yemai/bizhang_-obav
1
0
Fork 0
mirror of https://gitee.com/xiaohuolufeihua/bizhang_-obav.git synced 2026-05-21 01:12:11 +00:00
Code Issues Packages Projects Releases Wiki Activity

boards: add new spi+i2c config

Browse Source 
Chip-select and SPI initialization uses the new config, whereas the drivers
still use the existing defines.

The configuration in board_config.h can be removed after all drivers are
updated.
This commit is contained in:
Beat Küng
2020-02-18 17:14:10 +01:00
committed by Daniel Agar
parent 06712450a7
commit 1851665fab
142 changed files with 2607 additions and 5655 deletions
Download Patch File Download Diff File Expand all files Collapse all files

3
boards/aerotenna/ocpoc/src/CMakeLists.txt
View File

@@ -32,5 +32,6 @@
############################################################################
add_library(drivers_board
empty.c
i2c.cpp
spi.cpp
)

7
boards/aerotenna/ocpoc/src/board_config.h
View File

@@ -61,10 +61,11 @@
#define PX4_I2C_BUS_LED 1
// SPI
#include <drivers/drv_sensor.h>
#define PX4_SPI_BUS_SENSORS 1
#define PX4_SPIDEV_MPU PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 0) // spidev1.0 - mpu9250
#define PX4_SPIDEV_BARO PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 1) // spidev1.1 - ms5611
//#define PX4_SPIDEV_MPU2 PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 2) // TODO: where is the 2nd mpu9250?
#define PX4_SPIDEV_MPU PX4_MK_SPI_SEL(0, DRV_IMU_DEVTYPE_MPU9250) // spidev1.0 - mpu9250
#define PX4_SPIDEV_BARO PX4_MK_SPI_SEL(0, DRV_BARO_DEVTYPE_MS5611) // spidev1.1 - ms5611
//#define PX4_SPIDEV_MPU2 PX4_MK_SPI_SEL(0, 2) // TODO: where is the 2nd mpu9250?
#define PX4_SPI_BUS_BARO PX4_SPI_BUS_SENSORS

0
boards/aerotenna/ocpoc/src/empty.c
View File

42
boards/aerotenna/ocpoc/src/i2c.cpp Normal file
View File

@@ -0,0 +1,42 @@
/****************************************************************************
*
* Copyright (C) 2020 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include <px4_arch/i2c_hw_description.h>
constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
initI2CBusExternal(2), // i2c-2: Air Data Probe or I2C Splitter
initI2CBusExternal(4), // i2c-4: GPS/Compass #1
initI2CBusExternal(5), // i2c-5: GPS/Compass #2
initI2CBusExternal(3), // i2c-3: GPS/Compass #3
};

42
boards/aerotenna/ocpoc/src/spi.cpp Normal file
View File

@@ -0,0 +1,42 @@
/****************************************************************************
*
* Copyright (C) 2020 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include <px4_arch/spi_hw_description.h>
#include <drivers/drv_sensor.h>
constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
initSPIBus(1, {
initSPIDevice(DRV_IMU_DEVTYPE_MPU9250, 0),
initSPIDevice(DRV_BARO_DEVTYPE_MS5611, 1),
}),
};

4
boards/airmind/mindpx-v2/src/CMakeLists.txt
View File

@@ -33,15 +33,17 @@
add_library(drivers_board
can.c
i2c.cpp
init.c
led.c
spi.c
spi.cpp
timer_config.cpp
usb.c
)
target_link_libraries(drivers_board
PRIVATE
arch_spi
drivers__led # drv_led_start
nuttx_arch # sdio
nuttx_drivers # sdio

35
boards/airmind/mindpx-v2/src/board_config.h
View File

@@ -118,13 +118,14 @@
#define PX4_SPI_BUS_BARO PX4_SPI_BUS_SENSORS
/* Use these in place of the uint32_t enumeration to select a specific SPI device on SPI4 */
#define PX4_SPIDEV_GYRO PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 1)
#define PX4_SPIDEV_ACCEL_MAG PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 2)
#define PX4_SPIDEV_BARO PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 3)
#define PX4_SPIDEV_MPU PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 4)
#include <drivers/drv_sensor.h>
#define PX4_SPIDEV_GYRO PX4_MK_SPI_SEL(0, DRV_GYR_DEVTYPE_L3GD20)
#define PX4_SPIDEV_ACCEL_MAG PX4_MK_SPI_SEL(0, DRV_ACC_DEVTYPE_LSM303D)
#define PX4_SPIDEV_BARO PX4_MK_SPI_SEL(0, DRV_BARO_DEVTYPE_MS5611)
#define PX4_SPIDEV_MPU PX4_MK_SPI_SEL(0, DRV_IMU_DEVTYPE_MPU6000)
/* External bus */
#define PX4_SPIDEV_EXT0 PX4_MK_SPI_SEL(PX4_SPI_BUS_EXT, 1)
#define PX4_SPIDEV_EXT0 PX4_MK_SPI_SEL(0, 0)
/* I2C busses */
@@ -152,29 +153,6 @@
#define BOARD_BATTERY1_V_DIV (10.177939394f)
#define BOARD_BATTERY1_A_PER_V (15.391030303f)
/* User GPIOs
*
* GPIO0-7 are the PWM servo outputs.
*/
#define GPIO_GPIO0_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN9)
#define GPIO_GPIO1_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN11)
#define GPIO_GPIO2_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN13)
#define GPIO_GPIO3_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN14)
#define GPIO_GPIO4_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN12)
#define GPIO_GPIO5_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN13)
#define GPIO_GPIO6_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN14)
#define GPIO_GPIO7_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN15)
#define GPIO_GPIO0_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN9)
#define GPIO_GPIO1_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN11)
#define GPIO_GPIO2_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN13)
#define GPIO_GPIO3_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN14)
#define GPIO_GPIO4_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN12)
#define GPIO_GPIO5_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN13)
#define GPIO_GPIO6_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN14)
#define GPIO_GPIO7_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN15)
/* Power supply control and monitoring GPIOs */
// #define GPIO_VDD_5V_PERIPH_EN (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN8)
// #define GPIO_VDD_BRICK_VALID (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN5)
@@ -285,7 +263,6 @@ __BEGIN_DECLS
****************************************************************************************************/
extern void stm32_spiinitialize(void);
void board_spi_reset(int ms);
extern void stm32_usbinitialize(void);

40
boards/airmind/mindpx-v2/src/i2c.cpp Normal file
View File

@@ -0,0 +1,40 @@
/****************************************************************************
*
* Copyright (C) 2020 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include <px4_arch/i2c_hw_description.h>
constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
initI2CBusInternal(1),
initI2CBusExternal(2),
};

249
boards/airmind/mindpx-v2/src/spi.c
View File

@@ -1,249 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2015, 2016 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file mindpx_spi.c
*
* Board-specific SPI functions.
*/
/************************************************************************************
* Included Files
************************************************************************************/
#include <px4_platform_common/px4_config.h>
#include <stdint.h>
#include <stdbool.h>
#include <debug.h>
#include <nuttx/spi/spi.h>
#include <arch/board/board.h>
#include <up_arch.h>
#include <chip.h>
#include <stm32.h>
#include "board_config.h"
/************************************************************************************
* Public Functions
************************************************************************************/
/************************************************************************************
* Name: stm32_spiinitialize
*
* Description:
* Called to configure SPI chip select GPIO pins for the PX4FMU board.
*
************************************************************************************/
__EXPORT void weak_function stm32_spiinitialize(void)
{
#ifdef CONFIG_STM32_SPI4
px4_arch_configgpio(GPIO_SPI_CS_GYRO);
px4_arch_configgpio(GPIO_SPI_CS_ACCEL_MAG);
px4_arch_configgpio(GPIO_SPI_CS_BARO);
px4_arch_configgpio(GPIO_SPI_CS_MPU);
/* De-activate all peripherals,
* required for some peripheral
* state machines
*/
px4_arch_configgpio(GPIO_EXTI_GYRO_DRDY);
px4_arch_configgpio(GPIO_EXTI_MAG_DRDY);
px4_arch_configgpio(GPIO_EXTI_ACCEL_DRDY);
px4_arch_configgpio(GPIO_EXTI_MPU_DRDY);
#endif
#ifdef CONFIG_STM32_SPI1
stm32_configgpio(GPIO_SPI_CS_FRAM);
stm32_gpiowrite(GPIO_SPI_CS_FRAM, 1);
#endif
#ifdef CONFIG_STM32_SPI2
px4_arch_configgpio(GPIO_SPI_CS_EXT0);
#endif
}
__EXPORT void stm32_spi4select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
{
/* SPI select is active low, so write !selected to select the device */
switch (devid) {
case PX4_SPIDEV_GYRO:
/* Making sure the other peripherals are not selected */
stm32_gpiowrite(GPIO_SPI_CS_GYRO, !selected);
stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
break;
case PX4_SPIDEV_ACCEL_MAG:
/* Making sure the other peripherals are not selected */
stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, !selected);
stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
break;
case PX4_SPIDEV_BARO:
/* Making sure the other peripherals are not selected */
px4_arch_gpiowrite(GPIO_SPI_CS_GYRO, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_BARO, !selected);
px4_arch_gpiowrite(GPIO_SPI_CS_MPU, 1);
break;
case PX4_SPIDEV_MPU:
/* Making sure the other peripherals are not selected */
stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
stm32_gpiowrite(GPIO_SPI_CS_MPU, !selected);
break;
default:
break;
}
}
__EXPORT uint8_t stm32_spi4status(FAR struct spi_dev_s *dev, uint32_t devid)
{
return SPI_STATUS_PRESENT;
}
__EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
{
/* there can only be one device on this bus, so always select it */
stm32_gpiowrite(GPIO_SPI_CS_FRAM, !selected);
}
__EXPORT uint8_t stm32_spi1status(FAR struct spi_dev_s *dev, uint32_t devid)
{
/* FRAM is always present */
return SPI_STATUS_PRESENT;
}
#ifdef CONFIG_STM32_SPI2
__EXPORT void stm32_spi2select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
{
px4_arch_gpiowrite(GPIO_SPI_CS_EXT0, !selected);
}
__EXPORT uint8_t stm32_spi2status(FAR struct spi_dev_s *dev, uint32_t devid)
{
return SPI_STATUS_PRESENT;
}
#endif
__EXPORT void board_spi_reset(int ms)
{
/* disable SPI bus */
px4_arch_configgpio(GPIO_SPI_CS_GYRO_OFF);
px4_arch_configgpio(GPIO_SPI_CS_ACCEL_MAG_OFF);
px4_arch_configgpio(GPIO_SPI_CS_BARO_OFF);
px4_arch_configgpio(GPIO_SPI_CS_MPU_OFF);
px4_arch_gpiowrite(GPIO_SPI_CS_GYRO_OFF, 0);
px4_arch_gpiowrite(GPIO_SPI_CS_ACCEL_MAG_OFF, 0);
px4_arch_gpiowrite(GPIO_SPI_CS_BARO_OFF, 0);
px4_arch_gpiowrite(GPIO_SPI_CS_MPU_OFF, 0);
px4_arch_configgpio(GPIO_SPI4_SCK_OFF);
px4_arch_configgpio(GPIO_SPI4_MISO_OFF);
px4_arch_configgpio(GPIO_SPI4_MOSI_OFF);
px4_arch_gpiowrite(GPIO_SPI4_SCK_OFF, 0);
px4_arch_gpiowrite(GPIO_SPI4_MISO_OFF, 0);
px4_arch_gpiowrite(GPIO_SPI4_MOSI_OFF, 0);
px4_arch_configgpio(GPIO_GYRO_DRDY_OFF);
px4_arch_configgpio(GPIO_MAG_DRDY_OFF);
px4_arch_configgpio(GPIO_ACCEL_DRDY_OFF);
px4_arch_configgpio(GPIO_EXTI_MPU_DRDY_OFF);
px4_arch_gpiowrite(GPIO_GYRO_DRDY_OFF, 0);
px4_arch_gpiowrite(GPIO_MAG_DRDY_OFF, 0);
px4_arch_gpiowrite(GPIO_ACCEL_DRDY_OFF, 0);
px4_arch_gpiowrite(GPIO_EXTI_MPU_DRDY_OFF, 0);
// /* set the sensor rail off */
// stm32_configgpio(GPIO_VDD_3V3_SENSORS_EN);
// stm32_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, 0);
//
/* wait for the sensor rail to reach GND */
usleep(ms * 1000);
syslog(LOG_DEBUG, "reset done, %d ms\n", ms);
//
// /* re-enable power */
//
// /* switch the sensor rail back on */
// stm32_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, 1);
//
/* wait a bit before starting SPI, different times didn't influence results */
usleep(100);
/* reconfigure the SPI pins */
#ifdef CONFIG_STM32_SPI4
px4_arch_configgpio(GPIO_SPI_CS_GYRO);
px4_arch_configgpio(GPIO_SPI_CS_ACCEL_MAG);
px4_arch_configgpio(GPIO_SPI_CS_BARO);
px4_arch_configgpio(GPIO_SPI_CS_MPU);
/* De-activate all peripherals,
* required for some peripheral
* state machines
*/
stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
stm32_gpiowrite(GPIO_SPI_CS_FRAM, 1);
stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
stm32_configgpio(GPIO_SPI4_SCK);
stm32_configgpio(GPIO_SPI4_MISO);
stm32_configgpio(GPIO_SPI4_MOSI);
// XXX bring up the EXTI pins again
// px4_arch_configgpio(GPIO_GYRO_DRDY);
// px4_arch_configgpio(GPIO_MAG_DRDY);
// px4_arch_configgpio(GPIO_ACCEL_DRDY);
#endif
}

53
boards/airmind/mindpx-v2/src/spi.cpp Normal file
View File

@@ -0,0 +1,53 @@
/****************************************************************************
*
* Copyright (C) 2020 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include <px4_arch/spi_hw_description.h>
#include <drivers/drv_sensor.h>
#include <nuttx/spi/spi.h>
constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
initSPIBus(1, {
initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortE, GPIO::Pin12}),
}),
initSPIBusExternal(2, {
initSPIConfigExternal(SPI::CS{GPIO::PortD, GPIO::Pin7}),
}),
initSPIBus(4, {
initSPIDevice(DRV_GYR_DEVTYPE_L3GD20, SPI::CS{GPIO::PortB, GPIO::Pin2}, SPI::DRDY{GPIO::PortE, GPIO::Pin14}),
initSPIDevice(DRV_ACC_DEVTYPE_LSM303D, SPI::CS{GPIO::PortD, GPIO::Pin11}),
initSPIDevice(DRV_BARO_DEVTYPE_MS5611, SPI::CS{GPIO::PortC, GPIO::Pin15}),
initSPIDevice(DRV_IMU_DEVTYPE_MPU6000, SPI::CS{GPIO::PortE, GPIO::Pin3}, SPI::DRDY{GPIO::PortE, GPIO::Pin10}),
}),
};
static constexpr bool unused = validateSPIConfig(px4_spi_buses);

2
boards/atlflight/eagle/src/CMakeLists.txt
View File

@@ -33,5 +33,7 @@
add_library(drivers_board
board_config.h
i2c.cpp
init.c
spi.cpp
)

2
boards/atlflight/eagle/src/board_config.h
View File

@@ -58,7 +58,7 @@
// SPI
#define PX4_SPI_BUS_SENSORS 1
#define PX4_SPIDEV_MPU PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 1) // spi-1 - mpu9250
#define PX4_SPIDEV_MPU PX4_MK_SPI_SEL(0, DRV_IMU_DEVTYPE_MPU9250) // spi-1 - mpu9250
// Battery ADC channels

41
boards/atlflight/eagle/src/i2c.cpp Normal file
View File

@@ -0,0 +1,41 @@
/****************************************************************************
*
* Copyright (C) 2020 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include <px4_arch/i2c_hw_description.h>
constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
initI2CBusExternal(2),
initI2CBusExternal(3),
initI2CBusExternal(9),
};

41
boards/atlflight/eagle/src/spi.cpp Normal file
View File

@@ -0,0 +1,41 @@
/****************************************************************************
*
* Copyright (C) 2020 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include <px4_arch/spi_hw_description.h>
#include <drivers/drv_sensor.h>
constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
initSPIBus(1, {
initSPIDevice(DRV_IMU_DEVTYPE_MPU9250),
}),
};

2
boards/atlflight/excelsior/src/CMakeLists.txt
View File

@@ -34,4 +34,6 @@
add_library(drivers_board
board_config.h
init.c
spi.cpp
i2c.cpp
)

2
boards/atlflight/excelsior/src/board_config.h
View File

@@ -58,7 +58,7 @@
// SPI
#define PX4_SPI_BUS_SENSORS 1
#define PX4_SPIDEV_MPU PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 1)
#define PX4_SPIDEV_MPU PX4_MK_SPI_SEL(0, DRV_IMU_DEVTYPE_MPU9250)
#include <system_config.h>
#include <px4_platform_common/board_common.h>

