bool compassDetect(magDev_t *dev)
{
magSensor_e magHardware = MAG_NONE;
busDevice_t *busdev = &dev->busdev;
#ifdef USE_MAG_DATA_READY_SIGNAL
dev->magIntExtiTag = compassConfig()->interruptTag;
#endif
switch (compassConfig()->mag_bustype) {
#ifdef USE_I2C
case BUSTYPE_I2C:
busdev->bustype = BUSTYPE_I2C;
busdev->busdev_u.i2c.device = I2C_CFG_TO_DEV(compassConfig()->mag_i2c_device);
busdev->busdev_u.i2c.address = compassConfig()->mag_i2c_address;
#endif
break;
#ifdef USE_SPI
case BUSTYPE_SPI:
busdev->bustype = BUSTYPE_SPI;
spiBusSetInstance(busdev, spiInstanceByDevice(SPI_CFG_TO_DEV(compassConfig()->mag_spi_device)));
busdev->busdev_u.spi.csnPin = IOGetByTag(compassConfig()->mag_spi_csn);
#endif
break;
#if defined(USE_MAG_AK8963) && (defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_MPU9250))
case BUSTYPE_MPU_SLAVE:
{
if (gyroMpuDetectionResult()->sensor == MPU_9250_SPI) {
busdev->bustype = BUSTYPE_MPU_SLAVE;
busdev->busdev_u.mpuSlave.master = gyroSensorBus();
busdev->busdev_u.mpuSlave.address = compassConfig()->mag_i2c_address;
} else {
return false;
}
}
#endif
break;
default:
return false;
}
dev->magAlign = ALIGN_DEFAULT;
switch (compassConfig()->mag_hardware) {
case MAG_DEFAULT:
FALLTHROUGH;
case MAG_HMC5883:
#if defined(USE_MAG_HMC5883) || defined(USE_MAG_SPI_HMC5883)
if (busdev->bustype == BUSTYPE_I2C) {
busdev->busdev_u.i2c.address = compassConfig()->mag_i2c_address;
}
if (hmc5883lDetect(dev)) {
#ifdef MAG_HMC5883_ALIGN
dev->magAlign = MAG_HMC5883_ALIGN;
#endif
magHardware = MAG_HMC5883;
break;
}
#endif
FALLTHROUGH;
case MAG_AK8975:
#ifdef USE_MAG_AK8975
if (busdev->bustype == BUSTYPE_I2C) {
busdev->busdev_u.i2c.address = compassConfig()->mag_i2c_address;
}
if (ak8975Detect(dev)) {
#ifdef MAG_AK8975_ALIGN
dev->magAlign = MAG_AK8975_ALIGN;
#endif
magHardware = MAG_AK8975;
break;
}
#endif
FALLTHROUGH;
case MAG_AK8963:
#if defined(USE_MAG_AK8963) || defined(USE_MAG_SPI_AK8963)
if (busdev->bustype == BUSTYPE_I2C) {
busdev->busdev_u.i2c.address = compassConfig()->mag_i2c_address;
}
if (gyroMpuDetectionResult()->sensor == MPU_9250_SPI) {
dev->busdev.bustype = BUSTYPE_MPU_SLAVE;
busdev->busdev_u.mpuSlave.address = compassConfig()->mag_i2c_address;
dev->busdev.busdev_u.mpuSlave.master = gyroSensorBus();
}
if (ak8963Detect(dev)) {
#ifdef MAG_AK8963_ALIGN
dev->magAlign = MAG_AK8963_ALIGN;
#endif
magHardware = MAG_AK8963;
break;
}
#endif
FALLTHROUGH;
case MAG_NONE:
magHardware = MAG_NONE;
break;
}
if (magHardware == MAG_NONE) {
return false;
}
detectedSensors[SENSOR_INDEX_MAG] = magHardware;
sensorsSet(SENSOR_MAG);
return true;
}
void max7456Init(const max7456Config_t *max7456Config, const vcdProfile_t *pVcdProfile, bool cpuOverclock)
{
max7456HardwareReset();
if (!max7456Config->csTag) {
return;
}
busdev->busdev_u.spi.csnPin = IOGetByTag(max7456Config->csTag);
if (!IOIsFreeOrPreinit(busdev->busdev_u.spi.csnPin)) {
return;
}
IOInit(busdev->busdev_u.spi.csnPin, OWNER_OSD_CS, 0);
IOConfigGPIO(busdev->busdev_u.spi.csnPin, SPI_IO_CS_CFG);
IOHi(busdev->busdev_u.spi.csnPin);
spiBusSetInstance(busdev, spiInstanceByDevice(SPI_CFG_TO_DEV(max7456Config->spiDevice)));
// Detect device type by writing and reading CA[8] bit at CMAL[6].
