmaSetHandler(DMA1_CH2_HANDLER, handleUsartTxDma, NVIC_PRIO_SERIALUART3_TXDMA, (uint32_t)&uartPort3);
#endif
#ifndef USE_UART3_RX_DMA
NVIC_InitTypeDef NVIC_InitStructure;
NVIC_InitStructure.NVIC_IRQChannel = USART3_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = NVIC_PRIORITY_BASE(NVIC_PRIO_SERIALUART3_RXDMA);
NVIC_InitStructure.NVIC_IRQChannelSubPriority = NVIC_PRIORITY_SUB(NVIC_PRIO_SERIALUART3_RXDMA);
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
#endif
return s;
}
void updateHardwareRevision(void)
{
if (hardwareRevision != BJF4_REV2) {
return;
}
/*
if flash exists on PB3 then Rev1
*/
if (m25p16_init(IO_TAG(PB3))) {
hardwareRevision = BJF4_REV1;
} else {
IOInit(IOGetByTag(IO_TAG(PB3)), OWNER_FREE, RESOURCE_NONE, 0);
}
}
ioTag_t selectMPUIntExtiConfigByHardwareRevision(void)
{
#ifdef AFROMINI
return IO_TAG(PC13);
#else
if (hardwareRevision < NAZE32_REV5) {
// MPU_INT output on rev4 PB13
return IO_TAG(PB13);
} else {
// MPU_INT output on rev5 PC13
return IO_TAG(PC13);
}
#endif
}
// alternative defaults settings for BlueJayF4 targets
void targetConfiguration(void)
{
if (hardwareRevision == BJF4_REV1 || hardwareRevision == BJF4_REV2) {
gyroDeviceConfigMutable(0)->align = CW180_DEG;
beeperDevConfigMutable()->ioTag = IO_TAG(BEEPER_OPT);
}
if (hardwareRevision == BJF4_MINI_REV3A || hardwareRevision == BJF4_REV1) {
blackboxConfigMutable()->device = BLACKBOX_DEVICE_NONE;
}
if (hardwareRevision == BJF4_MINI_REV3A) {
adcConfigMutable()->vbat.ioTag = IO_TAG(PA4);
}
}
uint8_t detectSpiDevice(void)
{
#ifdef NAZE_SPI_CS_PIN
nazeSpiCsPin = IOGetByTag(IO_TAG(NAZE_SPI_CS_PIN));
#endif
uint8_t out[] = { M25P16_INSTRUCTION_RDID, 0, 0, 0 };
uint8_t in[4];
uint32_t flash_id;
// try autodetect flash chip
delay(50); // short delay required after initialisation of SPI device instance.
ENABLE_SPI_CS;
spiTransfer(NAZE_SPI_INSTANCE, in, out, sizeof(out));
DISABLE_SPI_CS;
flash_id = in[1] << 16 | in[2] << 8 | in[3];
if (flash_id == FLASH_M25P16_ID)
return SPI_DEVICE_FLASH;
// try autodetect MPU
delay(50);
ENABLE_SPI_CS;
spiTransferByte(NAZE_SPI_INSTANCE, MPU_RA_WHO_AM_I | MPU6500_BIT_RESET);
in[0] = spiTransferByte(NAZE_SPI_INSTANCE, 0xff);
DISABLE_SPI_CS;
if (in[0] == MPU6500_WHO_AM_I_CONST)
return SPI_DEVICE_MPU;
return SPI_DEVICE_NONE;
}
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();
}
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
}
// alternative defaults settings for BlueJayF4 targets
void targetConfiguration(master_t *config)
{
if (hardwareRevision == BJF4_REV1 || hardwareRevision == BJF4_REV2) {
config->sensorAlignmentConfig.gyro_align = CW180_DEG;
config->sensorAlignmentConfig.acc_align = CW180_DEG;
config->beeperConfig.ioTag = IO_TAG(BEEPER_OPT);
}
}
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 pgResetFn_compassConfig(compassConfig_t *compassConfig)
{
compassConfig->mag_align = ALIGN_DEFAULT;
compassConfig->mag_declination = 0;
compassConfig->mag_hardware = MAG_DEFAULT;
// Generate a reasonable default for backward compatibility
// Strategy is
// 1. If SPI device is defined, it will take precedence, assuming it's onboard.