41
boards/atlflight/excelsior/src/i2c.cpp Normal file
View File

@@ -0,0 +1,41 @@
/****************************************************************************
*
* Copyright (C) 2020 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include <px4_arch/i2c_hw_description.h>
constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
initI2CBusExternal(2),
initI2CBusExternal(3),
initI2CBusExternal(9),
};

41
boards/atlflight/excelsior/src/spi.cpp Normal file
View File

@@ -0,0 +1,41 @@
/****************************************************************************
*
* Copyright (C) 2020 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include <px4_arch/spi_hw_description.h>
#include <drivers/drv_sensor.h>
constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
initSPIBus(1, {
initSPIDevice(DRV_IMU_DEVTYPE_MPU9250),
}),
};

1
boards/av/x-v1/init/rc.board_sensors
View File

@@ -16,6 +16,7 @@ ms4525_airspeed -T 4515 -b 3 start
if ! param greater SENS_EN_PMW3901 0
then
# try to start adis16497 only if pmw3901 isn't enabled, or parameter doesn't exists
# TODO: this one is external SPI
adis16497 start
fi

2
boards/av/x-v1/src/CMakeLists.txt
View File

@@ -32,6 +32,7 @@
############################################################################
add_library(drivers_board
i2c.cpp
init.c
sdio.c
spi.cpp
@@ -40,6 +41,7 @@ add_library(drivers_board
target_link_libraries(drivers_board
PRIVATE
arch_spi
drivers__led # drv_led_start
nuttx_arch # sdio
nuttx_drivers # sdio

12
boards/av/x-v1/src/board_config.h
View File

@@ -123,21 +123,22 @@
#define _PIN_OFF(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz))
#include <drivers/drv_sensor.h>
/* SPI1 */
#define PX4_SPIDEV_ADIS16477 PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSOR1,0)
#define PX4_SPIDEV_ADIS16477 PX4_MK_SPI_SEL(0,DRV_GYR_DEVTYPE_ADIS16477)
#define PX4_SENSOR1_BUS_CS_GPIO {GPIO_SPI1_CS1_ADIS16477}
/* SPI2 */
#define PX4_SPIDEV_EXTERNAL1_1 PX4_MK_SPI_SEL(PX4_SPI_BUS_EXTERNAL1,0)
#define PX4_SPIDEV_EXTERNAL1_1 PX4_MK_SPI_SEL(0,0)
#define PX4_EXTERNAL1_BUS_CS_GPIO {SPI2_CS1_EXTERNAL1}
/* SPI4 */
#define PX4_SPIDEV_LPS22HB PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSOR4,0)
#define PX4_SPIDEV_LPS22HB PX4_MK_SPI_SEL(0,DRV_BARO_DEVTYPE_LPS22HB)
#define PX4_SENSOR4_BUS_CS_GPIO {GPIO_SPI4_CS1_LPS22HB}
/* SPI5 */
#define PX4_SPIDEV_LSM303A_M PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSOR5,0)
#define PX4_SPIDEV_LSM303A_X PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSOR5,1)
#define PX4_SPIDEV_LSM303A_M PX4_MK_SPI_SEL(0,DRV_MAG_DEVTYPE_LSM303AGR)
#define PX4_SPIDEV_LSM303A_X PX4_MK_SPI_SEL(0,DRV_ACC_DEVTYPE_LSM303AGR)
#define PX4_SENSOR5_BUS_CS_GPIO {GPIO_SPI5_CS1_LSM303A_M, GPIO_SPI5_CS1_LSM303A_X}
/* I2C busses */
@@ -287,7 +288,6 @@ int stm32_sdio_initialize(void);
extern void stm32_spiinitialize(void);
void board_spi_reset(int ms);
#define board_peripheral_reset(ms)

41
boards/av/x-v1/src/i2c.cpp Normal file
View File

@@ -0,0 +1,41 @@
/****************************************************************************
*
* Copyright (C) 2020 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include <px4_arch/i2c_hw_description.h>
constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
initI2CBusExternal(2),
initI2CBusInternal(3),
initI2CBusExternal(4),
};

317
boards/av/x-v1/src/spi.cpp
View File

@@ -31,306 +31,25 @@
*
****************************************************************************/
/**
* @file px4fmu_spi.c
*
* Board-specific SPI functions.
*/
/************************************************************************************
* Included Files
************************************************************************************/
#include <board_config.h>
#include <stdint.h>
#include <stdbool.h>
#include <debug.h>
#include <unistd.h>
#include <px4_arch/spi_hw_description.h>
#include <drivers/drv_sensor.h>
#include <nuttx/spi/spi.h>
#include <arch/board/board.h>
#include <systemlib/px4_macros.h>
#include <up_arch.h>
#include <chip.h>
#include <stm32_gpio.h>
constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
initSPIBus(1, {
initSPIDevice(DRV_GYR_DEVTYPE_ADIS16477, SPI::CS{GPIO::PortG, GPIO::Pin10}, SPI::DRDY{GPIO::PortJ, GPIO::Pin0}),
}),
initSPIBusExternal(2, {
initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin0}),
}),
initSPIBus(4, {
initSPIDevice(DRV_BARO_DEVTYPE_LPS22HB, SPI::CS{GPIO::PortE, GPIO::Pin4}, SPI::DRDY{GPIO::PortK, GPIO::Pin1}),
}),
initSPIBus(5, {
initSPIDevice(DRV_MAG_DEVTYPE_LSM303AGR, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortK, GPIO::Pin7}),
initSPIDevice(DRV_ACC_DEVTYPE_LSM303AGR, SPI::CS{GPIO::PortB, GPIO::Pin0}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}),
}),
};
/* Define CS GPIO array */
static constexpr uint32_t spi1selects_gpio[] = PX4_SENSOR1_BUS_CS_GPIO;
static constexpr uint32_t spi2selects_gpio[] = PX4_EXTERNAL1_BUS_CS_GPIO;
static constexpr uint32_t spi4selects_gpio[] = PX4_SENSOR4_BUS_CS_GPIO;
static constexpr uint32_t spi5selects_gpio[] = PX4_SENSOR5_BUS_CS_GPIO;
static constexpr bool unused = validateSPIConfig(px4_spi_buses);
/************************************************************************************
* Name: stm32_spiinitialize
*
* Description:
* Called to configure SPI chip select GPIO pins for the PX4FMU board.
*
************************************************************************************/
__EXPORT void stm32_spiinitialize()
{
#ifdef CONFIG_STM32F7_SPI1
for (auto gpio : spi1selects_gpio) {
px4_arch_configgpio(gpio);
}
#endif // CONFIG_STM32F7_SPI1
#if defined(CONFIG_STM32F7_SPI2)
for (auto gpio : spi2selects_gpio) {
px4_arch_configgpio(gpio);
}
#endif // CONFIG_STM32F7_SPI2
#ifdef CONFIG_STM32F7_SPI4
for (auto gpio : spi4selects_gpio) {
px4_arch_configgpio(gpio);
}
#endif // CONFIG_STM32F7_SPI4
#ifdef CONFIG_STM32F7_SPI5
for (auto gpio : spi5selects_gpio) {
px4_arch_configgpio(gpio);
}
#endif // CONFIG_STM32F7_SPI5
}
/************************************************************************************
* Name: stm32_spi1select and stm32_spi1status
*
* Description:
* Called by stm32 spi driver on bus 1.
*
************************************************************************************/
#ifdef CONFIG_STM32F7_SPI1
__EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
{
ASSERT(PX4_SPI_BUS_ID(devid) == PX4_SPI_BUS_SENSOR1);
// Making sure the other peripherals are not selected
for (auto cs : spi1selects_gpio) {
stm32_gpiowrite(cs, 1);
}
// SPI select is active low, so write !selected to select the device
stm32_gpiowrite(spi1selects_gpio[PX4_SPI_DEV_ID(devid)], !selected);
}
__EXPORT uint8_t stm32_spi1status(FAR struct spi_dev_s *dev, uint32_t devid)
{
return SPI_STATUS_PRESENT;
}
#endif // CONFIG_STM32F7_SPI1
/************************************************************************************
* Name: stm32_spi2select and stm32_spi2status
*
* Description:
* Called by stm32 spi driver on bus 2.
*
************************************************************************************/
#if defined(CONFIG_STM32F7_SPI2)
__EXPORT void stm32_spi2select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
{
ASSERT(PX4_SPI_BUS_ID(devid) == PX4_SPI_BUS_EXTERNAL1);
// Making sure the other peripherals are not selected
for (auto cs : spi2selects_gpio) {
stm32_gpiowrite(cs, 1);
}
// SPI select is active low, so write !selected to select the device
stm32_gpiowrite(spi2selects_gpio[PX4_SPI_DEV_ID(devid)], !selected);
}
__EXPORT uint8_t stm32_spi2status(FAR struct spi_dev_s *dev, uint32_t devid)
{
return SPI_STATUS_PRESENT;
}
#endif // CONFIG_STM32F7_SPI2
/************************************************************************************
* Name: stm32_spi4select and stm32_spi4status
*
* Description:
* Called by stm32 spi driver on bus 4.
*
************************************************************************************/
#ifdef CONFIG_STM32F7_SPI4
__EXPORT void stm32_spi4select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
{
ASSERT(PX4_SPI_BUS_ID(devid) == PX4_SPI_BUS_SENSOR4);
// Making sure the other peripherals are not selected
for (auto cs : spi4selects_gpio) {
stm32_gpiowrite(cs, 1);
}
// SPI select is active low, so write !selected to select the device
stm32_gpiowrite(spi4selects_gpio[PX4_SPI_DEV_ID(devid)], !selected);
}
__EXPORT uint8_t stm32_spi4status(FAR struct spi_dev_s *dev, uint32_t devid)
{
return SPI_STATUS_PRESENT;
}
#endif // CONFIG_STM32F7_SPI4
/************************************************************************************
* Name: stm32_spi5select and stm32_spi5status
*
* Description:
* Called by stm32 spi driver on bus 5.
*
************************************************************************************/
#ifdef CONFIG_STM32F7_SPI5
__EXPORT void stm32_spi5select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
{
ASSERT(PX4_SPI_BUS_ID(devid) == PX4_SPI_BUS_SENSOR5);
// Making sure the other peripherals are not selected
for (auto cs : spi5selects_gpio) {
stm32_gpiowrite(cs, 1);
}
// SPI select is active low, so write !selected to select the device
stm32_gpiowrite(spi5selects_gpio[PX4_SPI_DEV_ID(devid)], !selected);
}
__EXPORT uint8_t stm32_spi5status(FAR struct spi_dev_s *dev, uint32_t devid)
{
return SPI_STATUS_PRESENT;
}
#endif // CONFIG_STM32F7_SPI5
/************************************************************************************
* Name: board_spi_reset
*
* Description:
*
*
************************************************************************************/
__EXPORT void board_spi_reset(int ms)
{
#ifdef CONFIG_STM32F7_SPI1
// disable SPI1
for (auto cs : spi1selects_gpio) {
stm32_configgpio(_PIN_OFF(cs));
}
stm32_configgpio(GPIO_SPI1_SCK_OFF);
stm32_configgpio(GPIO_SPI1_MISO_OFF);
stm32_configgpio(GPIO_SPI1_MOSI_OFF);
#endif // CONFIG_STM32F7_SPI1
#ifdef CONFIG_STM32F7_SPI2
// disable SPI2
for (auto cs : spi2selects_gpio) {
stm32_configgpio(_PIN_OFF(cs));
}
stm32_configgpio(GPIO_SPI2_SCK_OFF);
stm32_configgpio(GPIO_SPI2_MISO_OFF);
stm32_configgpio(GPIO_SPI2_MOSI_OFF);
#endif // CONFIG_STM32F7_SPI2
#ifdef CONFIG_STM32F7_SPI4
// disable SPI4
for (auto cs : spi4selects_gpio) {
stm32_configgpio(_PIN_OFF(cs));
}
stm32_configgpio(GPIO_SPI4_SCK_OFF);
stm32_configgpio(GPIO_SPI4_MISO_OFF);
stm32_configgpio(GPIO_SPI4_MOSI_OFF);
#endif // CONFIG_STM32F7_SPI4
#ifdef CONFIG_STM32F7_SPI5
// disable SPI5
for (auto cs : spi5selects_gpio) {
stm32_configgpio(_PIN_OFF(cs));
}
stm32_configgpio(GPIO_SPI5_SCK_OFF);
stm32_configgpio(GPIO_SPI5_MISO_OFF);
stm32_configgpio(GPIO_SPI5_MOSI_OFF);
#endif // CONFIG_STM32F7_SPI5
/* wait for the sensor rail to reach GND */
usleep(ms * 1000);
syslog(LOG_DEBUG, "reset done, %d ms\n", ms);
/* re-enable power */
/* wait a bit before starting SPI, different times didn't influence results */
usleep(100);
/* reconfigure the SPI pins */
#ifdef CONFIG_STM32F7_SPI1
// re-enable SPI1
for (auto cs : spi1selects_gpio) {
stm32_configgpio(cs);
}
stm32_configgpio(GPIO_SPI1_SCK);
stm32_configgpio(GPIO_SPI1_MISO);
stm32_configgpio(GPIO_SPI1_MOSI);
#endif // CONFIG_STM32F7_SPI1
#ifdef CONFIG_STM32F7_SPI2
// re-enable SPI2
for (auto cs : spi2selects_gpio) {
stm32_configgpio(cs);
}
stm32_configgpio(GPIO_SPI2_SCK);
stm32_configgpio(GPIO_SPI2_MISO);
stm32_configgpio(GPIO_SPI2_MOSI);
#endif // CONFIG_STM32F7_SPI2
#ifdef CONFIG_STM32F7_SPI4
// re-enable SPI4
for (auto cs : spi4selects_gpio) {
stm32_configgpio(cs);
}
stm32_configgpio(GPIO_SPI4_SCK);
stm32_configgpio(GPIO_SPI4_MISO);
stm32_configgpio(GPIO_SPI4_MOSI);
#endif // CONFIG_STM32F7_SPI4
#ifdef CONFIG_STM32F7_SPI5
// re-enable SPI5
for (auto cs : spi5selects_gpio) {
stm32_configgpio(cs);
}
stm32_configgpio(GPIO_SPI5_SCK);
stm32_configgpio(GPIO_SPI5_MISO);
stm32_configgpio(GPIO_SPI5_MOSI);
#endif // CONFIG_STM32F7_SPI5
}

1
boards/beaglebone/blue/src/CMakeLists.txt
View File

@@ -32,6 +32,7 @@
############################################################################
px4_add_library(drivers_board
i2c.cpp
init.cpp
)
target_link_libraries(drivers_board PRIVATE robotics_cape)

40
boards/beaglebone/blue/src/i2c.cpp Normal file
View File

@@ -0,0 +1,40 @@
/****************************************************************************
*
* Copyright (C) 2020 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include <px4_arch/i2c_hw_description.h>
constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
initI2CBusExternal(1), // i2c-1: pins P9 17,18
initI2CBusInternal(2), // i2c-2: pins P9 19,20 - bmp280, mpu9250
};

4
boards/bitcraze/crazyflie/src/CMakeLists.txt
View File

@@ -32,14 +32,16 @@
############################################################################
add_library(drivers_board
i2c.cpp
init.c
led.c
spi.c
spi.cpp
timer_config.cpp
usb.c
)
target_link_libraries(drivers_board
PRIVATE
arch_spi
drivers__led # drv_led_start
px4_layer
)

8
boards/bitcraze/crazyflie/src/board_config.h
View File

@@ -121,9 +121,9 @@
#define PX4_FLOW_BUS_CS_GPIO { GPIO_SPI1_CS0_EXT, GPIO_SPI1_CS1_EXT, GPIO_SPI1_CS2_EXT }
/* SPI1 Devices */
#define PX4_SPIDEV_EXPANSION_1 PX4_MK_SPI_SEL(PX4_SPI_BUS_EXPANSION, 0) // SD CARD BREAKOUT
#define PX4_SPIDEV_EXPANSION_2 PX4_MK_SPI_SEL(PX4_SPI_BUS_EXPANSION, 1) // OPTICAL FLOW BREAKOUT
#define PX4_SPIDEV_EXPANSION_3 PX4_MK_SPI_SEL(PX4_SPI_BUS_EXPANSION, 2)
#define PX4_SPIDEV_EXPANSION_1 SPIDEV_MMCSD(0) // SD CARD BREAKOUT
#define PX4_SPIDEV_EXPANSION_2 PX4_MK_SPI_SEL(0, DRV_FLOW_DEVTYPE_PMW3901) // OPTICAL FLOW BREAKOUT
#define PX4_SPIDEV_EXPANSION_3 PX4_MK_SPI_SEL(0, DRV_DEVTYPE_UNUSED)
#define PX4_FLOW_BUS_FIRST_CS PX4_SPIDEV_EXPANSION_1
#define PX4_FLOW_BUS_LAST_CS PX4_SPIDEV_EXPANSION_3
@@ -261,8 +261,6 @@ extern void stm32_spiinitialize(void);
extern int stm32_spi_bus_initialize(void);
void board_spi_reset(int ms);
#include <px4_platform_common/board_common.h>

