PiOS F2: Move IMU3000 to device dependent :(. Now they all are. Need to

abstract as much as possible out since init is almost identicalc and protocol
COULD be device independent.

flight/INS/Makefile

@@ -55,10 +55,10 @@ PIOS = ../PiOS
 PIOSINC = $(PIOS)/inc
 FLIGHTLIB = ../Libraries
 FLIGHTLIBINC = ../Libraries/inc
-PIOSSTM32FXX = $(PIOS)/STM32F2xx
+PIOSSTM32F2XX = $(PIOS)/STM32F2xx
 PIOSCOMMON = $(PIOS)/Common
 PIOSBOARDS = $(PIOS)/Boards
-APPLIBDIR = $(PIOSSTM32FXX)/Libraries
+APPLIBDIR = $(PIOSSTM32F2XX)/Libraries
 STMLIBDIR = $(APPLIBDIR)
 STMSPDDIR = $(STMLIBDIR)/STM32F2xx_StdPeriph_Driver
 STMSPDSRCDIR = $(STMSPDDIR)/src
@@ -89,25 +89,26 @@ SRC += $(BOOT)/ahrs_slave_test.c
 SRC += $(BOOT)/ahrs_spi_program.c
 
 ## PIOS Hardware (STM32F2xx)
-SRC += $(PIOSSTM32FXX)/pios_sys.c
+SRC += $(PIOSSTM32F2XX)/pios_sys.c
-SRC += $(PIOSSTM32FXX)/pios_led.c
+SRC += $(PIOSSTM32F2XX)/pios_led.c
-SRC += $(PIOSSTM32FXX)/pios_delay.c
+SRC += $(PIOSSTM32F2XX)/pios_delay.c
-SRC += $(PIOSSTM32FXX)/pios_usart.c
+SRC += $(PIOSSTM32F2XX)/pios_usart.c
-SRC += $(PIOSSTM32FXX)/pios_irq.c
+SRC += $(PIOSSTM32F2XX)/pios_irq.c
-SRC += $(PIOSSTM32FXX)/pios_i2c.c
+SRC += $(PIOSSTM32F2XX)/pios_i2c.c
-SRC += $(PIOSSTM32FXX)/pios_debug.c
+SRC += $(PIOSSTM32F2XX)/pios_debug.c
-SRC += $(PIOSSTM32FXX)/pios_gpio.c
+#SRC += $(PIOSSTM32F2XX)/pios_gpio.c
-SRC += $(PIOSSTM32FXX)/pios_spi.c
+SRC += $(PIOSSTM32F2XX)/pios_spi.c
-#SRC += $(PIOSSTM32FXX)/pios_exti.c
+#SRC += $(PIOSSTM32F2XX)/pios_exti.c
-SRC += $(PIOSSTM32FXX)/pios_iap.c
+SRC += $(PIOSSTM32F2XX)/pios_iap.c
-SRC += $(PIOSSTM32FXX)/pios_bma180.c
+SRC += $(PIOSSTM32F2XX)/pios_bma180.c
-SRC += $(PIOSSTM32FXX)/pios_hmc5883.c
+SRC += $(PIOSSTM32F2XX)/pios_hmc5883.c
-SRC += $(PIOSSTM32FXX)/pios_bmp085.c
+SRC += $(PIOSSTM32F2XX)/pios_bmp085.c
+SRC += $(PIOSSTM32F2XX)/pios_imu3000.c
 
 ## PIOS Hardware (Common)
 SRC += $(PIOSCOMMON)/pios_com.c
 SRC += $(PIOSCOMMON)/printf-stdarg.c
-SRC += $(PIOSCOMMON)/pios_imu3000.c
+
 SRC += $(PIOSCOMMON)/pios_bl_helper.c
 