// 2. I2C devices are will be handled by address = 0 (per device default).
// 3. Slave I2C device on SPI gyro
#if defined(USE_SPI) && (defined(USE_MAG_SPI_HMC5883) || defined(USE_MAG_SPI_AK8963))
compassConfig->mag_bustype = BUSTYPE_SPI;
#ifdef USE_MAG_SPI_HMC5883
compassConfig->mag_spi_device = SPI_DEV_TO_CFG(spiDeviceByInstance(HMC5883_SPI_INSTANCE));
compassConfig->mag_spi_csn = IO_TAG(HMC5883_CS_PIN);
#else
compassConfig->mag_spi_device = SPI_DEV_TO_CFG(spiDeviceByInstance(AK8963_SPI_INSTANCE));
compassConfig->mag_spi_csn = IO_TAG(AK8963_CS_PIN);
#endif
compassConfig->mag_i2c_device = I2C_DEV_TO_CFG(I2CINVALID);
compassConfig->mag_i2c_address = 0;
#elif defined(USE_MAG_HMC5883) || defined(USE_MAG_AK8975) || (defined(USE_MAG_AK8963) && !(defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_MPU9250)))
compassConfig->mag_bustype = BUSTYPE_I2C;
compassConfig->mag_i2c_device = I2C_DEV_TO_CFG(MAG_I2C_INSTANCE);
compassConfig->mag_i2c_address = 0;
compassConfig->mag_spi_device = SPI_DEV_TO_CFG(SPIINVALID);
compassConfig->mag_spi_csn = IO_TAG_NONE;
#elif defined(USE_MAG_AK8963) && (defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_MPU9250))
compassConfig->mag_bustype = BUSTYPE_MPU_SLAVE;
compassConfig->mag_i2c_device = I2C_DEV_TO_CFG(I2CINVALID);
compassConfig->mag_i2c_address = 0;
compassConfig->mag_spi_device = SPI_DEV_TO_CFG(SPIINVALID);
compassConfig->mag_spi_csn = IO_TAG_NONE;
#else
compassConfig->mag_hardware = MAG_NONE;
compassConfig->mag_bustype = BUSTYPE_NONE;
compassConfig->mag_i2c_device = I2C_DEV_TO_CFG(I2CINVALID);
compassConfig->mag_i2c_address = 0;
compassConfig->mag_spi_device = SPI_DEV_TO_CFG(SPIINVALID);
compassConfig->mag_spi_csn = IO_TAG_NONE;
#endif
compassConfig->interruptTag = COMPASS_INTERRUPT_TAG;
}
void pgResetFn_flashConfig(flashConfig_t *flashConfig)
{
#ifdef M25P16_CS_PIN
flashConfig->csTag = IO_TAG(M25P16_CS_PIN);
#else
flashConfig->csTag = IO_TAG_NONE;
#endif
flashConfig->spiDevice = SPI_DEV_TO_CFG(spiDeviceByInstance(M25P16_SPI_INSTANCE));
}
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 targetConfiguration(void)
{
pinioConfigMutable()->ioTag[0] = IO_TAG(OSD_CH_SWITCH);
pinioConfigMutable()->config[0] = PINIO_CONFIG_MODE_OUT_PP; // Default state is LOW
voltageSensorADCConfigMutable(VOLTAGE_SENSOR_ADC_VBAT)->vbatscale = VBAT_SCALE;
barometerConfigMutable()->baro_hardware = 0;
compassConfigMutable()->mag_hardware = 0;
osdConfigMutable()->item_pos[OSD_MAIN_BATT_VOLTAGE] = OSD_POS(12, 1) | OSD_PROFILE_1_FLAG;
}
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;
}
serialPort_t *usbVcpOpen(void)
{
