gyro: drop spi from function names

BossHobby · Aug 3, 2024 · 77d2750 · 77d2750
1 parent 4a0b64b
commit 77d2750
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Showing 3 changed files with 32 additions and 24 deletions.
diff --git a/src/driver/gyro/gyro.c b/src/driver/gyro/gyro.c
@@ -61,21 +61,20 @@ static gyro_types_t gyro_spi_detect() {
   return type;
 }
 
-uint8_t gyro_spi_init() {
-#ifdef GYRO_INT
-  // Interrupt GPIO
-  gpio_config_t gpio_init;
-  gpio_init.mode = GPIO_INPUT;
-  gpio_init.output = GPIO_PUSHPULL;
-  gpio_init.pull = GPIO_UP_PULL;
-  gpio_init.drive = GPIO_DRIVE_HIGH;
-  gpio_pin_init(GYRO_INT, gpio_init);
-#endif
-
+uint8_t gyro_int() {
   if (!target_gyro_spi_device_valid(&target.gyro)) {
     return GYRO_TYPE_INVALID;
   }
 
+  if (target.gyro.exti != PIN_NONE) {
+    gpio_config_t gpio_init;
+    gpio_init.mode = GPIO_INPUT;
+    gpio_init.output = GPIO_OPENDRAIN;
+    gpio_init.pull = GPIO_NO_PULL;
+    gpio_init.drive = GPIO_DRIVE_HIGH;
+    gpio_pin_init(target.gyro.exti, gpio_init);
+  }
+
   gyro_bus.port = target.gyro.port;
   gyro_bus.nss = target.gyro.nss;
   spi_bus_device_init(&gyro_bus);
@@ -108,11 +107,18 @@ uint8_t gyro_spi_init() {
     break;
   }
 
-  gyro_spi_read(); // dummy read to fill buffers
+  gyro_read(); // dummy read to fill buffers
 
   return gyro_type;
 }
 
+bool gyro_exti_state() {
+  if (target.gyro.exti == PIN_NONE) {
+    return true;
+  }
+  return gpio_pin_read(target.gyro.exti);
+}
+
 float gyro_update_period() {
   switch (gyro_type) {
   case GYRO_TYPE_MPU6000:
@@ -136,7 +142,7 @@ float gyro_update_period() {
   }
 }
 
-gyro_data_t gyro_spi_read() {
+gyro_data_t gyro_read() {
   static gyro_data_t data;
 
   switch (gyro_type) {
@@ -172,7 +178,7 @@ gyro_data_t gyro_spi_read() {
   return data;
 }
 
-void gyro_spi_calibrate() {
+void gyro_calibrate() {
   switch (gyro_type) {
   case GYRO_TYPE_BMI270: {
     bmi270_calibrate();

diff --git a/src/driver/gyro/gyro.h b/src/driver/gyro/gyro.h
@@ -28,7 +28,9 @@ typedef struct {
 
 extern gyro_types_t gyro_type;
 
-uint8_t gyro_spi_init();
 float gyro_update_period();
-gyro_data_t gyro_spi_read();
-void gyro_spi_calibrate();
+bool gyro_exti_state();
+
+uint8_t gyro_int();
+gyro_data_t gyro_read();
+void gyro_calibrate();
diff --git a/src/flight/sixaxis.c b/src/flight/sixaxis.c
@@ -48,7 +48,7 @@ static filter_biquad_notch_t notch_filter[SDFT_AXES][SDFT_PEAKS];
 static filter_biquad_state_t notch_filter_state[SDFT_AXES][SDFT_PEAKS];
 
 bool sixaxis_detect() {
-  target_info.gyro_id = gyro_spi_init();
+  target_info.gyro_id = gyro_int();
   return target_info.gyro_id != GYRO_TYPE_INVALID;
 }
 
@@ -132,7 +132,7 @@ void sixaxis_read() {
   filter_coeff(profile.filter.gyro[0].type, &filter[0], profile.filter.gyro[0].cutoff_freq);
   filter_coeff(profile.filter.gyro[1].type, &filter[1], profile.filter.gyro[1].cutoff_freq);
 
-  const gyro_data_t data = gyro_spi_read();
+  const gyro_data_t data = gyro_read();
 
   const vec3_t accel = sixaxis_apply_matrix(data.accel);
   // swap pitch and roll to match gyro
@@ -219,7 +219,7 @@ static bool sixaxis_wait_for_still(uint32_t timeout) {
   const uint32_t start = time_micros();
   uint32_t now = start;
   while (now - start < timeout && move_counter > 0) {
-    const gyro_data_t data = gyro_spi_read();
+    const gyro_data_t data = gyro_read();
 
     const bool did_move = test_gyro_move(&last_data, &data);
     if (did_move) {
@@ -248,18 +248,18 @@ void sixaxis_gyro_cal() {
     }
     time_delay_ms(200);
   }
-  gyro_spi_calibrate();
+  gyro_calibrate();
 
   uint8_t brightness = 0;
   led_pwm(brightness, 1000);
 
-  gyro_data_t last_data = gyro_spi_read();
+  gyro_data_t last_data = gyro_read();
 
   uint32_t start = time_micros();
   uint32_t now = start;
   int32_t cal_counter = CAL_TIME / 1000;
   for (int32_t timeout = WAIT_TIME / 1000; timeout > 0; --timeout) {
-    const gyro_data_t data = gyro_spi_read();
+    const gyro_data_t data = gyro_read();
 
     led_pwm(brightness, 1000);
     if ((brightness & 1) ^ ((now - start) % GLOW_TIME > (GLOW_TIME >> 1))) {
@@ -290,7 +290,7 @@ void sixaxis_acc_cal() {
 
   flash_storage.accelcal[2] = 2048;
   for (uint32_t i = 0; i < 500; i++) {
-    const gyro_data_t data = gyro_spi_read();
+    const gyro_data_t data = gyro_read();
     const vec3_t accel = sixaxis_apply_matrix(data.accel);
 
     for (uint32_t x = 0; x < 3; x++) {