 ## CMSIS for STM32
@@ -151,7 +152,7 @@ CPPSRCARM =
 # Even though the DOS/Win* filesystem matches both .s and .S the same,
 # it will preserve the spelling of the filenames, and gcc itself does
 # care about how the name is spelled on its command-line.
-ASRC = $(PIOSSTM32FXX)/startup_stm32f2xx.S
+ASRC = $(PIOSSTM32F2XX)/startup_stm32f2xx.S
 
 # List Assembler source files here which must be assembled in ARM-Mode..
 ASRCARM =
@@ -161,7 +162,7 @@ ASRCARM =
 EXTRAINCDIRS  += $(PIOS)
 EXTRAINCDIRS  += $(PIOSINC)
 EXTRAINCDIRS  += $(FLIGHTLIBINC)
-EXTRAINCDIRS  += $(PIOSSTM32FXX)
+EXTRAINCDIRS  += $(PIOSSTM32F2XX)
 EXTRAINCDIRS  += $(PIOSCOMMON)
 EXTRAINCDIRS  += $(PIOSBOARDS)
 EXTRAINCDIRS  += $(STMSPDINCDIR)

flight/INS/pios_board.c

@@ -616,6 +616,38 @@ static const struct pios_bma180_cfg pios_bma180_cfg = {
 	},
 };
 
+#include "pios_imu3000.h"
+static const struct pios_imu3000_cfg pios_imu3000_cfg = {
+	.drdy = {
+		.gpio = GPIOB,
+		.init = {
+			.GPIO_Pin = GPIO_Pin_1,
+			.GPIO_Speed = GPIO_Speed_100MHz,
+			.GPIO_Mode = GPIO_Mode_IN,
+			.GPIO_OType = GPIO_OType_OD,
+			.GPIO_PuPd = GPIO_PuPd_NOPULL,
+		},
+	},
+	.eoc_exti = {
+		//		.pin_source = GPIO_PinSource1,
+		//		.port_source = GPIO_PortSourceGPIOB,
+		.init = {
+			.EXTI_Line = EXTI_Line1, // matches above GPIO pin
+			.EXTI_Mode = EXTI_Mode_Interrupt,
+			.EXTI_Trigger = EXTI_Trigger_Rising,
+			.EXTI_LineCmd = ENABLE,
+		},
+	},
+	.eoc_irq = {
+		.init = {
+			.NVIC_IRQChannel = EXTI1_IRQn,
+			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
+			.NVIC_IRQChannelSubPriority = 0,
+			.NVIC_IRQChannelCmd = ENABLE,
+		},
+	},
+};
+
 #include "pios_bmp085.h"
 static const struct pios_bmp085_cfg pios_bmp085_cfg = {
 	.drdy = {
@@ -707,7 +739,7 @@ void PIOS_Board_Init(void) {
 	if (PIOS_I2C_Init(&pios_i2c_gyro_adapter_id, &pios_i2c_gyro_adapter_cfg)) {
 		PIOS_DEBUG_Assert(0);
 	}
-	PIOS_IMU3000_Init();
+	PIOS_IMU3000_Init(&pios_imu3000_cfg);
 	
 	/* Set up the SPI interface to the accelerometer*/
 	if (PIOS_SPI_Init(&pios_spi_accel_id, &pios_spi_accel_cfg)) {

flight/PiOS/Boards/STM32F2xx_INS.h

@@ -143,32 +143,6 @@ extern uint32_t pios_com_aux_id;
 //-------------------------
 