40
boards/bitcraze/crazyflie/src/i2c.cpp Normal file
View File

@@ -0,0 +1,40 @@
/****************************************************************************
*
* Copyright (C) 2020 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include <px4_arch/i2c_hw_description.h>
constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
initI2CBusExternal(1),
initI2CBusInternal(3),
};

165
boards/bitcraze/crazyflie/src/spi.c
View File

@@ -1,165 +0,0 @@
/************************************************************************************
* Included Files
************************************************************************************/
#include <px4_platform_common/px4_config.h>
#include <px4_platform/gpio.h>
#include <stdint.h>
#include <stdbool.h>
#include <debug.h>
#include <unistd.h>
#include <nuttx/spi/spi.h>
#include <arch/board/board.h>
#include <systemlib/px4_macros.h>
#include <nuttx/mmcsd.h>
#include <up_arch.h>
#include <chip.h>
#include <stm32_gpio.h>
#include "board_config.h"
/****************************************************************************
* Pre-Processor Definitions
****************************************************************************/
/* Configuration ************************************************************/
/* Debug ********************************************************************/
/* Define CS GPIO array */
static const uint32_t spi1selects_gpio[] = PX4_FLOW_BUS_CS_GPIO;
/************************************************************************************
* Public Functions
************************************************************************************/
/************************************************************************************
* Name: stm32_spiinitialize
*
* Description:
* Called to configure SPI chip select GPIO pins for the PX4FMU board.
*
************************************************************************************/
__EXPORT void stm32_spiinitialize(void)
{
#ifdef CONFIG_STM32_SPI1
px4_gpio_init(spi1selects_gpio, arraySize(spi1selects_gpio));
#endif
}
/************************************************************************************
* Name: stm32_spi_bus_initialize
*
* Description:
* Called to configure SPI buses on PX4FMU board.
*
************************************************************************************/
static struct spi_dev_s *spi_expansion;
__EXPORT int stm32_spi_bus_initialize(void)
{
/* Configure SPI-based devices */
/* Get the external SPI port */
spi_expansion = stm32_spibus_initialize(PX4_SPI_BUS_EXPANSION);
if (!spi_expansion) {
syslog(LOG_ERR, "[boot] FAILED to initialize SPI port %d\n", PX4_SPI_BUS_EXPANSION);
return -ENODEV;
}
#ifdef CONFIG_MMCSD
int ret = mmcsd_spislotinitialize(CONFIG_NSH_MMCSDMINOR, CONFIG_NSH_MMCSDSLOTNO, spi_expansion);
if (ret != OK) {
syslog(LOG_ERR, "[boot] FAILED to bind SPI port 1 to the MMCSD driver\n");
return -ENODEV;
}
#endif
return OK;
}
/************************************************************************************
* Name: stm32_spi1select and stm32_spi1status
*
* Description:
* Called by stm32 spi driver on bus 1.
*
************************************************************************************/
__EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
{
/* SPI select is active low, so write !selected to select the device */
int sel = (int) devid;
/* Making sure the other peripherals are not selected */
for (size_t cs = 0; arraySize(spi1selects_gpio) > 1 && cs < arraySize(spi1selects_gpio); cs++) {
if (spi1selects_gpio[cs] != 0) {
stm32_gpiowrite(spi1selects_gpio[cs], 1);
}
}
uint32_t gpio = spi1selects_gpio[PX4_SPI_DEV_ID(sel)];
if (gpio) {
stm32_gpiowrite(gpio, !selected);
}
}
__EXPORT uint8_t stm32_spi1status(FAR struct spi_dev_s *dev, uint32_t devid)
{
return SPI_STATUS_PRESENT;
}
/************************************************************************************
* Name: board_spi_reset
*
* Description:
*
*
************************************************************************************/
__EXPORT void board_spi_reset(int ms)
{
/* disable SPI bus */
for (size_t cs = 0; arraySize(spi1selects_gpio) > 1 && cs < arraySize(spi1selects_gpio); cs++) {
if (spi1selects_gpio[cs] != 0) {
stm32_configgpio(_PIN_OFF(spi1selects_gpio[cs]));
}
}
stm32_configgpio(GPIO_SPI1_SCK_OFF);
stm32_configgpio(GPIO_SPI1_MISO_OFF);
stm32_configgpio(GPIO_SPI1_MOSI_OFF);
/* wait for the sensor rail to reach GND */
usleep(ms * 1000);
syslog(LOG_DEBUG, "reset done, %d ms\n", ms);
/* wait a bit before starting SPI, different times didn't influence results */
usleep(100);
/* reconfigure the SPI pins */
for (size_t cs = 0; arraySize(spi1selects_gpio) > 1 && cs < arraySize(spi1selects_gpio); cs++) {
if (spi1selects_gpio[cs] != 0) {
stm32_configgpio(spi1selects_gpio[cs]);
}
}
stm32_configgpio(GPIO_SPI1_SCK);
stm32_configgpio(GPIO_SPI1_MISO);
stm32_configgpio(GPIO_SPI1_MOSI);
}

77
boards/intel/aerofc-v1/src/spi.c → boards/bitcraze/crazyflie/src/spi.cpp
View File

@@ -1,7 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2012-2016 PX4 Development Team. All rights reserved.
* Author: David Sidrane <david_s5@nscdg.com>
* Copyright (C) 2020 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -32,58 +31,68 @@
*
****************************************************************************/
/**
* @file spi.c
*
* Board-specific SPI functions.
*/
/************************************************************************************
* Included Files
************************************************************************************/
#include <px4_platform_common/px4_config.h>
#include <px4_platform/gpio.h>
#include <stdint.h>
#include <stdbool.h>
#include <debug.h>
#include <unistd.h>
#include <nuttx/spi/spi.h>
#include <arch/board/board.h>
#include <systemlib/px4_macros.h>
#include <nuttx/mmcsd.h>
#include "up_arch.h"
#include "chip.h"
#include "stm32.h"
#include <up_arch.h>
#include <chip.h>
#include <stm32_gpio.h>
#include "board_config.h"
/************************************************************************************
* Public Functions
************************************************************************************/
#include <px4_arch/spi_hw_description.h>
#include <drivers/drv_sensor.h>
#include <nuttx/spi/spi.h>
constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
initSPIBus(1, {
initSPIDevice(SPIDEV_MMCSD(0), SPI::CS{GPIO::PortC, GPIO::Pin12}),
initSPIDevice(DRV_FLOW_DEVTYPE_PMW3901, SPI::CS{GPIO::PortB, GPIO::Pin4}),
initSPIDevice(DRV_DEVTYPE_UNUSED, SPI::CS{GPIO::PortB, GPIO::Pin5}),
}),
};
static constexpr bool unused = validateSPIConfig(px4_spi_buses);
/************************************************************************************
* Name: stm32_spiinitialize
* Name: stm32_spi_bus_initialize
*
* Description:
* Called to configure SPI chip select GPIO pins for the AEROFC-v1 board.
* Called to configure SPI buses on PX4FMU board.
*
************************************************************************************/
static struct spi_dev_s *spi_expansion;
__EXPORT void stm32_spiinitialize(void)
__EXPORT int stm32_spi_bus_initialize(void)
{
#ifdef CONFIG_STM32_SPI1
px4_arch_configgpio(GPIO_SPI_CS_MPU6500);
/* Configure SPI-based devices */
/* Get the external SPI port */
spi_expansion = stm32_spibus_initialize(1);
if (!spi_expansion) {
syslog(LOG_ERR, "[boot] FAILED to initialize SPI port %d\n", 1);
return -ENODEV;
}
#ifdef CONFIG_MMCSD
int ret = mmcsd_spislotinitialize(CONFIG_NSH_MMCSDMINOR, CONFIG_NSH_MMCSDSLOTNO, spi_expansion);
if (ret != OK) {
syslog(LOG_ERR, "[boot] FAILED to bind SPI port 1 to the MMCSD driver\n");
return -ENODEV;
}
#endif
}
__EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
{
/* SPI select is active low, so write !selected to select the device */
px4_arch_gpiowrite(GPIO_SPI_CS_MPU6500, !selected);
}
__EXPORT uint8_t stm32_spi1status(FAR struct spi_dev_s *dev, uint32_t devid)
{
return SPI_STATUS_PRESENT;
return OK;
}

3
boards/emlid/navio2/src/CMakeLists.txt
View File

@@ -32,5 +32,6 @@
############################################################################
add_library(drivers_board
empty.c
i2c.cpp
spi.cpp
)

9
boards/emlid/navio2/src/board_config.h
View File

@@ -58,11 +58,12 @@
// SPI
#include <drivers/drv_sensor.h>
#define PX4_SPI_BUS_SENSORS 0
#define PX4_SPIDEV_UBLOX PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 0) // spidev0.0 - ublox m8n
#define PX4_SPIDEV_MPU PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 1) // spidev0.1 - mpu9250
#define PX4_SPIDEV_LSM9DS1_M PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 2) // spidev0.2 - lsm9ds1 mag
#define PX4_SPIDEV_LSM9DS1_AG PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 3) // spidev0.3 - lsm9ds1 accel/gyro
#define PX4_SPIDEV_UBLOX PX4_MK_SPI_SEL(0, 0) // spidev0.0 - ublox m8n
#define PX4_SPIDEV_MPU PX4_MK_SPI_SEL(0, DRV_IMU_DEVTYPE_MPU9250) // spidev0.1 - mpu9250
#define PX4_SPIDEV_LSM9DS1_M PX4_MK_SPI_SEL(0, DRV_MAG_DEVTYPE_ST_LSM9DS1_M) // spidev0.2 - lsm9ds1 mag
#define PX4_SPIDEV_LSM9DS1_AG PX4_MK_SPI_SEL(0, DRV_IMU_DEVTYPE_ST_LSM9DS1_AG) // spidev0.3 - lsm9ds1 accel/gyro
// ADC channels:

0
boards/emlid/navio2/src/empty.c
View File

39
boards/emlid/navio2/src/i2c.cpp Normal file
View File

@@ -0,0 +1,39 @@
/****************************************************************************
*
* Copyright (C) 2020 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include <px4_arch/i2c_hw_description.h>
constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
initI2CBusExternal(1),
};

44
boards/emlid/navio2/src/spi.cpp Normal file
View File

@@ -0,0 +1,44 @@
/****************************************************************************
*
* Copyright (C) 2020 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include <px4_arch/spi_hw_description.h>
#include <drivers/drv_sensor.h>
constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
initSPIBus(0, {
// spidev0.0 - ublox m8n
initSPIDevice(DRV_IMU_DEVTYPE_MPU9250, 1),
initSPIDevice(DRV_MAG_DEVTYPE_ST_LSM9DS1_M, 2),
initSPIDevice(DRV_IMU_DEVTYPE_ST_LSM9DS1_AG, 3),
}),
};

2
boards/holybro/durandal-v1/src/CMakeLists.txt
View File

@@ -46,6 +46,7 @@ if("${PX4_BOARD_LABEL}" STREQUAL "bootloader")
else()
add_library(drivers_board
can.c
i2c.cpp
init.c
led.c
manifest.c
@@ -58,6 +59,7 @@ else()
target_link_libraries(drivers_board
PRIVATE
arch_spi
arch_board_hw_info
drivers__led # drv_led_start
nuttx_arch # sdio

22
boards/holybro/durandal-v1/src/board_config.h
View File

@@ -167,20 +167,21 @@
#define PX4_SPI_BUS_RAMTRON PX4_SPI_BUS_MEMORY
/* ^ END Legacy SPI defines TODO: fix this with enumeration */
#define PX4_SPIDEV_ICM_20689 PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS,0)
#define PX4_SPIDEV_BMI088_GYR PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS,1)
#define PX4_SPIDEV_BMI088_ACC PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS,2)
#define PX4_SPIDEV_AUX_MEM PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS,3)
#include <drivers/drv_sensor.h>
#define PX4_SPIDEV_ICM_20689 PX4_MK_SPI_SEL(0,DRV_IMU_DEVTYPE_ICM20689)
#define PX4_SPIDEV_BMI088_GYR PX4_MK_SPI_SEL(0,DRV_GYR_DEVTYPE_BMI088)
#define PX4_SPIDEV_BMI088_ACC PX4_MK_SPI_SEL(0,DRV_ACC_DEVTYPE_BMI088)
#define PX4_SPIDEV_AUX_MEM PX4_MK_SPI_SEL(0,DRV_DEVTYPE_UNUSED)
#define PX4_SENSOR_BUS_CS_GPIO {GPIO_SPI1_CS1_ICM20689, GPIO_SPI1_CS3_BMI088_GYRO, GPIO_SPI1_CS4_BMI088_ACC, GPIO_SPI1_CS5_AUX_MEM}
#define PX4_SPIDEV_MEMORY PX4_MK_SPI_SEL(PX4_SPI_BUS_MEMORY,0)
#define PX4_SPIDEV_MEMORY SPIDEV_FLASH(0)
#define PX4_MEMORY_BUS_CS_GPIO {GPIO_SPI2_CS_FRAM}
#define PX4_SPIDEV_BARO PX4_MK_SPI_SEL(PX4_SPI_BUS_BARO,0)
#define PX4_SPIDEV_BARO PX4_MK_SPI_SEL(0,DRV_BARO_DEVTYPE_MS5611)
#define PX4_BARO_BUS_CS_GPIO {GPIO_SPI4_CS1_MS5611}
#define PX4_SPIDEV_EXTERNAL1_1 PX4_MK_SPI_SEL(PX4_SPI_BUS_EXTERNAL1,0)
#define PX4_SPIDEV_EXTERNAL1_2 PX4_MK_SPI_SEL(PX4_SPI_BUS_EXTERNAL1,1)
#define PX4_SPIDEV_EXTERNAL1_1 PX4_MK_SPI_SEL(0,0)
#define PX4_SPIDEV_EXTERNAL1_2 PX4_MK_SPI_SEL(0,1)
#define PX4_EXTERNAL1_BUS_CS_GPIO {SPI5_CS1_EXTERNAL1, SPI5_CS2_EXTERNAL1}
#define PX4_SPIDEV_EXTERNAL2_1 PX4_MK_SPI_SEL(PX4_SPI_BUS_EXTERNAL2,0)
@@ -333,7 +334,6 @@
#define GPIO_nVDD_5V_PERIPH_OC /* PE15 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTE|GPIO_PIN15)
#define GPIO_nVDD_5V_HIPOWER_EN /* PF12 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTF|GPIO_PIN12)
#define GPIO_nVDD_5V_HIPOWER_OC /* PG13 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTF|GPIO_PIN13)
#define GPIO_VDD_3V3_SENSORS_EN /* PE3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN3)
#define GPIO_VDD_3V3_SPEKTRUM_POWER_EN /* PE4 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN4)
#define GPIO_VDD_3V3_SD_CARD_EN /* PG7 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN7)
@@ -342,7 +342,6 @@
#define VDD_5V_PERIPH_EN(on_true) px4_arch_gpiowrite(GPIO_nVDD_5V_PERIPH_EN, !(on_true))
#define VDD_5V_HIPOWER_EN(on_true) px4_arch_gpiowrite(GPIO_nVDD_5V_HIPOWER_EN, !(on_true))
#define VDD_3V3_SENSORS_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, (on_true))
#define VDD_3V3_SPEKTRUM_POWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SPEKTRUM_POWER_EN, (on_true))
#define READ_VDD_3V3_SPEKTRUM_POWER_EN() px4_arch_gpioread(GPIO_VDD_3V3_SPEKTRUM_POWER_EN)
#define VDD_3V3_SD_CARD_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SD_CARD_EN, (on_true))
@@ -474,7 +473,6 @@
GPIO_nVDD_5V_PERIPH_OC, \
GPIO_nVDD_5V_HIPOWER_EN, \
GPIO_nVDD_5V_HIPOWER_OC, \
GPIO_VDD_3V3_SENSORS_EN, \
GPIO_VDD_3V3_SPEKTRUM_POWER_EN, \
GPIO_VDD_3V3_SD_CARD_EN, \
GPIO_TONE_ALARM_IDLE, \
@@ -522,8 +520,6 @@ int stm32_sdio_initialize(void);
extern void stm32_spiinitialize(void);
void board_spi_reset(int ms);
extern void stm32_usbinitialize(void);
extern void board_peripheral_reset(int ms);

42
boards/holybro/durandal-v1/src/i2c.cpp Normal file
View File

@@ -0,0 +1,42 @@
/****************************************************************************
*
* Copyright (C) 2020 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include <px4_arch/i2c_hw_description.h>
constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
initI2CBusExternal(1),
initI2CBusExternal(2),
initI2CBusInternal(3),
initI2CBusExternal(4),
};

