Update Gyro driver for generic target

betaflight · Oct 2, 2018 · 9e36354 · 9e36354
1 parent 5b91ec4
commit 9e36354
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Showing 5 changed files with 15 additions and 12 deletions.
diff --git a/src/main/interface/cli.c b/src/main/interface/cli.c
@@ -3838,6 +3838,9 @@ const cliResourceValue_t resourceTable[] = {
 #endif
 #ifdef USE_RX_SPI
     DEFS( OWNER_RX_SPI_CS,     PG_RX_SPI_CONFIG, rxSpiConfig_t, csnTag ),
+#endif
+#ifdef USE_GYRO_EXTI
+    DEFW( OWNER_GYRO_EXTI,     PG_GYRO_DEVICE_CONFIG, gyroDeviceConfig_t, extiTag, 2 ),
 #endif
     DEFW( OWNER_GYRO_CS,       PG_GYRO_DEVICE_CONFIG, gyroDeviceConfig_t, csnTag, 2 ),
 #ifdef USE_USB_DETECT

diff --git a/src/main/interface/settings.c b/src/main/interface/settings.c
@@ -1177,11 +1177,13 @@ const clivalue_t valueTable[] = {
     { "gyro_1_spibus",  VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, SPIDEV_COUNT }, PG_GYRO_DEVICE_CONFIG, PG_ARRAY_ELEMENT_OFFSET(gyroDeviceConfig_t, 0, spiBus) },
     { "gyro_1_i2cBus",  VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, I2CDEV_COUNT }, PG_GYRO_DEVICE_CONFIG, PG_ARRAY_ELEMENT_OFFSET(gyroDeviceConfig_t, 0, i2cBus) },
     { "gyro_1_i2c_address", VAR_UINT8  | MASTER_VALUE, .config.minmax = { 0, I2C_ADDR7_MAX }, PG_GYRO_DEVICE_CONFIG, PG_ARRAY_ELEMENT_OFFSET(gyroDeviceConfig_t, 0, i2cAddress) },
+    { "gyro_1_sensor_align", VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_ALIGNMENT }, PG_GYRO_DEVICE_CONFIG, PG_ARRAY_ELEMENT_OFFSET(gyroDeviceConfig_t, 0, align) },
 #ifdef USE_MULTI_GYRO
     { "gyro_2_bustype", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_BUS_TYPE }, PG_GYRO_DEVICE_CONFIG, PG_ARRAY_ELEMENT_OFFSET(gyroDeviceConfig_t, 1, bustype) },
     { "gyro_2_spibus",  VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, SPIDEV_COUNT }, PG_GYRO_DEVICE_CONFIG, PG_ARRAY_ELEMENT_OFFSET(gyroDeviceConfig_t, 1, spiBus) },
     { "gyro_2_i2cBus",  VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, I2CDEV_COUNT }, PG_GYRO_DEVICE_CONFIG, PG_ARRAY_ELEMENT_OFFSET(gyroDeviceConfig_t, 1, i2cBus) },
     { "gyro_2_i2c_address", VAR_UINT8  | MASTER_VALUE, .config.minmax = { 0, I2C_ADDR7_MAX }, PG_GYRO_DEVICE_CONFIG, PG_ARRAY_ELEMENT_OFFSET(gyroDeviceConfig_t, 1, i2cAddress) },
+    { "gyro_2_sensor_align", VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_ALIGNMENT }, PG_GYRO_DEVICE_CONFIG, PG_ARRAY_ELEMENT_OFFSET(gyroDeviceConfig_t, 1, align) },
 #endif
 };
 

diff --git a/src/main/target/STM32F7X2/config/NERO.config b/src/main/target/STM32F7X2/config/NERO.config
@@ -36,8 +36,10 @@ resource SPI_PREINIT_IPU 2 A15 // SDCARD
 
 # Acc/gyro
 resource gyro_cs 1 C4
+resource GYRO_EXTI 1 B15
 set gyro_1_bustype = SPI
 set gyro_1_spibus = 1
+set gyro_1_sensor_align = CW0
 #set gyro_1_hardware = MPU6500 # Not working (yet ... will it ever?)
 
 # Timers

diff --git a/src/main/target/STM32F7X2/target.h b/src/main/target/STM32F7X2/target.h
@@ -43,18 +43,6 @@
 #define USE_GYRO_SPI_MPU6500
 // Other USE_ACCs and USE_GYROs should follow
 
-#define GYRO_1_SPI_INSTANCE     NULL
-#define GYRO_1_CS_PIN           NONE
-#define GYRO_1_ALIGN            ALIGN_DEFAULT
-#define ACC_1_ALIGN             ALIGN_DEFAULT
-#define GYRO_1_EXTI_PIN         PB15 // XXX Should be gone
-
-#define GYRO_2_SPI_INSTANCE     NULL
-#define GYRO_2_CS_PIN           NONE
-#define GYRO_2_ALIGN            ALIGN_DEFAULT
-#define ACC_2_ALIGN             ALIGN_DEFAULT
-#define GYRO_2_EXTI_PIN         NONE
-
 #define GYRO_CONFIG_USE_GYRO_DEFAULT GYRO_CONFIG_USE_GYRO_1
 
 #define USE_MAG

diff --git a/src/main/target/common_defaults_post.h b/src/main/target/common_defaults_post.h
@@ -234,6 +234,14 @@
 #define ACC_2_ALIGN             ALIGN_DEFAULT
 #endif
 
+#if !defined(GYRO_1_SPI_INSTANCE)
+#define GYRO_1_SPI_INSTANCE     NULL
+#endif
+
+#if !defined(GYRO_1_CS_PIN)
+#define GYRO_1_CS_PIN           NONE
+#endif
+
 #if !defined(GYRO_1_EXTI_PIN)
 #define GYRO_1_EXTI_PIN         NONE
 #endif