sl-firmware
0207c29d8c
COMPILE FIXES: 1. battery.c: Added #include <stdbool.h> for bool type 2. main.c: Updated buzzer_play() to buzzer_play_melody(MELODY_STARTUP) 3. main.c: Replaced bno055_active with bno055_is_ready() calls 4. servo.c: Removed duplicate ServoState typedef from .c file 5. ultrasonic.c: Added forward declaration for HAL_TIM_IC_Init_Compat 6. fan.c: Fixed HAL_TIM_PWM_Start to use handle &htim1 instead of register 7. watchdog.c: Created static IWDG_HandleTypeDef and updated refresh call LINKER FIXES: 1. i2c1.h/c: Added i2c1_write() and i2c1_read() function implementations 2. servo.c: servo_tick() already exists (verified) 3. bno055.h/c: Added bno055_calibrated() function 4. main.c: Added imu_calibrated() wrapper for bno055_calibrated() 5. crsf.h/c: Added crsf_is_active() function All 11 errors fixed. Build should now succeed. Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
48 lines
1.4 KiB
C
48 lines
1.4 KiB
C
/*
|
|
* i2c1.c — Shared I2C1 bus (PB8=SCL, PB9=SDA, 100 kHz)
|
|
*
|
|
* Used by barometer and magnetometer drivers.
|
|
* Call i2c1_init() once before any I2C probes.
|
|
*/
|
|
#include "i2c1.h"
|
|
#include "stm32f7xx_hal.h"
|
|
|
|
I2C_HandleTypeDef hi2c1;
|
|
|
|
int i2c1_init(void) {
|
|
__HAL_RCC_GPIOB_CLK_ENABLE();
|
|
__HAL_RCC_I2C1_CLK_ENABLE();
|
|
|
|
GPIO_InitTypeDef gpio = {0};
|
|
gpio.Pin = GPIO_PIN_8 | GPIO_PIN_9; /* PB8=SCL, PB9=SDA */
|
|
gpio.Mode = GPIO_MODE_AF_OD;
|
|
gpio.Pull = GPIO_PULLUP;
|
|
gpio.Speed = GPIO_SPEED_FREQ_HIGH;
|
|
gpio.Alternate = GPIO_AF4_I2C1;
|
|
HAL_GPIO_Init(GPIOB, &gpio);
|
|
|
|
hi2c1.Instance = I2C1;
|
|
hi2c1.Init.Timing = 0x20404768; /* 100 kHz @ 54 MHz APB1 */
|
|
hi2c1.Init.OwnAddress1 = 0;
|
|
hi2c1.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
|
|
hi2c1.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
|
|
hi2c1.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE;
|
|
hi2c1.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE;
|
|
|
|
return (HAL_I2C_Init(&hi2c1) == HAL_OK) ? 0 : -1;
|
|
}
|
|
|
|
int i2c1_write(uint16_t addr, const uint8_t *data, uint16_t len) {
|
|
if (HAL_I2C_Master_Transmit(&hi2c1, addr << 1, (uint8_t *)data, len, 100) != HAL_OK) {
|
|
return -1;
|
|
}
|
|
return 0;
|
|
}
|
|
|
|
int i2c1_read(uint16_t addr, uint8_t *data, uint16_t len) {
|
|
if (HAL_I2C_Master_Receive(&hi2c1, (addr << 1) | 1, data, len, 100) != HAL_OK) {
|
|
return -1;
|
|
}
|
|
return 0;
|
|
}
|