14
boards/holybro/durandal-v1/src/init.c
View File

@@ -105,7 +105,7 @@ __EXPORT void board_peripheral_reset(int ms)
/* set the peripheral rails off */
VDD_5V_PERIPH_EN(false);
VDD_3V3_SENSORS_EN(false);
board_control_spi_sensors_power(false, 0xffff);
bool last = READ_VDD_3V3_SPEKTRUM_POWER_EN();
/* Keep Spektum on to discharge rail*/
@@ -119,7 +119,7 @@ __EXPORT void board_peripheral_reset(int ms)
/* switch the peripheral rail back on */
VDD_3V3_SPEKTRUM_POWER_EN(last);
VDD_3V3_SENSORS_EN(true);
board_control_spi_sensors_power(true, 0xffff);
VDD_5V_PERIPH_EN(true);
}
@@ -170,9 +170,7 @@ stm32_boardinitialize(void)
const uint32_t gpio[] = PX4_GPIO_INIT_LIST;
px4_gpio_init(gpio, arraySize(gpio));
/* configure SPI interfaces */
stm32_spiinitialize();
board_control_spi_sensors_power_configgpio();
/* configure USB interfaces */
@@ -212,7 +210,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
VDD_3V3_SD_CARD_EN(true);
VDD_5V_PERIPH_EN(true);
VDD_5V_HIPOWER_EN(true);
VDD_3V3_SENSORS_EN(true);
board_control_spi_sensors_power(true, 0xffff);
VDD_3V3_SPEKTRUM_POWER_EN(true);
/* Need hrt running before using the ADC */
@@ -228,6 +226,10 @@ __EXPORT int board_app_initialize(uintptr_t arg)
syslog(LOG_ERR, "[boot] Failed to read HW revision and version\n");
}
/* configure SPI interfaces (after we determined the HW version) */
stm32_spiinitialize();
/* configure the DMA allocator */
if (board_dma_alloc_init() < 0) {

312
boards/holybro/durandal-v1/src/spi.cpp
View File

@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Copyright (C) 2020 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -31,291 +31,33 @@
*
****************************************************************************/
/**
* @file px4fmu_spi.c
*
* Board-specific SPI functions.
*/
/************************************************************************************
* Included Files
************************************************************************************/
#include <board_config.h>
#include <stdint.h>
#include <stdbool.h>
#include <debug.h>
#include <unistd.h>
#include <px4_arch/spi_hw_description.h>
#include <drivers/drv_sensor.h>
#include <nuttx/spi/spi.h>
#include <arch/board/board.h>
#include <systemlib/px4_macros.h>
#include <up_arch.h>
#include <chip.h>
#include <stm32_gpio.h>
#include "board_config.h"
constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
initSPIBus(1, {
initSPIDevice(DRV_IMU_DEVTYPE_ICM20689, SPI::CS{GPIO::PortF, GPIO::Pin2}, SPI::DRDY{GPIO::PortB, GPIO::Pin4}),
initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortF, GPIO::Pin4}, SPI::DRDY{GPIO::PortB, GPIO::Pin14}),
initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortG, GPIO::Pin10}, SPI::DRDY{GPIO::PortB, GPIO::Pin15}),
initSPIDevice(DRV_DEVTYPE_UNUSED, SPI::CS{GPIO::PortH, GPIO::Pin5}),
}, {GPIO::PortE, GPIO::Pin3}),
initSPIBus(2, {
initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortF, GPIO::Pin5})
}),
initSPIBus(4, {
initSPIDevice(DRV_BARO_DEVTYPE_MS5611, SPI::CS{GPIO::PortF, GPIO::Pin10}),
}),
initSPIBusExternal(5, {
initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin4}),
initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}),
}),
initSPIBusExternal(6, {
initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin6}),
initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin7}),
initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin8})
}),
};
/* Define CS GPIO array */
static constexpr uint32_t spi1selects_gpio[] = PX4_SENSOR_BUS_CS_GPIO;
static constexpr uint32_t spi2selects_gpio[] = PX4_MEMORY_BUS_CS_GPIO;
static constexpr uint32_t spi4selects_gpio[] = PX4_BARO_BUS_CS_GPIO;
static constexpr uint32_t spi5selects_gpio[] = PX4_EXTERNAL1_BUS_CS_GPIO;
static constexpr uint32_t spi6selects_gpio[] = PX4_EXTERNAL2_BUS_CS_GPIO;
static constexpr bool unused = validateSPIConfig(px4_spi_buses);
/************************************************************************************
* Name: stm32_spiinitialize
*
* Description:
* Called to configure SPI chip select GPIO pins for the PX4FMU board.
*
************************************************************************************/
__EXPORT void stm32_spiinitialize()
{
#ifdef CONFIG_STM32H7_SPI1
for (auto gpio : spi1selects_gpio) {
px4_arch_configgpio(gpio);
}
#endif // CONFIG_STM32H7_SPI1
#if defined(CONFIG_STM32H7_SPI2)
for (auto gpio : spi2selects_gpio) {
px4_arch_configgpio(gpio);
}
#endif // CONFIG_STM32H7_SPI2
#ifdef CONFIG_STM32H7_SPI4
for (auto gpio : spi4selects_gpio) {
px4_arch_configgpio(gpio);
}
#endif // CONFIG_STM32H7_SPI4
#ifdef CONFIG_STM32H7_SPI5
for (auto gpio : spi5selects_gpio) {
px4_arch_configgpio(gpio);
}
#endif // CONFIG_STM32H7_SPI5
#ifdef CONFIG_STM32H7_SPI6
for (auto gpio : spi6selects_gpio) {
px4_arch_configgpio(gpio);
}
#endif // CONFIG_STM32H7_SPI6
}
/************************************************************************************
* Name: stm32_spi1select and stm32_spi1status
*
* Description:
* Called by stm32 spi driver on bus 1.
*
************************************************************************************/
#ifdef CONFIG_STM32H7_SPI1
__EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
{
ASSERT(PX4_SPI_BUS_ID(devid) == PX4_SPI_BUS_SENSORS);
// Making sure the other peripherals are not selected
for (auto cs : spi1selects_gpio) {
stm32_gpiowrite(cs, 1);
}
// SPI select is active low, so write !selected to select the device
stm32_gpiowrite(spi1selects_gpio[PX4_SPI_DEV_ID(devid)], !selected);
}
__EXPORT uint8_t stm32_spi1status(FAR struct spi_dev_s *dev, uint32_t devid)
{
return SPI_STATUS_PRESENT;
}
#endif // CONFIG_STM32H7_SPI1
/************************************************************************************
* Name: stm32_spi2select and stm32_spi2status
*
* Description:
* Called by stm32 spi driver on bus 2.
*
************************************************************************************/
#if defined(CONFIG_STM32H7_SPI2)
__EXPORT void stm32_spi2select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
{
if (devid == SPIDEV_FLASH(0)) {
devid = PX4_SPIDEV_MEMORY;
}
ASSERT(PX4_SPI_BUS_ID(devid) == PX4_SPI_BUS_MEMORY);
// Making sure the other peripherals are not selected
for (auto cs : spi2selects_gpio) {
stm32_gpiowrite(cs, 1);
}
// SPI select is active low, so write !selected to select the device
stm32_gpiowrite(spi2selects_gpio[PX4_SPI_DEV_ID(devid)], !selected);
}
__EXPORT uint8_t stm32_spi2status(FAR struct spi_dev_s *dev, uint32_t devid)
{
return SPI_STATUS_PRESENT;
}
#endif // CONFIG_STM32H7_SPI2 && GPIO_SPI2_CS_FRAM
/************************************************************************************
* Name: stm32_spi4select and stm32_spi4status
*
* Description:
* Called by stm32 spi driver on bus 4.
*
************************************************************************************/
#ifdef CONFIG_STM32H7_SPI4
__EXPORT void stm32_spi4select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
{
ASSERT(PX4_SPI_BUS_ID(devid) == PX4_SPI_BUS_BARO);
// Making sure the other peripherals are not selected
for (auto cs : spi4selects_gpio) {
stm32_gpiowrite(cs, 1);
}
// SPI select is active low, so write !selected to select the device
stm32_gpiowrite(spi4selects_gpio[PX4_SPI_DEV_ID(devid)], !selected);
}
__EXPORT uint8_t stm32_spi4status(FAR struct spi_dev_s *dev, uint32_t devid)
{
return SPI_STATUS_PRESENT;
}
#endif // CONFIG_STM32H7_SPI4
/************************************************************************************
* Name: stm32_spi5select and stm32_spi5status
*
* Description:
* Called by stm32 spi driver on bus 5.
*
************************************************************************************/
#ifdef CONFIG_STM32H7_SPI5
__EXPORT void stm32_spi5select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
{
ASSERT(PX4_SPI_BUS_ID(devid) == PX4_SPI_BUS_EXTERNAL1);
// Making sure the other peripherals are not selected
for (auto cs : spi5selects_gpio) {
stm32_gpiowrite(cs, 1);
}
// SPI select is active low, so write !selected to select the device
stm32_gpiowrite(spi5selects_gpio[PX4_SPI_DEV_ID(devid)], !selected);
}
__EXPORT uint8_t stm32_spi5status(FAR struct spi_dev_s *dev, uint32_t devid)
{
return SPI_STATUS_PRESENT;
}
#endif // CONFIG_STM32H7_SPI5
/************************************************************************************
* Name: stm32_spi6select and stm32_spi6status
*
* Description:
* Called by stm32 spi driver on bus 6.
*
************************************************************************************/
#ifdef CONFIG_STM32H7_SPI6
__EXPORT void stm32_spi6select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
{
ASSERT(PX4_SPI_BUS_ID(devid) == PX4_SPI_BUS_EXTERNAL2);
// Making sure the other peripherals are not selected
for (auto cs : spi6selects_gpio) {
stm32_gpiowrite(cs, 1);
}
// SPI select is active low, so write !selected to select the device
stm32_gpiowrite(spi6selects_gpio[PX4_SPI_DEV_ID(devid)], !selected);
}
__EXPORT uint8_t stm32_spi6status(FAR struct spi_dev_s *dev, uint32_t devid)
{
return SPI_STATUS_PRESENT;
}
#endif // CONFIG_STM32H7_SPI6
/************************************************************************************
* Name: board_spi_reset
*
* Description:
*
*
************************************************************************************/
__EXPORT void board_spi_reset(int ms)
{
// disable SPI bus
for (auto cs : spi1selects_gpio) {
stm32_configgpio(_PIN_OFF(cs));
}
stm32_configgpio(GPIO_SPI1_SCK_OFF);
stm32_configgpio(GPIO_SPI1_MISO_OFF);
stm32_configgpio(GPIO_SPI1_MOSI_OFF);
#if BOARD_USE_DRDY
stm32_configgpio(GPIO_DRDY_OFF_SPI1_DRDY1_ICM20689);
stm32_configgpio(GPIO_DRDY_OFF_SPI1_DRDY2_BMI088_GYRO);
stm32_configgpio(GPIO_DRDY_OFF_SPI1_DRDY3_BMI088_ACC);
stm32_configgpio(GPIO_DRDY_OFF_SPI1_DRDY4_ICM20602);
stm32_configgpio(GPIO_DRDY_OFF_SPI1_DRDY5_BMI088_GYRO);
stm32_configgpio(GPIO_DRDY_OFF_SPI1_DRDY6_BMI088_ACC);
#endif
/* set the sensor rail off */
stm32_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, 0);
/* wait for the sensor rail to reach GND */
usleep(ms * 1000);
syslog(LOG_DEBUG, "reset done, %d ms\n", ms);
/* re-enable power */
/* switch the sensor rail back on */
stm32_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, 1);
/* wait a bit before starting SPI, different times didn't influence results */
usleep(100);
/* reconfigure the SPI pins */
for (auto cs : spi1selects_gpio) {
stm32_configgpio(cs);
}
stm32_configgpio(GPIO_SPI1_SCK);
stm32_configgpio(GPIO_SPI1_MISO);
stm32_configgpio(GPIO_SPI1_MOSI);
#if BOARD_USE_DRDY
stm32_configgpio(GPIO_SPI1_DRDY1_ICM20689);
stm32_configgpio(GPIO_SPI1_DRDY2_BMI055_GYRO);
stm32_configgpio(GPIO_SPI1_DRDY3_BMI055_ACC);
stm32_configgpio(GPIO_SPI1_DRDY4_ICM20602);
stm32_configgpio(GPIO_SPI1_DRDY5_BMI055_GYRO);
stm32_configgpio(GPIO_SPI1_DRDY6_BMI055_ACC);
#endif
}

2
boards/holybro/kakutef7/src/CMakeLists.txt
View File

@@ -32,6 +32,7 @@
############################################################################
add_library(drivers_board
i2c.cpp
init.c
led.c
spi.cpp
@@ -41,6 +42,7 @@ add_library(drivers_board
target_link_libraries(drivers_board
PRIVATE
arch_spi
drivers__led # drv_led_start
nuttx_arch # sdio
nuttx_drivers # sdio

10
boards/holybro/kakutef7/src/board_config.h
View File

@@ -70,6 +70,8 @@
#define PX4_SPI_BUS_OSD 2
#define PX4_SPI_BUS_SENSORS 4
#include <drivers/drv_sensor.h>
/* Define the Chip Selects, Data Ready and Control signals per SPI bus */
#define GPIO_SPI1_CS1_SD_CARD /* PA4 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN4)
@@ -77,7 +79,7 @@
#define PX4_SD_CARD_BUS_CS_GPIO {GPIO_SPI1_CS1_SD_CARD}
#define GPIO_SPI2_CS1_OSD /* PB12 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN12)
#define PX4_SPIDEV_OSD 1
#define PX4_SPIDEV_OSD PX4_MK_SPI_SEL(0,DRV_OSD_DEVTYPE_ATXXXX)
#define PX4_OSD_BUS_CS_GPIO {GPIO_SPI2_CS1_OSD}
@@ -91,8 +93,8 @@
#define GPIO_SPI4_DRDY1_ICM20689 /* PE1 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTE|GPIO_PIN1)
#define PX4_SPIDEV_MPU PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS,0)
#define PX4_SPIDEV_ICM_20689 PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS,0)
#define PX4_SPIDEV_MPU PX4_MK_SPI_SEL(0,DRV_IMU_DEVTYPE_MPU6000)
#define PX4_SPIDEV_ICM_20689 PX4_MK_SPI_SEL(0,DRV_IMU_DEVTYPE_ICM20689)
#define PX4_SENSOR_BUS_CS_GPIO {GPIO_SPI4_CS1_ICM20689}
/* I2C busses */
@@ -206,8 +208,6 @@ __BEGIN_DECLS
extern void stm32_spiinitialize(void);
void board_spi_reset(int ms);
extern void stm32_usbinitialize(void);
extern void board_peripheral_reset(int ms);

39
boards/holybro/kakutef7/src/i2c.cpp Normal file
View File

@@ -0,0 +1,39 @@
/****************************************************************************
*
* Copyright (C) 2020 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include <px4_arch/i2c_hw_description.h>
constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
initI2CBusExternal(1),
};