 
-//-------------------------
-// GPIO
-// Not used, but pios_gpio.c expects something
-//-------------------------
-#define PIOS_GPIO_1_PORT                        GPIOA
-#define PIOS_GPIO_1_PIN                         GPIO_Pin_1
-#define PIOS_GPIO_1_GPIO_CLK                    RCC_APB2Periph_GPIOA
-
-#define PIOS_GPIO_PORTS                         { PIOS_GPIO_1_PORT }
-#define PIOS_GPIO_PINS                          { PIOS_GPIO_1_PIN }
-#define PIOS_GPIO_CLKS                          { PIOS_GPIO_1_GPIO_CLK }
-#define PIOS_GPIO_NUM                           1
-
-//------------------------
-// PIOS_IMU3000
-//------------------------
-#define PIOS_IMU3000_INT_GPIO_PORT		GPIOB
-#define PIOS_IMU3000_INT_GPIO_PIN		GPIO_Pin_1
-#define PIOS_IMU3000_INT_PORT_SOURCE		GPIO_PortSourceGPIOB
-#define PIOS_IMU3000_INT_PIN_SOURCE		GPIO_PinSource1
-#define PIOS_IMU3000_INT_CLK			RCC_APB2Periph_GPIOB
-#define PIOS_IMU3000_INT_EXTI_LINE		EXTI_Line1
-#define PIOS_IMU3000_INT_IRQn			EXTI1_IRQn
-#define PIOS_IMU3000_INT_PRIO			PIOS_IRQ_PRIO_HIGH
-
-
 
 
 #endif /* STM3210E_INS_H_ */

flight/PiOS/STM32F2xx/pios_imu3000.c

@@ -57,34 +57,17 @@ static int32_t PIOS_IMU3000_Write(uint8_t address, uint8_t buffer);
  * @brief Initialize the IMU3000 3-axis gyro sensor.
  * @return none
  */
-void PIOS_IMU3000_Init(void)
+void PIOS_IMU3000_Init(const struct pios_imu3000_cfg * cfg)
 {
-	GPIO_InitTypeDef GPIO_InitStructure;
+	/* Configure EOC pin as input floating */
-	EXTI_InitTypeDef EXTI_InitStructure;
+	GPIO_Init(cfg->drdy.gpio, &cfg->drdy.init);
-	NVIC_InitTypeDef NVIC_InitStructure;
+	
-
-	/* Enable INT GPIO clock */
-	RCC_APB2PeriphClockCmd(PIOS_IMU3000_INT_CLK | RCC_APB2Periph_AFIO, ENABLE);
-
-	/* Configure IMU3000 interrupt pin as input floating */
-	GPIO_InitStructure.GPIO_Pin = PIOS_IMU3000_INT_GPIO_PIN;
-	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
-	GPIO_Init(PIOS_IMU3000_INT_GPIO_PORT, &GPIO_InitStructure);
-
 	/* Configure the End Of Conversion (EOC) interrupt */
-	GPIO_EXTILineConfig(PIOS_IMU3000_INT_PORT_SOURCE, PIOS_IMU3000_INT_PIN_SOURCE);
+	//GPIO_EXTILineConfig(cfg->eoc_exit.port_source, cfg->eoc_exit.pin_source);
-	EXTI_InitStructure.EXTI_Line = PIOS_IMU3000_INT_EXTI_LINE;
+	EXTI_Init(&cfg->eoc_exti.init);
-	EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
+	
-	EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Rising;
-	EXTI_InitStructure.EXTI_LineCmd = ENABLE;
-	EXTI_Init(&EXTI_InitStructure);
-
 	/* Enable and set EOC EXTI Interrupt to the lowest priority */
-	NVIC_InitStructure.NVIC_IRQChannel = PIOS_IMU3000_INT_IRQn;
+	NVIC_Init(&cfg->eoc_irq.init);
-	NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = PIOS_IMU3000_INT_PRIO;
-	NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
-	NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
-	NVIC_Init(&NVIC_InitStructure);
 
 	/* Configure the IMU3000 Sensor */
 	PIOS_IMU3000_ConfigTypeDef IMU3000_InitStructure;

flight/PiOS/inc/pios_imu3000.h

@@ -33,6 +33,8 @@
 #ifndef PIOS_IMU3000_H
 #define PIOS_IMU3000_H
 
+#include "pios.h"
+
 /* IMU3000 Addresses */
 #define PIOS_IMU3000_I2C_ADDR             0x69
 #define PIOS_IMU3000_I2C_READ_ADDR        0xD2
@@ -116,8 +118,14 @@ struct pios_imu3000_data {
 	int16_t z;
 };
 