vcpPort_t *s;
#ifdef STM32F4
IOInit(IOGetByTag(IO_TAG(PA11)), OWNER_USB, RESOURCE_INPUT, 0);
IOInit(IOGetByTag(IO_TAG(PA12)), OWNER_USB, RESOURCE_OUTPUT, 0);
USBD_Init(&USB_OTG_dev, USB_OTG_FS_CORE_ID, &USR_desc, &USBD_CDC_cb, &USR_cb);
#else
Set_System();
Set_USBClock();
USB_Interrupts_Config();
USB_Init();
#endif
s = &vcpPort;
s->port.vTable = usbVTable;
return (serialPort_t *)s;
}
void resetBeeperConfig(beeperConfig_t *beeperConfig)
{
#ifdef BEEPER_INVERTED
beeperConfig->isOD = false;
beeperConfig->isInverted = true;
#else
beeperConfig->isOD = true;
beeperConfig->isInverted = false;
#endif
beeperConfig->ioTag = IO_TAG(BEEPER);
}
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 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);
}
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);
}
}
void initInverters(void)
{
#ifdef INVERTER_PIN_UART1
initInverter(IO_TAG(INVERTER_PIN_UART1));
#endif
#ifdef INVERTER_PIN_UART2
initInverter(IO_TAG(INVERTER_PIN_UART2));
#endif
#ifdef INVERTER_PIN_UART3
initInverter(IO_TAG(INVERTER_PIN_UART3));
#endif
#ifdef INVERTER_PIN_USART4
initInverter(IO_TAG(INVERTER_PIN_USART4));
#endif
#ifdef INVERTER_PIN_USART5
initInverter(IO_TAG(INVERTER_PIN_USART5));
#endif
#ifdef INVERTER_PIN_UART6
initInverter(IO_TAG(INVERTER_PIN_UART6));
#endif
}
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;
}
/**
* Start chip if available
*/
void rtc6705IOInit(void)
{
#ifdef RTC6705_POWER_PIN
vtxPowerPin = IOGetByTag(IO_TAG(RTC6705_POWER_PIN));
IOInit(vtxPowerPin, OWNER_VTX, 0);
DISABLE_VTX_POWER();
IOConfigGPIO(vtxPowerPin, IOCFG_OUT_PP);
#endif
#ifdef USE_RTC6705_CLK_HACK
vtxCLKPin = IOGetByTag(IO_TAG(RTC6705_CLK_PIN));
// we assume the CLK pin will have been initialised by the SPI code.
#endif
vtxCSPin = IOGetByTag(IO_TAG(RTC6705_CS_PIN));
IOInit(vtxCSPin, OWNER_VTX, 0);
DISABLE_RTC6705();
// GPIO bit is enabled so here so the output is not pulled low when the GPIO is set in output mode.
// Note: It's critical to ensure that incorrect signals are not sent to the VTX.
IOConfigGPIO(vtxCSPin, IOCFG_OUT_PP);
}
void resetAdcConfig(adcConfig_t *adcConfig)
{
#ifdef VBAT_ADC_PIN
adcConfig->vbat.enabled = true;
adcConfig->vbat.ioTag = IO_TAG(VBAT_ADC_PIN);
#endif
#ifdef EXTERNAL1_ADC_PIN
adcConfig->external1.enabled = true;
adcConfig->external1.ioTag = IO_TAG(EXTERNAL1_ADC_PIN);
#endif
#ifdef CURRENT_METER_ADC_PIN
adcConfig->currentMeter.enabled = true;
adcConfig->currentMeter.ioTag = IO_TAG(CURRENT_METER_ADC_PIN);
#endif
#ifdef RSSI_ADC_PIN
adcConfig->rssi.enabled = true;
adcConfig->rssi.ioTag = IO_TAG(RSSI_ADC_PIN);
#endif
}