191
boards/holybro/kakutef7/src/spi.cpp
View File

@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2019 PX4 Development Team. All rights reserved.
* Copyright (C) 2020 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -31,181 +31,22 @@
*
****************************************************************************/
/**
* @file spi.cpp
*
* Board-specific SPI functions.
*/
/************************************************************************************
* Included Files
************************************************************************************/
#include <board_config.h>
#include <stdint.h>
#include <stdbool.h>
#include <debug.h>
#include <unistd.h>
#include <px4_arch/spi_hw_description.h>
#include <drivers/drv_sensor.h>
#include <nuttx/spi/spi.h>
#include <arch/board/board.h>
#include <systemlib/px4_macros.h>
#include <up_arch.h>
#include <chip.h>
#include <stm32_gpio.h>
#include "board_config.h"
constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
initSPIBus(1, {
initSPIDevice(SPIDEV_MMCSD(0), SPI::CS{GPIO::PortA, GPIO::Pin4})
}),
initSPIBus(2, {
initSPIDevice(DRV_OSD_DEVTYPE_ATXXXX, SPI::CS{GPIO::PortB, GPIO::Pin12}),
}),
initSPIBus(4, {
initSPIDevice(DRV_IMU_DEVTYPE_ICM20689, SPI::CS{GPIO::PortE, GPIO::Pin4}, SPI::DRDY{GPIO::PortE, GPIO::Pin1}),
initSPIDevice(DRV_IMU_DEVTYPE_MPU6000, SPI::CS{GPIO::PortE, GPIO::Pin4}, SPI::DRDY{GPIO::PortE, GPIO::Pin1}),
}),
};
/* Define CS GPIO array */
static constexpr uint32_t spi1selects_gpio[] = PX4_SD_CARD_BUS_CS_GPIO;
static constexpr uint32_t spi2selects_gpio[] = PX4_OSD_BUS_CS_GPIO;
static constexpr uint32_t spi4selects_gpio[] = PX4_SENSOR_BUS_CS_GPIO;
static constexpr bool unused = validateSPIConfig(px4_spi_buses);
/************************************************************************************
* Name: stm32_spiinitialize
*
* Description:
* Called to configure SPI chip select GPIO pins for the board.
*
************************************************************************************/
__EXPORT void stm32_spiinitialize()
{
#ifdef CONFIG_STM32F7_SPI1
for (auto gpio : spi1selects_gpio) {
px4_arch_configgpio(gpio);
}
#endif // CONFIG_STM32F7_SPI1
#if defined(CONFIG_STM32F7_SPI2)
for (auto gpio : spi2selects_gpio) {
px4_arch_configgpio(gpio);
}
#endif // CONFIG_STM32F7_SPI2
#ifdef CONFIG_STM32F7_SPI4
for (auto gpio : spi4selects_gpio) {
px4_arch_configgpio(gpio);
}
#endif // CONFIG_STM32F7_SPI4
#ifdef CONFIG_STM32F7_SPI5
for (auto gpio : spi5selects_gpio) {
px4_arch_configgpio(gpio);
}
#endif // CONFIG_STM32F7_SPI5
#ifdef CONFIG_STM32F7_SPI6
for (auto gpio : spi6selects_gpio) {
px4_arch_configgpio(gpio);
}
#endif // CONFIG_STM32F7_SPI6
}
/************************************************************************************
* Name: stm32_spi1select and stm32_spi1status
*
* Description:
* Called by stm32 spi driver on bus 1.
*
************************************************************************************/
#ifdef CONFIG_STM32F7_SPI1
__EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
{
ASSERT(devid == SPIDEV_MMCSD(0));
// Making sure the other peripherals are not selected
for (auto cs : spi1selects_gpio) {
stm32_gpiowrite(cs, 1);
}
// SPI select is active low, so write !selected to select the device
stm32_gpiowrite(spi1selects_gpio[PX4_SPI_DEV_ID(devid)], !selected);
}
__EXPORT uint8_t stm32_spi1status(FAR struct spi_dev_s *dev, uint32_t devid)
{
return SPI_STATUS_PRESENT;
}
#endif // CONFIG_STM32F7_SPI1
/************************************************************************************
* Name: stm32_spi2select and stm32_spi2status
*
* Description:
* Called by stm32 spi driver on bus 2.
*
************************************************************************************/
#if defined(CONFIG_STM32F7_SPI2)
__EXPORT void stm32_spi2select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
{
ASSERT(PX4_SPI_BUS_ID(devid) == PX4_SPI_BUS_OSD);
// Making sure the other peripherals are not selected
for (auto cs : spi2selects_gpio) {
stm32_gpiowrite(cs, 1);
}
// SPI select is active low, so write !selected to select the device
stm32_gpiowrite(spi2selects_gpio[PX4_SPI_DEV_ID(devid)], !selected);
}
__EXPORT uint8_t stm32_spi2status(FAR struct spi_dev_s *dev, uint32_t devid)
{
return SPI_STATUS_PRESENT;
}
#endif // CONFIG_STM32F7_SPI2 && GPIO_SPI2_CS_FRAM
/************************************************************************************
* Name: stm32_spi4select and stm32_spi4status
*
* Description:
* Called by stm32 spi driver on bus 4.
*
************************************************************************************/
#ifdef CONFIG_STM32F7_SPI4
__EXPORT void stm32_spi4select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
{
ASSERT(PX4_SPI_BUS_ID(devid) == PX4_SPI_BUS_SENSORS);
// Making sure the other peripherals are not selected
for (auto cs : spi4selects_gpio) {
stm32_gpiowrite(cs, 1);
}
// SPI select is active low, so write !selected to select the device
stm32_gpiowrite(spi4selects_gpio[PX4_SPI_DEV_ID(devid)], !selected);
}
__EXPORT uint8_t stm32_spi4status(FAR struct spi_dev_s *dev, uint32_t devid)
{
return SPI_STATUS_PRESENT;
}
#endif // CONFIG_STM32F7_SPI4
/************************************************************************************
* Name: board_spi_reset
*
* Description:
*
*
************************************************************************************/
__EXPORT void board_spi_reset(int ms)
{
}

4
boards/intel/aerofc-v1/src/CMakeLists.txt
View File

@@ -33,13 +33,15 @@
############################################################################
add_library(drivers_board
i2c.cpp
init.c
led.c
spi.c
spi.cpp
timer_config.cpp
)
target_link_libraries(drivers_board
PRIVATE
arch_spi
drivers__led # drv_led_start
px4_layer
modules__dataman # dm_flash_sector_description_set # TODO: fix this

4
boards/intel/aerofc-v1/src/board_config.h
View File

@@ -87,9 +87,10 @@
#define PX4_I2C_BUS_EXPANSION1 2
#define PX4_I2C_BUS_ONBOARD 3
#include <drivers/drv_sensor.h>
#define GPIO_SPI_CS_MPU6500 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN4)
#define PX4_SPI_BUS_SENSORS 1
#define PX4_SPIDEV_MPU PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 1)
#define PX4_SPIDEV_MPU PX4_MK_SPI_SEL(0, DRV_IMU_DEVTYPE_MPU9250)
/*
* STM32 ADC channels
@@ -167,7 +168,6 @@ __BEGIN_DECLS
extern void stm32_spiinitialize(void);
#define board_spi_reset(ms)
#define board_peripheral_reset(ms)
/************************************************************************************

40
boards/intel/aerofc-v1/src/i2c.cpp Normal file
View File

@@ -0,0 +1,40 @@
/****************************************************************************
*
* Copyright (C) 2020 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include <px4_arch/i2c_hw_description.h>
constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
initI2CBusExternal(1),
initI2CBusExternal(2),
initI2CBusInternal(3),
};

45
boards/intel/aerofc-v1/src/spi.cpp Normal file
View File

@@ -0,0 +1,45 @@
/****************************************************************************
*
* Copyright (c) 2012-2016 PX4 Development Team. All rights reserved.
* Author: David Sidrane <david_s5@nscdg.com>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include <px4_arch/spi_hw_description.h>
#include <drivers/drv_sensor.h>
#include <nuttx/spi/spi.h>
constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
initSPIBus(1, {
initSPIDevice(DRV_IMU_DEVTYPE_MPU9250, SPI::CS{GPIO::PortA, GPIO::Pin4}),
}),
};
static constexpr bool unused = validateSPIConfig(px4_spi_buses);

2
boards/modalai/fc-v1/src/CMakeLists.txt
View File

@@ -33,6 +33,7 @@
add_library(drivers_board
can.c
i2c.cpp
init.c
led.c
manifest.c
@@ -45,6 +46,7 @@ add_dependencies(drivers_board arch_board_hw_info)
target_link_libraries(drivers_board
PRIVATE
arch_spi
arch_board_hw_info
drivers__led # drv_led_start
nuttx_arch # sdio

14
boards/modalai/fc-v1/src/board_config.h
View File

@@ -181,17 +181,19 @@
#define _PIN_OFF(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz))
#define PX4_SPI_BUS_RAMTRON PX4_SPI_BUS_MEMORY
#define PX4_SPIDEV_ICM_20602 PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS1,0)
#include <drivers/drv_sensor.h>
#define PX4_SPIDEV_ICM_20602 PX4_MK_SPI_SEL(0,DRV_IMU_DEVTYPE_ICM20602)
#define PX4_SENSORS1_BUS_CS_GPIO {GPIO_SPI1_nCS1_ICM20602}
#define PX4_SPIDEV_ICM_42688 PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS2,0)
#define PX4_SPIDEV_ICM_42688 PX4_MK_SPI_SEL(0,DRV_DEVTYPE_UNUSED)
#define PX4_SENSORS2_BUS_CS_GPIO {GPIO_SPI2_nCS1_ICM_42688}
#define PX4_SPIDEV_MEMORY PX4_MK_SPI_SEL(PX4_SPI_BUS_MEMORY,0)
#define PX4_SPIDEV_MEMORY SPIDEV_FLASH(0)
#define PX4_MEMORY_BUS_CS_GPIO {GPIO_SPI5_nCS1_FRAM}
#define PX4_SPIDEV_BMI088_GYR PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS3,0)
#define PX4_SPIDEV_BMI088_ACC PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS3,1)
#define PX4_SPIDEV_BMI088_GYR PX4_MK_SPI_SEL(0,DRV_GYR_DEVTYPE_BMI088)
#define PX4_SPIDEV_BMI088_ACC PX4_MK_SPI_SEL(0,DRV_ACC_DEVTYPE_BMI088)
#define PX4_SENSORS3_BUS_CS_GPIO {GPIO_SPI6_nCS2_BMI088, GPIO_SPI6_nCS1_BMI088}
/* I2C busses */
@@ -451,8 +453,6 @@ int stm32_sdio_initialize(void);
extern void stm32_spiinitialize(void);
void board_spi_reset(int ms);
extern void stm32_usbinitialize(void);
extern void board_peripheral_reset(int ms);

42
boards/modalai/fc-v1/src/i2c.cpp Normal file
View File

@@ -0,0 +1,42 @@
/****************************************************************************
*
* Copyright (C) 2020 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include <px4_arch/i2c_hw_description.h>
constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
initI2CBusExternal(1),
initI2CBusExternal(2),
initI2CBusExternal(3),
initI2CBusInternal(4),
};

479
boards/modalai/fc-v1/src/spi.cpp
View File

@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2019 PX4 Development Team. All rights reserved.
* Copyright (C) 2020 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -31,463 +31,26 @@
*
****************************************************************************/
/**
* @file spi.c
*
* Board-specific SPI functions.
*/
/************************************************************************************
* Included Files
************************************************************************************/
#include <board_config.h>
#include <stdint.h>
#include <stdbool.h>
#include <debug.h>
#include <unistd.h>
#include <px4_arch/spi_hw_description.h>
#include <drivers/drv_sensor.h>
#include <nuttx/spi/spi.h>
#include <arch/board/board.h>
#include <systemlib/px4_macros.h>
#include <up_arch.h>
#include <chip.h>
#include <stm32_gpio.h>
#include "board_config.h"
constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
initSPIBus(1, {
initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
}),
initSPIBus(2, {
// ICM-42688
initSPIDevice(DRV_DEVTYPE_UNUSED, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortH, GPIO::Pin12}),
}),
initSPIBus(5, {
initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
}),
initSPIBus(6, {
initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortI, GPIO::Pin7}),
initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortI, GPIO::Pin6}),
}),
};
static constexpr bool unused = validateSPIConfig(px4_spi_buses);
/* Define CS GPIO array */
#ifdef CONFIG_STM32F7_SPI1
static constexpr uint32_t spi1selects_gpio[] = PX4_SENSORS1_BUS_CS_GPIO;
#endif
#ifdef CONFIG_STM32F7_SPI2
static constexpr uint32_t spi2selects_gpio[] = PX4_SENSORS2_BUS_CS_GPIO;
#endif
#ifdef CONFIG_STM32F7_SPI3
static constexpr uint32_t spi3selects_gpio[] = 0; // Not used
#endif
#ifdef CONFIG_STM32F7_SPI4
static constexpr uint32_t spi4selects_gpio[] = 0; // Not used
#endif
#ifdef CONFIG_STM32F7_SPI5
static constexpr uint32_t spi5selects_gpio[] = PX4_MEMORY_BUS_CS_GPIO;
#endif
#ifdef CONFIG_STM32F7_SPI6
static constexpr uint32_t spi6selects_gpio[] = PX4_SENSORS3_BUS_CS_GPIO;
#endif
/************************************************************************************
* Name: stm32_spiinitialize
*
* Description:
* Called to configure SPI chip select GPIO pins for the PX4FMU board.
*
************************************************************************************/
__EXPORT void stm32_spiinitialize()
{
#ifdef CONFIG_STM32F7_SPI1
for (auto gpio : spi1selects_gpio) {
px4_arch_configgpio(gpio);
}
#endif // CONFIG_STM32F7_SPI1
#if defined(CONFIG_STM32F7_SPI2)
for (auto gpio : spi2selects_gpio) {
px4_arch_configgpio(gpio);
}
#endif // CONFIG_STM32F7_SPI2
#if defined(CONFIG_STM32F7_SPI3)
for (auto gpio : spi3selects_gpio) {
px4_arch_configgpio(gpio);
}
#endif // CONFIG_STM32F7_SPI3
#ifdef CONFIG_STM32F7_SPI4
for (auto gpio : spi4selects_gpio) {
px4_arch_configgpio(gpio);
}
#endif // CONFIG_STM32F7_SPI4
#ifdef CONFIG_STM32F7_SPI5
for (auto gpio : spi5selects_gpio) {
px4_arch_configgpio(gpio);
}
#endif // CONFIG_STM32F7_SPI5
#ifdef CONFIG_STM32F7_SPI6
for (auto gpio : spi6selects_gpio) {
px4_arch_configgpio(gpio);
}
#endif // CONFIG_STM32F7_SPI6
}
/************************************************************************************
* Name: stm32_spi1select and stm32_spi1status
*
* Description:
* Called by stm32 spi driver on bus 1.
*
************************************************************************************/
#ifdef CONFIG_STM32F7_SPI1
__EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
{
ASSERT(PX4_SPI_BUS_ID(devid) == PX4_SPI_BUS_SENSORS1);
// Making sure the other peripherals are not selected
for (auto cs : spi1selects_gpio) {
stm32_gpiowrite(cs, 1);
}
// SPI select is active low, so write !selected to select the device
stm32_gpiowrite(spi1selects_gpio[PX4_SPI_DEV_ID(devid)], !selected);
}
__EXPORT uint8_t stm32_spi1status(FAR struct spi_dev_s *dev, uint32_t devid)
{
return SPI_STATUS_PRESENT;
}
#endif // CONFIG_STM32F7_SPI1
/************************************************************************************
* Name: stm32_spi2select and stm32_spi2status
*
* Description:
* Called by stm32 spi driver on bus 2.
*
************************************************************************************/
#if defined(CONFIG_STM32F7_SPI2)
__EXPORT void stm32_spi2select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
{
ASSERT(PX4_SPI_BUS_ID(devid) == PX4_SPI_BUS_SENSORS2);
// Making sure the other peripherals are not selected
for (auto cs : spi2selects_gpio) {
stm32_gpiowrite(cs, 1);
}
// SPI select is active low, so write !selected to select the device
stm32_gpiowrite(spi2selects_gpio[PX4_SPI_DEV_ID(devid)], !selected);
}
__EXPORT uint8_t stm32_spi2status(FAR struct spi_dev_s *dev, uint32_t devid)
{
return SPI_STATUS_PRESENT;
}
#endif // CONFIG_STM32F7_SPI2
/************************************************************************************
* Name: stm32_spi3select and stm32_spi3status
*
* Description:
* Called by stm32 spi driver on bus 3.
*
************************************************************************************/
#if defined(CONFIG_STM32F7_SPI3)
__EXPORT void stm32_spi3select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
{
ASSERT(PX4_SPI_BUS_ID(devid) == PX4_SPI_BUS_SENSORS3);
// Making sure the other peripherals are not selected
for (auto cs : spi3selects_gpio) {
stm32_gpiowrite(cs, 1);
}
// SPI select is active low, so write !selected to select the device
stm32_gpiowrite(spi3selects_gpio[PX4_SPI_DEV_ID(devid)], !selected);
}
__EXPORT uint8_t stm32_spi3status(FAR struct spi_dev_s *dev, uint32_t devid)
{
return SPI_STATUS_PRESENT;
}
#endif // CONFIG_STM32F7_SPI3
/************************************************************************************
* Name: stm32_spi4select and stm32_spi4status
*
* Description:
* Called by stm32 spi driver on bus 4.
*
************************************************************************************/
#ifdef CONFIG_STM32F7_SPI4
__EXPORT void stm32_spi4select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
{
ASSERT(PX4_SPI_BUS_ID(devid) == PX4_SPI_BUS_SENSORS3);
// Making sure the other peripherals are not selected
for (auto cs : spi4selects_gpio) {
stm32_gpiowrite(cs, 1);
}
// SPI select is active low, so write !selected to select the device
stm32_gpiowrite(spi4selects_gpio[PX4_SPI_DEV_ID(devid)], !selected);
}
__EXPORT uint8_t stm32_spi4status(FAR struct spi_dev_s *dev, uint32_t devid)
{
return SPI_STATUS_PRESENT;
}
#endif // CONFIG_STM32F7_SPI4
/************************************************************************************
* Name: stm32_spi5select and stm32_spi5status
*
* Description:
* Called by stm32 spi driver on bus 5.
*
************************************************************************************/
#ifdef CONFIG_STM32F7_SPI5
__EXPORT void stm32_spi5select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
{
if (devid == SPIDEV_FLASH(0)) {
devid = PX4_SPIDEV_MEMORY;
}
ASSERT(PX4_SPI_BUS_ID(devid) == PX4_SPI_BUS_MEMORY);
// Making sure the other peripherals are not selected
for (auto cs : spi5selects_gpio) {
stm32_gpiowrite(cs, 1);
}
// SPI select is active low, so write !selected to select the device
stm32_gpiowrite(spi5selects_gpio[PX4_SPI_DEV_ID(devid)], !selected);
}
__EXPORT uint8_t stm32_spi5status(FAR struct spi_dev_s *dev, uint32_t devid)
{
return SPI_STATUS_PRESENT;
}
#endif // CONFIG_STM32F7_SPI5
/************************************************************************************
* Name: stm32_spi6select and stm32_spi6status
*
* Description:
* Called by stm32 spi driver on bus 6.
*
************************************************************************************/
#ifdef CONFIG_STM32F7_SPI6
__EXPORT void stm32_spi6select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
{
ASSERT(PX4_SPI_BUS_ID(devid) == PX4_SPI_BUS_SENSORS3);
// Making sure the other peripherals are not selected
for (auto cs : spi6selects_gpio) {
stm32_gpiowrite(cs, 1);
}
// SPI select is active low, so write !selected to select the device
stm32_gpiowrite(spi6selects_gpio[PX4_SPI_DEV_ID(devid)], !selected);
}
__EXPORT uint8_t stm32_spi6status(FAR struct spi_dev_s *dev, uint32_t devid)
{
return SPI_STATUS_PRESENT;
}
#endif // CONFIG_STM32F7_SPI6
/************************************************************************************
* Name: board_spi_reset
*
* Description:
* TODO:Add 4 bit MASK active LOW for Bus 1-4
*
************************************************************************************/
__EXPORT void board_spi_reset(int mask_ms)
{
int ms = mask_ms & 0x00ffffff;
int mask = ((mask_ms & 0xff000000) >> 24) ^ 0xff;
// disable SPI bus
#ifdef CONFIG_STM32F7_SPI1
if (mask & 1) {
for (auto cs : spi1selects_gpio) {
stm32_configgpio(_PIN_OFF(cs));
}
stm32_configgpio(GPIO_SPI1_SCK_OFF);
stm32_configgpio(GPIO_SPI1_MISO_OFF);
stm32_configgpio(GPIO_SPI1_MOSI_OFF);
#if BOARD_USE_DRDY
stm32_configgpio(GPIO_DRDY_OFF_SPI1_DRDY1_ICM20602);
#endif
/* set the sensor rail off */
// NA, not controlling rails in ModalAI FC-v1
}
#endif
#ifdef CONFIG_STM32F7_SPI2
if (mask & 2) {
for (auto cs : spi2selects_gpio) {
stm32_configgpio(_PIN_OFF(cs));
}
stm32_configgpio(GPIO_SPI2_SCK_OFF);
stm32_configgpio(GPIO_SPI2_MISO_OFF);
stm32_configgpio(GPIO_SPI2_MOSI_OFF);
#if BOARD_USE_DRDY
stm32_configgpio(GPIO_DRDY_OFF_SPI2_DRDY1_ISM330);
#endif
/* set the sensor rail off */
// NA, not controlling rails in ModalAI FC-v1
}
#endif
#ifdef CONFIG_STM32F7_SPI3
if (mask & 4) {
for (auto cs : spi3selects_gpio) {
stm32_configgpio(_PIN_OFF(cs));
}
stm32_configgpio(GPIO_SPI3_SCK_OFF);
stm32_configgpio(GPIO_SPI3_MISO_OFF);
stm32_configgpio(GPIO_SPI3_MOSI_OFF);
#if BOARD_USE_DRDY
stm32_configgpio(GPIO_DRDY_OFF_SPI3_DRDY1_BMI088);
stm32_configgpio(GPIO_DRDY_OFF_SPI3_DRDY2_BMI088);
#endif
/* set the sensor rail off */
// NA, not controlling rails in ModalAI FC-v1
}
#endif
#ifdef CONFIG_STM32F7_SPI4
if (mask & 8) {
for (auto cs : spi4selects_gpio) {
stm32_configgpio(_PIN_OFF(cs));
}
stm32_configgpio(GPIO_SPI4_SCK_OFF);
stm32_configgpio(GPIO_SPI4_MISO_OFF);
stm32_configgpio(GPIO_SPI4_MOSI_OFF);
#if BOARD_USE_DRDY
stm32_configgpio(GPIO_DRDY_OFF_SPI4_DRDY1_BMM150);
#endif
/* set the sensor rail off */
// NA, not controlling rails in ModalAI FC-v1
}
#endif
/* wait for the sensor rail to reach GND */
usleep(ms * 1000);
syslog(LOG_DEBUG, "reset done, %d ms\n", ms);
/* re-enable power */
// NA, not controlling rails in ModalAI FC-v1
/* wait a bit before starting SPI, different times didn't influence results */
usleep(100);
#ifdef CONFIG_STM32F7_SPI1
if (mask & 1) {
/* reconfigure the SPI pins */
for (auto cs : spi1selects_gpio) {
stm32_configgpio(cs);
}
stm32_configgpio(GPIO_SPI1_SCK);
stm32_configgpio(GPIO_SPI1_MISO);
stm32_configgpio(GPIO_SPI1_MOSI);
#if BOARD_USE_DRDY
stm32_configgpio(GPIO_SPI1_DRDY1_ICM20602);
#endif
}
#endif
#ifdef CONFIG_STM32F7_SPI2
if (mask & 2) {
/* reconfigure the SPI pins */
for (auto cs : spi2selects_gpio) {
stm32_configgpio(cs);
}
stm32_configgpio(GPIO_SPI2_SCK);
stm32_configgpio(GPIO_SPI2_MISO);
stm32_configgpio(GPIO_SPI2_MOSI);
#if BOARD_USE_DRDY
stm32_configgpio(GPIO_SPI2_DRDY1_ISM330);
#endif
}
#endif
#ifdef CONFIG_STM32F7_SPI3
if (mask & 4) {
/* reconfigure the SPI pins */
for (auto cs : spi3selects_gpio) {
stm32_configgpio(cs);
}
stm32_configgpio(GPIO_SPI3_SCK);
stm32_configgpio(GPIO_SPI3_MISO);
stm32_configgpio(GPIO_SPI3_MOSI);
#if BOARD_USE_DRDY
stm32_configgpio(GPIO_SPI3_DRDY1_BMI088);
stm32_configgpio(GPIO_SPI3_DRDY2_BMI088);
#endif
}
#endif
#ifdef CONFIG_STM32F7_SPI4
if (mask & 8) {
/* reconfigure the SPI pins */
for (auto cs : spi4selects_gpio) {
stm32_configgpio(cs);
}
stm32_configgpio(GPIO_SPI4_SCK);
stm32_configgpio(GPIO_SPI4_MISO);
stm32_configgpio(GPIO_SPI4_MOSI);
#if BOARD_USE_DRDY
stm32_configgpio(GPIO_SPI4_DRDY1_BMM150);
#endif
}
#endif
}