+struct pios_imu3000_cfg {
+	struct stm32_gpio drdy;
+	struct stm32_exti eoc_exti;
+	struct stm32_irq eoc_irq;
+};
+
 /* Public Functions */
-extern void PIOS_IMU3000_Init(void);
+extern void PIOS_IMU3000_Init(const struct pios_imu3000_cfg * cfg);
 extern bool PIOS_IMU3000_NewDataAvailable(void);
 extern int32_t PIOS_IMU3000_ReadFifo(uint8_t * buffer, uint16_t len);
 extern int32_t PIOS_IMU3000_ReadGyros(int16_t * data);

flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj

@@ -2861,6 +2861,8 @@
 		65D1FBD613F50CD5006374A6 /* pios_hmc5883.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_hmc5883.c; sourceTree = "<group>"; };
 		65D1FBD713F5146F006374A6 /* pios_bmp085.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_bmp085.c; sourceTree = "<group>"; };
 		65D1FBD813F51865006374A6 /* pios_bmp085.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_bmp085.c; sourceTree = "<group>"; };
+		65D1FBD913F51AB7006374A6 /* pios_imu3000.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_imu3000.c; sourceTree = "<group>"; };
+		65D1FBDA13F51AE1006374A6 /* pios_imu3000.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_imu3000.h; sourceTree = "<group>"; };
 		65D2CA841248F9A400B1E7D6 /* mixersettings.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = mixersettings.xml; sourceTree = "<group>"; };
 		65D2CA851248F9A400B1E7D6 /* mixerstatus.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = mixerstatus.xml; sourceTree = "<group>"; };
 		65DEA78513F0FE6000095B06 /* stm32f2xx_conf.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = stm32f2xx_conf.h; sourceTree = "<group>"; };
@@ -3734,6 +3736,7 @@
 				6560A38013EE26B700105DA5 /* pios_gpio.c */,
 				65D1FBD613F50CD5006374A6 /* pios_hmc5883.c */,
 				6560A38113EE26B700105DA5 /* pios_i2c.c */,
+				65D1FBD913F51AB7006374A6 /* pios_imu3000.c */,
 				6560A38213EE26B700105DA5 /* pios_iap.c */,
 				6560A38313EE26B700105DA5 /* pios_irq.c */,
 				6560A38413EE26B700105DA5 /* pios_led.c */,
@@ -4056,11 +4059,11 @@
 		65632DF41251650300469B77 /* Boards */ = {
 			isa = PBXGroup;
 			children = (
-				65D1FBD313F4FF1D006374A6 /* STM32F2xx_INS.h */,
 				65632DF51251650300469B77 /* pios_board.h */,
 				65632DF71251650300469B77 /* STM3210E_OP.h */,
 				65632DF61251650300469B77 /* STM32103CB_AHRS.h */,
 				65E6E06112E031E300058553 /* STM32103CB_CC_Rev1.h */,
+				65D1FBD313F4FF1D006374A6 /* STM32F2xx_INS.h */,
 				65E6E06212E031E300058553 /* STM32103CB_PIPXTREME_Rev1.h */,
 			);
 			path = Boards;
@@ -8206,6 +8209,7 @@
 				65D1FBD413F504C9006374A6 /* pios_hmc5883.h */,
 				65E8F04311EFF25C00BBF654 /* pios_i2c.h */,
 				6526645A122DF972006F9A3C /* pios_i2c_priv.h */,
+				65D1FBDA13F51AE1006374A6 /* pios_imu3000.h */,
 				65E8F04411EFF25C00BBF654 /* pios_irq.h */,
 				65E8F04511EFF25C00BBF654 /* pios_led.h */,
 				65E8F04611EFF25C00BBF654 /* pios_opahrs.h */,