// Do this at half the speed for safety.
spiSetDivisor(busdev->busdev_u.spi.instance, MAX7456_SPI_CLK * 2);
max7456Send(MAX7456ADD_CMAL, (1 << 6)); // CA[8] bit
if (max7456Send(MAX7456ADD_CMAL|MAX7456ADD_READ, 0xff) & (1 << 6)) {
max7456DeviceType = MAX7456_DEVICE_TYPE_AT;
} else {
max7456DeviceType = MAX7456_DEVICE_TYPE_MAX;
}
#if defined(USE_OVERCLOCK)
// Determine SPI clock divisor based on config and the device type.
switch (max7456Config->clockConfig) {
case MAX7456_CLOCK_CONFIG_HALF:
max7456SpiClock = MAX7456_SPI_CLK * 2;
break;
case MAX7456_CLOCK_CONFIG_OC:
max7456SpiClock = (cpuOverclock && (max7456DeviceType == MAX7456_DEVICE_TYPE_MAX)) ? MAX7456_SPI_CLK * 2 : MAX7456_SPI_CLK;
break;
case MAX7456_CLOCK_CONFIG_FULL:
max7456SpiClock = MAX7456_SPI_CLK;
break;
}
DEBUG_SET(DEBUG_MAX7456_SPICLOCK, DEBUG_MAX7456_SPICLOCK_OVERCLOCK, cpuOverclock);
DEBUG_SET(DEBUG_MAX7456_SPICLOCK, DEBUG_MAX7456_SPICLOCK_DEVTYPE, max7456DeviceType);
DEBUG_SET(DEBUG_MAX7456_SPICLOCK, DEBUG_MAX7456_SPICLOCK_DIVISOR, max7456SpiClock);
#else
UNUSED(max7456Config);
UNUSED(cpuOverclock);
#endif
spiSetDivisor(busdev->busdev_u.spi.instance, max7456SpiClock);
// force soft reset on Max7456
__spiBusTransactionBegin(busdev);
max7456Send(MAX7456ADD_VM0, MAX7456_RESET);
__spiBusTransactionEnd(busdev);
// 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.
}
bool baroDetect(baroDev_t *dev, baroSensor_e baroHardwareToUse)
{
// Detect what pressure sensors are available. baro->update() is set to sensor-specific update function
baroSensor_e baroHardware = baroHardwareToUse;
#if !defined(USE_BARO_BMP085) && !defined(USE_BARO_MS5611) && !defined(USE_BARO_SPI_MS5611) && !defined(USE_BARO_BMP280) && !defined(USE_BARO_SPI_BMP280)&& !defined(USE_BARO_QMP6988) && !defined(USE_BARO_SPI_QMP6988)
UNUSED(dev);
#endif
switch (barometerConfig()->baro_bustype) {
#ifdef USE_I2C
case BUSTYPE_I2C:
dev->busdev.bustype = BUSTYPE_I2C;
dev->busdev.busdev_u.i2c.device = I2C_CFG_TO_DEV(barometerConfig()->baro_i2c_device);
dev->busdev.busdev_u.i2c.address = barometerConfig()->baro_i2c_address;
break;
#endif
#ifdef USE_SPI
case BUSTYPE_SPI:
{
SPI_TypeDef *instance = spiInstanceByDevice(SPI_CFG_TO_DEV(barometerConfig()->baro_spi_device));
if (!instance) {
return false;
}
dev->busdev.bustype = BUSTYPE_SPI;
spiBusSetInstance(&dev->busdev, instance);
dev->busdev.busdev_u.spi.csnPin = IOGetByTag(barometerConfig()->baro_spi_csn);
}
break;
#endif
default:
return false;
}
switch (baroHardware) {
case BARO_DEFAULT:
FALLTHROUGH;
case BARO_BMP085:
#ifdef USE_BARO_BMP085
{
const bmp085Config_t *bmp085Config = NULL;
#if defined(BARO_XCLR_GPIO) && defined(BARO_EOC_GPIO)
static const bmp085Config_t defaultBMP085Config = {
.xclrIO = IO_TAG(BARO_XCLR_PIN),
.eocIO = IO_TAG(BARO_EOC_PIN),
};
bmp085Config = &defaultBMP085Config;
#endif
if (bmp085Detect(bmp085Config, dev)) {
baroHardware = BARO_BMP085;
break;
}
}
#endif
FALLTHROUGH;
case BARO_MS5611:
#if defined(USE_BARO_MS5611) || defined(USE_BARO_SPI_MS5611)
if (ms5611Detect(dev)) {
baroHardware = BARO_MS5611;
break;
}
#endif
FALLTHROUGH;
case BARO_LPS:
#if defined(USE_BARO_SPI_LPS)
if (lpsDetect(dev)) {
baroHardware = BARO_LPS;
break;
}
#endif
FALLTHROUGH;
case BARO_BMP280:
#if defined(USE_BARO_BMP280) || defined(USE_BARO_SPI_BMP280)
if (bmp280Detect(dev)) {
baroHardware = BARO_BMP280;
break;
}
#endif
FALLTHROUGH;
case BARO_QMP6988:
#if defined(USE_BARO_QMP6988) || defined(USE_BARO_SPI_QMP6988)
if (qmp6988Detect(dev)) {
baroHardware = BARO_QMP6988;
break;
}
#endif
FALLTHROUGH;
case BARO_NONE:
baroHardware = BARO_NONE;
break;
}
if (baroHardware == BARO_NONE) {
return false;
}
detectedSensors[SENSOR_INDEX_BARO] = baroHardware;
sensorsSet(SENSOR_BARO);
return true;
}