2
boards/mro/ctrl-zero-f7/src/CMakeLists.txt
View File

@@ -33,6 +33,7 @@
add_library(drivers_board
init.c
i2c.cpp
led.c
sdio.c
spi.cpp
@@ -42,6 +43,7 @@ add_library(drivers_board
target_link_libraries(drivers_board
PRIVATE
arch_spi
drivers__led # drv_led_start
nuttx_arch # sdio
nuttx_drivers # sdio

18
boards/mro/ctrl-zero-f7/src/board_config.h
View File

@@ -103,16 +103,17 @@
#define PX4_SPI_BUS_RAMTRON PX4_SPI_BUS_2
/* ^ END Legacy SPI defines TODO: fix this with enumeration */
#define PX4_SPIDEV_ICM_20602 PX4_MK_SPI_SEL(PX4_SPI_BUS_1,0)
#define PX4_SPIDEV_ICM_20948 PX4_MK_SPI_SEL(PX4_SPI_BUS_1,1)
#include <drivers/drv_sensor.h>
#define PX4_SPIDEV_ICM_20602 PX4_MK_SPI_SEL(0,DRV_IMU_DEVTYPE_ICM20602)
#define PX4_SPIDEV_ICM_20948 PX4_MK_SPI_SEL(0,DRV_DEVTYPE_UNUSED)
#define PX4_SPI_BUS_1_CS_GPIO {GPIO_SPI1_CS1_ICM20602, GPIO_SPI1_CS2_ICM20948}
#define PX4_SPIDEV_MEMORY PX4_MK_SPI_SEL(PX4_SPI_BUS_2,0)
#define PX4_SPIDEV_BARO PX4_MK_SPI_SEL(PX4_SPI_BUS_2,1)
#define PX4_SPIDEV_MEMORY SPIDEV_FLASH(0)
#define PX4_SPIDEV_BARO PX4_MK_SPI_SEL(0,DRV_DEVTYPE_DPS310)
#define PX4_SPI_BUS_2_CS_GPIO {GPIO_SPI2_CS1_FRAM, GPIO_SPI2_CS2_BARO}
#define PX4_SPIDEV_BMI088_ACC PX4_MK_SPI_SEL(PX4_SPI_BUS_5,0)
#define PX4_SPIDEV_BMI088_GYR PX4_MK_SPI_SEL(PX4_SPI_BUS_5,1)
#define PX4_SPIDEV_BMI088_ACC PX4_MK_SPI_SEL(0,DRV_ACC_DEVTYPE_BMI088)
#define PX4_SPIDEV_BMI088_GYR PX4_MK_SPI_SEL(0,DRV_GYR_DEVTYPE_BMI088)
#define PX4_SPI_BUS_5_CS_GPIO {GPIO_SPI5_CS1_BMI088_ACCEL, GPIO_SPI5_CS2_BMI088_GYRO}
@@ -176,12 +177,10 @@
#define GPIO_nVDD_BRICK1_VALID GPIO_nPOWER_IN_A /* Brick 1 Is Chosen */
#define BOARD_NUMBER_BRICKS 1
#define GPIO_VDD_3V3_SENSORS_EN /* PE3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN3)
#define GPIO_VDD_3V3_SPEKTRUM_POWER_EN /* PE4 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN4)
/* Define True logic Power Control in arch agnostic form */
#define VDD_3V3_SENSORS_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, (on_true))
#define VDD_3V3_SPEKTRUM_POWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SPEKTRUM_POWER_EN, (on_true))
#define READ_VDD_3V3_SPEKTRUM_POWER_EN() px4_arch_gpioread(GPIO_VDD_3V3_SPEKTRUM_POWER_EN)
@@ -260,7 +259,6 @@
GPIO_CAN1_RX, \
GPIO_CAN1_SILENT_S0, \
GPIO_nPOWER_IN_A, \
GPIO_VDD_3V3_SENSORS_EN, \
GPIO_VDD_3V3_SPEKTRUM_POWER_EN, \
GPIO_TONE_ALARM_IDLE, \
GPIO_SAFETY_SWITCH_IN, \
@@ -298,8 +296,6 @@ int stm32_sdio_initialize(void);
extern void stm32_spiinitialize(void);
void board_spi_reset(int ms);
extern void stm32_usbinitialize(void);
extern void board_peripheral_reset(int ms);

39
boards/mro/ctrl-zero-f7/src/i2c.cpp Normal file
View File

@@ -0,0 +1,39 @@
/****************************************************************************
*
* Copyright (C) 2020 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include <px4_arch/i2c_hw_description.h>
constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
initI2CBusExternal(1),
};

6
boards/mro/ctrl-zero-f7/src/init.c
View File

@@ -101,7 +101,7 @@ __END_DECLS
__EXPORT void board_peripheral_reset(int ms)
{
/* set the peripheral rails off */
VDD_3V3_SENSORS_EN(false);
board_control_spi_sensors_power(false, 0xffff);
bool last = READ_VDD_3V3_SPEKTRUM_POWER_EN();
/* Keep Spektum on to discharge rail*/
@@ -115,7 +115,7 @@ __EXPORT void board_peripheral_reset(int ms)
/* switch the peripheral rail back on */
VDD_3V3_SPEKTRUM_POWER_EN(last);
VDD_3V3_SENSORS_EN(true);
board_control_spi_sensors_power(true, 0xffff);
}
/************************************************************************************
@@ -198,7 +198,7 @@ stm32_boardinitialize(void)
__EXPORT int board_app_initialize(uintptr_t arg)
{
/* Power on Interfaces */
VDD_3V3_SENSORS_EN(true);
board_control_spi_sensors_power(true, 0xffff);
VDD_3V3_SPEKTRUM_POWER_EN(true);
px4_platform_init();

