src/main/target/NAZE/hardware_revision.c

   1 /*
   2  * This file is part of Cleanflight and Betaflight.
   3  *
   4  * Cleanflight and Betaflight are free software. You can redistribute
   5  * this software and/or modify this software under the terms of the
   6  * GNU General Public License as published by the Free Software
   7  * Foundation, either version 3 of the License, or (at your option)
   8  * any later version.
   9  *
  10  * Cleanflight and Betaflight are distributed in the hope that they
  11  * will be useful, but WITHOUT ANY WARRANTY; without even the implied
  12  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  13  * See the GNU General Public License for more details.
  14  *
  15  * You should have received a copy of the GNU General Public License
  16  * along with this software.
  17  *
  18  * If not, see <http://www.gnu.org/licenses/>.
  19  */
  20
  21 #include <stdbool.h>
  22 #include <stdint.h>
  23 #include <stdlib.h>
  24
  25 #include "platform.h"
  26
  27 #include "build/build_config.h"
  28
  29 #include "drivers/accgyro/accgyro.h"
  30 #include "drivers/accgyro/accgyro_mpu.h"
  31 #include "drivers/accgyro/accgyro_mpu6500.h"
  32 #include "drivers/bus_spi.h"
  33 #include "drivers/io.h"
  34 #include "drivers/time.h"
  35 #include "drivers/system.h"
  36
  37 #include "hardware_revision.h"
  38
  39 uint8_t hardwareRevision = UNKNOWN;
  40
  41 void detectHardwareRevision(void)
  42 {
  43     if (hse_value == 8000000)
  44         hardwareRevision = NAZE32;
  45     else if (hse_value == 12000000)
  46         hardwareRevision = NAZE32_REV5;
  47 }
  48
  49 #ifdef USE_SPI
  50
  51 #define DISABLE_SPI_CS       IOHi(nazeSpiCsPin)
  52 #define ENABLE_SPI_CS        IOLo(nazeSpiCsPin)
  53
  54 #define SPI_DEVICE_NONE (0)
  55 #define SPI_DEVICE_FLASH (1)
  56 #define SPI_DEVICE_MPU (2)
  57
  58 #define M25P16_INSTRUCTION_RDID 0x9F
  59 #define FLASH_M25P16_ID (0x202015)
  60
  61 static IO_t nazeSpiCsPin = IO_NONE;
  62
  63 uint8_t detectSpiDevice(void)
  64 {
  65 #ifdef NAZE_SPI_CS_PIN
  66     nazeSpiCsPin = IOGetByTag(IO_TAG(NAZE_SPI_CS_PIN));
  67 #endif
  68
  69     const uint8_t out[] = { M25P16_INSTRUCTION_RDID, 0, 0, 0 };
  70     uint8_t in[4];
  71     uint32_t flash_id;
  72
  73     // try autodetect flash chip
  74     delay(50); // short delay required after initialisation of SPI device instance.
  75     ENABLE_SPI_CS;
  76     spiTransfer(NAZE_SPI_INSTANCE, out, in, sizeof(out));
  77     DISABLE_SPI_CS;
  78
  79     flash_id = in[1] << 16 | in[2] << 8 | in[3];
  80     if (flash_id == FLASH_M25P16_ID)
  81         return SPI_DEVICE_FLASH;
  82
  83
  84     // try autodetect MPU
  85     delay(50);
  86     ENABLE_SPI_CS;
  87     spiTransferByte(NAZE_SPI_INSTANCE, MPU_RA_WHO_AM_I | MPU6500_BIT_RESET);
  88     in[0] = spiTransferByte(NAZE_SPI_INSTANCE, 0xff);
  89     DISABLE_SPI_CS;
  90
  91     if (in[0] == MPU6500_WHO_AM_I_CONST)
  92         return SPI_DEVICE_MPU;
  93
  94     return SPI_DEVICE_NONE;
  95 }
  96
  97 #endif
  98
  99 void updateHardwareRevision(void)
 100 {
 101 #ifdef USE_SPI
 102     uint8_t detectedSpiDevice = detectSpiDevice();
 103
 104     if (detectedSpiDevice == SPI_DEVICE_MPU && hardwareRevision == NAZE32_REV5)
 105         hardwareRevision = NAZE32_SP;
 106 #endif
 107 }
 108
 109 ioTag_t selectMPUIntExtiConfigByHardwareRevision(void)
 110 {
 111
 112 #ifdef AFROMINI
 113     return IO_TAG(PC13);
 114 #else
 115     if (hardwareRevision < NAZE32_REV5) {
 116         // MPU_INT output on rev4 PB13
 117         return IO_TAG(PB13);
 118     } else {
 119         // MPU_INT output on rev5 PC13
 120         return IO_TAG(PC13);
 121     }
 122 #endif
 123 }