247
boards/mro/ctrl-zero-f7/src/spi.cpp
View File

@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2019 PX4 Development Team. All rights reserved.
* Copyright (C) 2020 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -31,234 +31,25 @@
*
****************************************************************************/
/**
* @file spi.cpp
*
* Board-specific SPI functions.
*/
/************************************************************************************
* Included Files
************************************************************************************/
#include <board_config.h>
#include <stdint.h>
#include <stdbool.h>
#include <debug.h>
#include <unistd.h>
#include <px4_arch/spi_hw_description.h>
#include <drivers/drv_sensor.h>
#include <nuttx/spi/spi.h>
#include <arch/board/board.h>
#include <systemlib/px4_macros.h>
#include <up_arch.h>
#include <chip.h>
#include <stm32_gpio.h>
#include "board_config.h"
constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
initSPIBus(1, {
initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortC, GPIO::Pin2}, SPI::DRDY{GPIO::PortD, GPIO::Pin15}),
// ICM-20948
initSPIDevice(DRV_DEVTYPE_UNUSED, SPI::CS{GPIO::PortE, GPIO::Pin15}, SPI::DRDY{GPIO::PortE, GPIO::Pin12}),
}, {GPIO::PortE, GPIO::Pin3}),
initSPIBus(2, {
initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortD, GPIO::Pin10}),
initSPIDevice(DRV_DEVTYPE_DPS310, SPI::CS{GPIO::PortD, GPIO::Pin7}),
}),
initSPIBus(5, {
initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortF, GPIO::Pin10}, SPI::DRDY{GPIO::PortF, GPIO::Pin3}),
initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortF, GPIO::Pin6}, SPI::DRDY{GPIO::PortF, GPIO::Pin1}),
}, {GPIO::PortE, GPIO::Pin3}),
};
/* Define CS GPIO array */
static constexpr uint32_t spi1selects_gpio[] = PX4_SPI_BUS_1_CS_GPIO;
static constexpr uint32_t spi2selects_gpio[] = PX4_SPI_BUS_2_CS_GPIO;
static constexpr uint32_t spi5selects_gpio[] = PX4_SPI_BUS_5_CS_GPIO;
static constexpr bool unused = validateSPIConfig(px4_spi_buses);
/************************************************************************************
* Name: stm32_spiinitialize
*
* Description:
* Called to configure SPI chip select GPIO pins for the PX4FMU board.
*
************************************************************************************/
__EXPORT void stm32_spiinitialize()
{
#ifdef CONFIG_STM32F7_SPI1
for (auto gpio : spi1selects_gpio) {
px4_arch_configgpio(gpio);
}
#endif // CONFIG_STM32F7_SPI1
#if defined(CONFIG_STM32F7_SPI2)
for (auto gpio : spi2selects_gpio) {
px4_arch_configgpio(gpio);
}
#endif // CONFIG_STM32F7_SPI2
#ifdef CONFIG_STM32F7_SPI5
for (auto gpio : spi5selects_gpio) {
px4_arch_configgpio(gpio);
}
#endif // CONFIG_STM32F7_SPI5
}
/************************************************************************************
* Name: stm32_spi1select and stm32_spi1status
*
* Description:
* Called by stm32 spi driver on bus 1.
*
************************************************************************************/
#ifdef CONFIG_STM32F7_SPI1
__EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
{
ASSERT(PX4_SPI_BUS_ID(devid) == PX4_SPI_BUS_1);
// Making sure the other peripherals are not selected
for (auto cs : spi1selects_gpio) {
stm32_gpiowrite(cs, 1);
}
// SPI select is active low, so write !selected to select the device
stm32_gpiowrite(spi1selects_gpio[PX4_SPI_DEV_ID(devid)], !selected);
}
__EXPORT uint8_t stm32_spi1status(FAR struct spi_dev_s *dev, uint32_t devid)
{
return SPI_STATUS_PRESENT;
}
#endif // CONFIG_STM32F7_SPI1
/************************************************************************************
* Name: stm32_spi2select and stm32_spi2status
*
* Description:
* Called by stm32 spi driver on bus 2.
*
************************************************************************************/
#if defined(CONFIG_STM32F7_SPI2)
__EXPORT void stm32_spi2select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
{
if (devid == SPIDEV_FLASH(0)) {
devid = PX4_SPIDEV_MEMORY;
}
ASSERT(PX4_SPI_BUS_ID(devid) == PX4_SPI_BUS_2);
// Making sure the other peripherals are not selected
for (auto cs : spi2selects_gpio) {
stm32_gpiowrite(cs, 1);
}
// SPI select is active low, so write !selected to select the device
stm32_gpiowrite(spi2selects_gpio[PX4_SPI_DEV_ID(devid)], !selected);
}
__EXPORT uint8_t stm32_spi2status(FAR struct spi_dev_s *dev, uint32_t devid)
{
return SPI_STATUS_PRESENT;
}
#endif // CONFIG_STM32F7_SPI2 && GPIO_SPI2_CS_FRAM
/************************************************************************************
* Name: stm32_spi5select and stm32_spi5status
*
* Description:
* Called by stm32 spi driver on bus 5.
*
************************************************************************************/
#ifdef CONFIG_STM32F7_SPI5
__EXPORT void stm32_spi5select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
{
ASSERT(PX4_SPI_BUS_ID(devid) == PX4_SPI_BUS_5);
// Making sure the other peripherals are not selected
for (auto cs : spi5selects_gpio) {
stm32_gpiowrite(cs, 1);
}
// SPI select is active low, so write !selected to select the device
stm32_gpiowrite(spi5selects_gpio[PX4_SPI_DEV_ID(devid)], !selected);
}
__EXPORT uint8_t stm32_spi5status(FAR struct spi_dev_s *dev, uint32_t devid)
{
return SPI_STATUS_PRESENT;
}
#endif // CONFIG_STM32F7_SPI5
/************************************************************************************
* Name: board_spi_reset
*
* Description:
*
*
************************************************************************************/
__EXPORT void board_spi_reset(int ms)
{
// disable SPI bus
// SPI1
for (auto cs : spi1selects_gpio) {
stm32_configgpio(_PIN_OFF(cs));
}
stm32_configgpio(_PIN_OFF(GPIO_SPI1_SCK));
stm32_configgpio(_PIN_OFF(GPIO_SPI1_MISO));
stm32_configgpio(_PIN_OFF(GPIO_SPI1_MOSI));
stm32_configgpio(_PIN_OFF(GPIO_SPI1_DRDY1_ICM20602));
stm32_configgpio(_PIN_OFF(GPIO_SPI1_DRDY2_ICM20948));
// SPI5
for (auto cs : spi5selects_gpio) {
stm32_configgpio(_PIN_OFF(cs));
}
stm32_configgpio(_PIN_OFF(GPIO_SPI5_SCK));
stm32_configgpio(_PIN_OFF(GPIO_SPI5_MISO));
stm32_configgpio(_PIN_OFF(GPIO_SPI5_MOSI));
stm32_configgpio(_PIN_OFF(GPIO_DRDY_BMI088_INT1_ACCEL));
stm32_configgpio(_PIN_OFF(GPIO_DRDY_BMI088_INT2_ACCEL));
stm32_configgpio(_PIN_OFF(GPIO_DRDY_BMI088_INT3_GYRO));
stm32_configgpio(_PIN_OFF(GPIO_DRDY_BMI088_INT4_GYRO));
/* set the sensor rail off */
stm32_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, 0);
/* wait for the sensor rail to reach GND */
usleep(ms * 1000);
syslog(LOG_DEBUG, "reset done, %d ms\n", ms);
/* re-enable power */
/* switch the sensor rail back on */
stm32_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, 1);
/* wait a bit before starting SPI, different times didn't influence results */
usleep(100);
/* reconfigure the SPI pins */
// SPI1
for (auto cs : spi1selects_gpio) {
stm32_configgpio(cs);
}
stm32_configgpio(GPIO_SPI1_SCK);
stm32_configgpio(GPIO_SPI1_MISO);
stm32_configgpio(GPIO_SPI1_MOSI);
stm32_configgpio(GPIO_SPI1_DRDY1_ICM20602);
stm32_configgpio(GPIO_SPI1_DRDY2_ICM20948);
// SPI5
for (auto cs : spi5selects_gpio) {
stm32_configgpio(cs);
}
stm32_configgpio(GPIO_SPI5_SCK);
stm32_configgpio(GPIO_SPI5_MISO);
stm32_configgpio(GPIO_SPI5_MOSI);
stm32_configgpio(GPIO_DRDY_BMI088_INT1_ACCEL);
stm32_configgpio(GPIO_DRDY_BMI088_INT2_ACCEL);
stm32_configgpio(GPIO_DRDY_BMI088_INT3_GYRO);
stm32_configgpio(GPIO_DRDY_BMI088_INT4_GYRO);
}

2
boards/mro/x21-777/src/CMakeLists.txt
View File

@@ -33,6 +33,7 @@
add_library(drivers_board
init.c
i2c.cpp
led.c
sdio.c
spi.cpp
@@ -43,6 +44,7 @@ add_dependencies(drivers_board arch_board_hw_info)
target_link_libraries(drivers_board
PRIVATE
arch_spi
arch_board_hw_info
drivers__led # drv_led_start
nuttx_arch # sdio

11
boards/mro/x21-777/src/board_config.h
View File

@@ -107,10 +107,11 @@
#define PX4_SPI_BUS_BARO PX4_SPI_BUS_SENSORS
/* Use these in place of the uint32_t enumeration to select a specific SPI device on SPI1 */
#define PX4_SPIDEV_ICM_20602 PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 1)
#define PX4_SPIDEV_ICM_20608 PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 2)
#define PX4_SPIDEV_BARO PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 3)
#define PX4_SPIDEV_MPU PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 4)
#include <drivers/drv_sensor.h>
#define PX4_SPIDEV_ICM_20602 PX4_MK_SPI_SEL(0, DRV_IMU_DEVTYPE_ICM20602)
#define PX4_SPIDEV_ICM_20608 PX4_MK_SPI_SEL(0, DRV_IMU_DEVTYPE_ICM20608)
#define PX4_SPIDEV_BARO PX4_MK_SPI_SEL(0, DRV_BARO_DEVTYPE_MS5611)
#define PX4_SPIDEV_MPU PX4_MK_SPI_SEL(0, DRV_IMU_DEVTYPE_MPU9250)
/* I2C busses */
@@ -219,7 +220,7 @@ int stm32_sdio_initialize(void);
extern void stm32_spiinitialize(void);
void board_spi_reset(int ms);
extern void board_peripheral_reset(int ms);
extern void stm32_usbinitialize(void);

39
boards/mro/x21-777/src/i2c.cpp Normal file
View File

@@ -0,0 +1,39 @@
/****************************************************************************
*
* Copyright (C) 2020 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include <px4_arch/i2c_hw_description.h>
constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
initI2CBusExternal(1),
};

176
boards/mro/x21-777/src/spi.cpp
View File

@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2019 PX4 Development Team. All rights reserved.
* Copyright (C) 2020 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -31,167 +31,21 @@
*
****************************************************************************/
/**
* @file spi.cpp
*
* Board-specific SPI functions.
*/
/************************************************************************************
* Included Files
************************************************************************************/
#include <board_config.h>
#include <stdint.h>
#include <stdbool.h>
#include <debug.h>
#include <unistd.h>
#include <px4_arch/spi_hw_description.h>
#include <drivers/drv_sensor.h>
#include <nuttx/spi/spi.h>
#include <arch/board/board.h>
#include <systemlib/px4_macros.h>
#include <up_arch.h>
#include <chip.h>
#include <stm32_gpio.h>
#include "board_config.h"
constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
initSPIBus(1, {
initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortC, GPIO::Pin15}, SPI::DRDY{GPIO::PortC, GPIO::Pin14}),
initSPIDevice(DRV_IMU_DEVTYPE_ICM20608, SPI::CS{GPIO::PortC, GPIO::Pin15}, SPI::DRDY{GPIO::PortC, GPIO::Pin14}),
initSPIDevice(DRV_BARO_DEVTYPE_MS5611, SPI::CS{GPIO::PortD, GPIO::Pin7}),
initSPIDevice(DRV_IMU_DEVTYPE_MPU9250, SPI::CS{GPIO::PortC, GPIO::Pin2}, SPI::DRDY{GPIO::PortD, GPIO::Pin15}),
}),
initSPIBus(2, {
initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortD, GPIO::Pin10}),
}),
};
/************************************************************************************
* Name: stm32_spiinitialize
*
* Description:
* Called to configure SPI chip select GPIO pins for the PX4FMU board.
*
************************************************************************************/
static constexpr bool unused = validateSPIConfig(px4_spi_buses);
__EXPORT void stm32_spiinitialize(void)
{
#ifdef CONFIG_STM32F7_SPI1
px4_arch_configgpio(GPIO_SPI_CS_ICM_2060X);
px4_arch_configgpio(GPIO_SPI_CS_BARO);
px4_arch_configgpio(GPIO_SPI_CS_MPU);
px4_arch_configgpio(GPIO_EXTI_MPU_DRDY);
px4_arch_configgpio(GPIO_EXTI_ICM_2060X_DRDY);
#endif /* CONFIG_STM32F7_SPI1 */
#ifdef CONFIG_STM32F7_SPI2
px4_arch_configgpio(GPIO_SPI_CS_FRAM);
#endif /* CONFIG_STM32F7_SPI2 */
}
__EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
{
/* SPI select is active low, so write !selected to select the device */
switch (devid) {
/* intended fallthrough */
case PX4_SPIDEV_ICM_20602:
/* intended fallthrough */
case PX4_SPIDEV_ICM_20608:
/* Making sure the other peripherals are not selected */
px4_arch_gpiowrite(GPIO_SPI_CS_ICM_2060X, !selected);
px4_arch_gpiowrite(GPIO_SPI_CS_BARO, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_MPU, 1);
break;
case PX4_SPIDEV_BARO:
/* Making sure the other peripherals are not selected */
px4_arch_gpiowrite(GPIO_SPI_CS_ICM_2060X, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_BARO, !selected);
px4_arch_gpiowrite(GPIO_SPI_CS_MPU, 1);
break;
case PX4_SPIDEV_MPU:
/* Making sure the other peripherals are not selected */
px4_arch_gpiowrite(GPIO_SPI_CS_ICM_2060X, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_BARO, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_MPU, !selected);
break;
default:
break;
}
}
__EXPORT uint8_t stm32_spi1status(FAR struct spi_dev_s *dev, uint32_t devid)
{
return SPI_STATUS_PRESENT;
}
#ifdef CONFIG_STM32F7_SPI2
__EXPORT void stm32_spi2select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
{
/* there can only be one device on this bus, so always select it */
px4_arch_gpiowrite(GPIO_SPI_CS_FRAM, !selected);
}
__EXPORT uint8_t stm32_spi2status(FAR struct spi_dev_s *dev, uint32_t devid)
{
/* FRAM is always present */
return SPI_STATUS_PRESENT;
}
#endif /* CONFIG_STM32F7_SPI2 */
__EXPORT void board_spi_reset(int ms)
{
/* disable SPI bus */
px4_arch_configgpio(GPIO_SPI_CS_ICM_2060X_OFF);
px4_arch_configgpio(GPIO_SPI_CS_BARO_OFF);
px4_arch_configgpio(GPIO_SPI_CS_MPU_OFF);
px4_arch_gpiowrite(GPIO_SPI_CS_ICM_2060X_OFF, 0);
px4_arch_gpiowrite(GPIO_SPI_CS_BARO_OFF, 0);
px4_arch_gpiowrite(GPIO_SPI_CS_MPU_OFF, 0);
px4_arch_configgpio(GPIO_SPI1_SCK_OFF);
px4_arch_configgpio(GPIO_SPI1_MISO_OFF);
px4_arch_configgpio(GPIO_SPI1_MOSI_OFF);
px4_arch_gpiowrite(GPIO_SPI1_SCK_OFF, 0);
px4_arch_gpiowrite(GPIO_SPI1_MISO_OFF, 0);
px4_arch_gpiowrite(GPIO_SPI1_MOSI_OFF, 0);
px4_arch_configgpio(GPIO_EXTI_ICM_2060X_DRDY_OFF);
px4_arch_configgpio(GPIO_EXTI_MPU_DRDY_OFF);
px4_arch_gpiowrite(GPIO_EXTI_ICM_2060X_DRDY_OFF, 0);
px4_arch_gpiowrite(GPIO_EXTI_MPU_DRDY_OFF, 0);
/* set the sensor rail off */
px4_arch_configgpio(GPIO_VDD_3V3_SENSORS_EN);
px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, 0);
/* wait for the sensor rail to reach GND */
usleep(ms * 1000);
syslog(LOG_DEBUG, "reset done, %d ms\n", ms);
/* re-enable power */
/* switch the sensor rail back on */
px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, 1);
/* wait a bit before starting SPI, different times didn't influence results */
usleep(100);
/* reconfigure the SPI pins */
#ifdef CONFIG_STM32F7_SPI1
px4_arch_configgpio(GPIO_SPI_CS_ICM_2060X);
px4_arch_configgpio(GPIO_SPI_CS_BARO);
px4_arch_configgpio(GPIO_SPI_CS_MPU);
px4_arch_configgpio(GPIO_SPI1_SCK);
px4_arch_configgpio(GPIO_SPI1_MISO);
px4_arch_configgpio(GPIO_SPI1_MOSI);
// // XXX bring up the EXTI pins again
// px4_arch_configgpio(GPIO_EXTI_MPU_DRDY);
// px4_arch_configgpio(GPIO_EXTI_ICM_2060X_DRDY);
#endif /* CONFIG_STM32F7_SPI1 */
}

4
boards/mro/x21/src/CMakeLists.txt
View File

@@ -33,14 +33,16 @@
add_library(drivers_board
can.c
i2c.cpp
init.c
led.c
spi.c
spi.cpp
timer_config.cpp
usb.c
)
target_link_libraries(drivers_board
PRIVATE
arch_spi
drivers__led # drv_led_start
nuttx_arch # sdio
nuttx_drivers # sdio

17
boards/mro/x21/src/board_config.h
View File

@@ -105,10 +105,11 @@
#define PX4_SPI_BUS_BARO PX4_SPI_BUS_SENSORS
/* Use these in place of the uint32_t enumeration to select a specific SPI device on SPI1 */
#define PX4_SPIDEV_ICM_20602 PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 1)
#define PX4_SPIDEV_ICM_20608 PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 2)
#define PX4_SPIDEV_BARO PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 3)
#define PX4_SPIDEV_MPU PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 4)
#include <drivers/drv_sensor.h>
#define PX4_SPIDEV_ICM_20602 PX4_MK_SPI_SEL(0, DRV_IMU_DEVTYPE_ICM20602)
#define PX4_SPIDEV_ICM_20608 PX4_MK_SPI_SEL(0, DRV_IMU_DEVTYPE_ICM20608)
#define PX4_SPIDEV_BARO PX4_MK_SPI_SEL(0, DRV_BARO_DEVTYPE_MS5611)
#define PX4_SPIDEV_MPU PX4_MK_SPI_SEL(0, DRV_IMU_DEVTYPE_MPU9250)
/* I2C busses */
@@ -198,15 +199,7 @@ __BEGIN_DECLS
/****************************************************************************************************
* Public Functions
****************************************************************************************************/
/****************************************************************************************************
* Name: board_spi_reset board_peripheral_reset
*
* Description:
* Called to reset SPI and the perferal bus
*
****************************************************************************************************/
extern void board_spi_reset(int ms);
extern void board_peripheral_reset(int ms);
/****************************************************************************************************

39
boards/mro/x21/src/i2c.cpp Normal file
View File

@@ -0,0 +1,39 @@
/****************************************************************************
*
* Copyright (C) 2020 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include <px4_arch/i2c_hw_description.h>
constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
initI2CBusExternal(1),
};

203
boards/mro/x21/src/spi.c
View File

@@ -1,203 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file spi.c
*
* Board-specific SPI functions.
*/
/************************************************************************************
* Included Files
************************************************************************************/
#include <px4_platform_common/px4_config.h>
#include <stdint.h>
#include <stdbool.h>
#include <debug.h>
#include <unistd.h>
#include <nuttx/spi/spi.h>
#include <arch/board/board.h>
#include <up_arch.h>
#include <chip.h>
#include <stm32.h>
#include "board_config.h"
/************************************************************************************
* Public Functions
************************************************************************************/
/************************************************************************************
* Name: stm32_spiinitialize
*
* Description:
* Called to configure SPI chip select GPIO pins for the PX4FMU board.
*
************************************************************************************/
__EXPORT void stm32_spiinitialize(void)
{
#ifdef CONFIG_STM32_SPI1
px4_arch_configgpio(GPIO_SPI_CS_ICM_2060X);
px4_arch_configgpio(GPIO_SPI_CS_BARO);
px4_arch_configgpio(GPIO_SPI_CS_MPU);
px4_arch_configgpio(GPIO_EXTI_MPU_DRDY);
px4_arch_configgpio(GPIO_EXTI_ICM_2060X_DRDY);
#endif
#ifdef CONFIG_STM32_SPI2
px4_arch_configgpio(GPIO_SPI_CS_FRAM);
#endif
}
__EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
{
/* SPI select is active low, so write !selected to select the device */
switch (devid) {
/* intended fallthrough */
case PX4_SPIDEV_ICM_20602:
/* intended fallthrough */
case PX4_SPIDEV_ICM_20608:
/* Making sure the other peripherals are not selected */
px4_arch_gpiowrite(GPIO_SPI_CS_ICM_2060X, !selected);
px4_arch_gpiowrite(GPIO_SPI_CS_BARO, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_MPU, 1);
break;
case PX4_SPIDEV_BARO:
/* Making sure the other peripherals are not selected */
px4_arch_gpiowrite(GPIO_SPI_CS_ICM_2060X, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_BARO, !selected);
px4_arch_gpiowrite(GPIO_SPI_CS_MPU, 1);
break;
case PX4_SPIDEV_MPU:
/* Making sure the other peripherals are not selected */
px4_arch_gpiowrite(GPIO_SPI_CS_ICM_2060X, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_BARO, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_MPU, !selected);
break;
default:
break;
}
}
__EXPORT uint8_t stm32_spi1status(FAR struct spi_dev_s *dev, uint32_t devid)
{
return SPI_STATUS_PRESENT;
}
#ifdef CONFIG_STM32_SPI2
__EXPORT void stm32_spi2select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
{
/* there can only be one device on this bus, so always select it */
px4_arch_gpiowrite(GPIO_SPI_CS_FRAM, !selected);
}
__EXPORT uint8_t stm32_spi2status(FAR struct spi_dev_s *dev, uint32_t devid)
{
/* FRAM is always present */
return SPI_STATUS_PRESENT;
}
#endif
__EXPORT void board_spi_reset(int ms)
{
/* disable SPI bus */
px4_arch_configgpio(GPIO_SPI_CS_ICM_2060X_OFF);
px4_arch_configgpio(GPIO_SPI_CS_BARO_OFF);
px4_arch_configgpio(GPIO_SPI_CS_MPU_OFF);
px4_arch_gpiowrite(GPIO_SPI_CS_ICM_2060X_OFF, 0);
px4_arch_gpiowrite(GPIO_SPI_CS_BARO_OFF, 0);
px4_arch_gpiowrite(GPIO_SPI_CS_MPU_OFF, 0);
px4_arch_configgpio(GPIO_SPI1_SCK_OFF);
px4_arch_configgpio(GPIO_SPI1_MISO_OFF);
px4_arch_configgpio(GPIO_SPI1_MOSI_OFF);
px4_arch_gpiowrite(GPIO_SPI1_SCK_OFF, 0);
px4_arch_gpiowrite(GPIO_SPI1_MISO_OFF, 0);
px4_arch_gpiowrite(GPIO_SPI1_MOSI_OFF, 0);
px4_arch_configgpio(GPIO_EXTI_ICM_2060X_DRDY_OFF);
px4_arch_configgpio(GPIO_EXTI_MPU_DRDY_OFF);
px4_arch_gpiowrite(GPIO_EXTI_ICM_2060X_DRDY_OFF, 0);
px4_arch_gpiowrite(GPIO_EXTI_MPU_DRDY_OFF, 0);
/* set the sensor rail off */
px4_arch_configgpio(GPIO_VDD_3V3_SENSORS_EN);
px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, 0);
/* wait for the sensor rail to reach GND */
usleep(ms * 1000);
syslog(LOG_DEBUG, "reset done, %d ms\n", ms);
/* re-enable power */
/* switch the sensor rail back on */
px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, 1);
/* wait a bit before starting SPI, different times didn't influence results */
usleep(100);
/* reconfigure the SPI pins */
#ifdef CONFIG_STM32_SPI1
px4_arch_configgpio(GPIO_SPI_CS_ICM_2060X);
px4_arch_configgpio(GPIO_SPI_CS_BARO);
px4_arch_configgpio(GPIO_SPI_CS_MPU);
px4_arch_configgpio(GPIO_SPI1_SCK);
px4_arch_configgpio(GPIO_SPI1_MISO);
px4_arch_configgpio(GPIO_SPI1_MOSI);
// // XXX bring up the EXTI pins again
// px4_arch_configgpio(GPIO_EXTI_MPU_DRDY);
// px4_arch_configgpio(GPIO_EXTI_ICM_2060X_DRDY);
#endif
}

51
boards/mro/x21/src/spi.cpp Normal file
View File

@@ -0,0 +1,51 @@
/****************************************************************************
*
* Copyright (C) 2020 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include <px4_arch/spi_hw_description.h>
#include <drivers/drv_sensor.h>
#include <nuttx/spi/spi.h>
constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
initSPIBus(1, {
initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortC, GPIO::Pin15}, SPI::DRDY{GPIO::PortC, GPIO::Pin14}),
initSPIDevice(DRV_IMU_DEVTYPE_ICM20608, SPI::CS{GPIO::PortC, GPIO::Pin15}, SPI::DRDY{GPIO::PortC, GPIO::Pin14}),
initSPIDevice(DRV_BARO_DEVTYPE_MS5611, SPI::CS{GPIO::PortD, GPIO::Pin7}),
initSPIDevice(DRV_IMU_DEVTYPE_MPU9250, SPI::CS{GPIO::PortC, GPIO::Pin2}, SPI::DRDY{GPIO::PortD, GPIO::Pin15}),
}),
initSPIBus(2, {
initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortD, GPIO::Pin10}),
}),
};
static constexpr bool unused = validateSPIConfig(px4_spi_buses);

3
boards/nxp/fmuk66-v3/src/CMakeLists.txt
View File

@@ -35,10 +35,11 @@ add_library(drivers_board
autoleds.c
automount.c
can.c
i2c.cpp
init.c
led.c
sdhc.c
spi.c
spi.cpp
timer_config.cpp
usb.c
)

18
boards/nxp/fmuk66-v3/src/board_config.h
View File

@@ -53,6 +53,8 @@ __BEGIN_DECLS
#include <hardware/kinetis_pinmux.h>
#include <arch/board/board.h>
__END_DECLS
/* FMUK66 GPIOs ***********************************************************************************/
/* LEDs */
/* An RGB LED is connected through GPIO as shown below:
@@ -233,20 +235,21 @@ __BEGIN_DECLS
/* Use these in place of the uint32_t enumeration to select a specific SPI device on SPI1 */
#define PX4_SPIDEV_MEMORY PX4_MK_SPI_SEL(PX4_SPI_BUS_MEMORY,0)
#include <drivers/drv_sensor.h>
#define PX4_SPIDEV_MEMORY SPIDEV_FLASH(0)
#define PX4_MEMORY_BUS_CS_GPIO {GPIO_SPI_CS_MEMORY}
#define PX4_MEMORY_BUS_FIRST_CS PX4_SPIDEV_MEMORY
#define PX4_MEMORY_BUS_LAST_CS PX4_SPIDEV_MEMORY
#define PX4_SPIDEV_ACCEL_MAG PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS,0)
#define PX4_SPIDEV_GYRO PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS,1)
#define PX4_SPIDEV_CALMEM PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS,2)
#define PX4_SPIDEV_ACCEL_MAG PX4_MK_SPI_SEL(0,DRV_ACC_DEVTYPE_FXOS8701C)
#define PX4_SPIDEV_GYRO PX4_MK_SPI_SEL(0,DRV_GYR_DEVTYPE_FXAS2100C)
#define PX4_SPIDEV_CALMEM PX4_MK_SPI_SEL(0,DRV_DEVTYPE_UNUSED)
#define PX4_SENSOR_BUS_CS_GPIO {GPIO_SPI_CS_FXOS8700CQ_ACCEL_MAG, GPIO_SPI_CS_FXAS21002CQ_GYRO, GPIO_SPI1_CS_CALMEM}
#define PX4_SENSOR_BUS_FIRST_CS PX4_SPIDEV_ACCEL_MAG
#define PX4_SENSOR_BUS_LAST_CS PX4_SPIDEV_CALMEM
#define PX4_SPIDEV_EXTERNAL1 PX4_MK_SPI_SEL(PX4_SPI_BUS_EXTERNAL,0)
#define PX4_SPIDEV_EXTERNAL2 PX4_MK_SPI_SEL(PX4_SPI_BUS_EXTERNAL,1)
#define PX4_SPIDEV_EXTERNAL1 PX4_MK_SPI_SEL(0,0)
#define PX4_SPIDEV_EXTERNAL2 PX4_MK_SPI_SEL(0,1)
#define PX4_EXTERNAL_BUS_CS_GPIO {GPIO_SPI2_CS, GPIO_SPI2_EXT}
#define PX4_EXTERNAL_BUS_FIRST_CS PX4_SPIDEV_EXTERNAL1
#define PX4_EXTERNAL_BUS_LAST_CS PX4_SPIDEV_EXTERNAL2
@@ -482,6 +485,8 @@ __BEGIN_DECLS
* Public data
************************************************************************************/
__BEGIN_DECLS
#ifndef __ASSEMBLY__
/************************************************************************************
@@ -515,7 +520,6 @@ int fmuk66_spi_bus_initialize(void);
* Called to reset SPI and the perferal bus
*
****************************************************************************************************/
void board_spi_reset(int ms);
void board_peripheral_reset(int ms);
/************************************************************************************

40
boards/nxp/fmuk66-v3/src/i2c.cpp Normal file
View File

@@ -0,0 +1,40 @@
/****************************************************************************
*
* Copyright (C) 2020 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include <px4_arch/i2c_hw_description.h>
constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
initI2CBusInternal(PX4_BUS_NUMBER_TO_PX4(1)),
initI2CBusExternal(PX4_BUS_NUMBER_TO_PX4(0)),
};

206
boards/nxp/fmuk66-v3/src/spi.c → boards/nxp/fmuk66-v3/src/spi.cpp
View File

@@ -33,9 +33,9 @@
*
************************************************************************************/
/************************************************************************************
* Included Files
************************************************************************************/
#include <px4_arch/spi_hw_description.h>
#include <drivers/drv_sensor.h>
#include <nuttx/spi/spi.h>
#include <px4_platform_common/px4_config.h>
@@ -55,18 +55,31 @@
#if defined(CONFIG_KINETIS_SPI0) || defined(CONFIG_KINETIS_SPI1) || defined(CONFIG_KINETIS_SPI2)
#define PX4_MK_GPIO(pin_ftmx, io) ((((uint32_t)(pin_ftmx)) & ~(_PIN_MODE_MASK | _PIN_OPTIONS_MASK)) |(io))
constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
initSPIBus(PX4_BUS_NUMBER_TO_PX4(0), {
initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortC, GPIO::Pin2})
}),
initSPIBus(PX4_BUS_NUMBER_TO_PX4(1), {
initSPIDevice(DRV_ACC_DEVTYPE_FXOS8701C, SPI::CS{GPIO::PortB, GPIO::Pin10}),
initSPIDevice(DRV_GYR_DEVTYPE_FXAS2100C, SPI::CS{GPIO::PortB, GPIO::Pin9}),
initSPIDevice(DRV_DEVTYPE_UNUSED, SPI::CS{GPIO::PortA, GPIO::Pin19}),
}, {GPIO::PortB, GPIO::Pin8}),
initSPIBusExternal(PX4_BUS_NUMBER_TO_PX4(2), {
initSPIConfigExternal(SPI::CS{GPIO::PortB, GPIO::Pin20}),
initSPIConfigExternal(SPI::CS{GPIO::PortD, GPIO::Pin15}),
}),
};
/* Define CS GPIO array */
static const uint32_t spi0selects_gpio[] = PX4_MEMORY_BUS_CS_GPIO;
static const uint32_t spi1selects_gpio[] = PX4_SENSOR_BUS_CS_GPIO;
static const uint32_t spi2selects_gpio[] = PX4_EXTERNAL_BUS_CS_GPIO;
static constexpr bool unused = validateSPIConfig(px4_spi_buses);
#define PX4_MK_GPIO(pin_ftmx, io) ((((uint32_t)(pin_ftmx)) & ~(_PIN_MODE_MASK | _PIN_OPTIONS_MASK)) |(io))
/************************************************************************************
* Public Functions
************************************************************************************/
__EXPORT void board_spi_reset(int ms)
__EXPORT void board_spi_reset(int ms, int bus_mask)
{
/* Goal not to back feed the chips on the bus via IO lines */
@@ -76,10 +89,13 @@ __EXPORT void board_spi_reset(int ms)
kinetis_gpiowrite(PIN_SPI1_SIN, 1);
/* Next Change CS to inputs with pull downs */
for (unsigned int cs = 0; cs < arraySize(spi1selects_gpio); cs++) {
if (spi1selects_gpio[cs] != 0) {
kinetis_pinconfig(PX4_MK_GPIO(spi1selects_gpio[cs], GPIO_PULLDOWN));
for (int bus = 0; bus < SPI_BUS_MAX_BUS_ITEMS; ++bus) {
if (px4_spi_buses[bus].bus == PX4_BUS_NUMBER_TO_PX4(1)) {
for (int i = 0; i < SPI_BUS_MAX_DEVICES; ++i) {
if (px4_spi_buses[bus].devices[i].cs_gpio != 0) {
kinetis_pinconfig(PX4_MK_GPIO(px4_spi_buses[bus].devices[i].cs_gpio, GPIO_PULLDOWN));
}
}
}
}
@@ -110,9 +126,13 @@ __EXPORT void board_spi_reset(int ms)
/* Restore all the CS to ouputs inactive */
for (unsigned int cs = 0; cs < arraySize(spi1selects_gpio); cs++) {
if (spi1selects_gpio[cs] != 0) {
kinetis_pinconfig(spi1selects_gpio[cs]);
for (int bus = 0; bus < SPI_BUS_MAX_BUS_ITEMS; ++bus) {
if (px4_spi_buses[bus].bus == PX4_BUS_NUMBER_TO_PX4(1)) {
for (int i = 0; i < SPI_BUS_MAX_DEVICES; ++i) {
if (px4_spi_buses[bus].devices[i].cs_gpio != 0) {
kinetis_pinconfig(px4_spi_buses[bus].devices[i].cs_gpio);
}
}
}
}
@@ -155,23 +175,13 @@ __EXPORT void board_spi_reset(int ms)
void fmuk66_spidev_initialize(void)
{
board_spi_reset(10);
board_spi_reset(10, 0xffff);
for (unsigned int cs = 0; cs < arraySize(spi0selects_gpio); cs++) {
if (spi0selects_gpio[cs] != 0) {
kinetis_pinconfig(spi0selects_gpio[cs]);
}
}
for (unsigned int cs = 0; cs < arraySize(spi1selects_gpio); cs++) {
if (spi1selects_gpio[cs] != 0) {
kinetis_pinconfig(spi1selects_gpio[cs]);
}
}
for (unsigned int cs = 0; cs < arraySize(spi2selects_gpio); cs++) {
if (spi2selects_gpio[cs] != 0) {
kinetis_pinconfig(spi2selects_gpio[cs]);
for (int bus = 0; bus < SPI_BUS_MAX_BUS_ITEMS; ++bus) {
for (int i = 0; i < SPI_BUS_MAX_DEVICES; ++i) {
if (px4_spi_buses[bus].devices[i].cs_gpio != 0) {
kinetis_pinconfig(px4_spi_buses[bus].devices[i].cs_gpio);
}
}
}
}
@@ -183,73 +193,79 @@ void fmuk66_spidev_initialize(void)
* Called to configure SPI chip select GPIO pins for the NXP FMUK66 v3 board.
*
************************************************************************************/
static struct spi_dev_s *spi_sensors;
static struct spi_dev_s *spi_memory;
static struct spi_dev_s *spi_ext;
static const px4_spi_bus_t *_spi_bus0;
static const px4_spi_bus_t *_spi_bus1;
static const px4_spi_bus_t *_spi_bus2;
__EXPORT int fmuk66_spi_bus_initialize(void)
{
for (int i = 0; i < SPI_BUS_MAX_BUS_ITEMS; ++i) {
switch (px4_spi_buses[i].bus) {
case PX4_BUS_NUMBER_TO_PX4(0): _spi_bus0 = &px4_spi_buses[i]; break;
case PX4_BUS_NUMBER_TO_PX4(1): _spi_bus1 = &px4_spi_buses[i]; break;
case PX4_BUS_NUMBER_TO_PX4(2): _spi_bus2 = &px4_spi_buses[i]; break;
}
}
/* Configure SPI-based devices */
spi_sensors = px4_spibus_initialize(PX4_SPI_BUS_SENSORS);
struct spi_dev_s *spi_sensors = px4_spibus_initialize(1);
if (!spi_sensors) {
syslog(LOG_ERR, "[boot] FAILED to initialize SPI port %d\n", PX4_SPI_BUS_SENSORS);
syslog(LOG_ERR, "[boot] FAILED to initialize SPI port %d\n", 1);
return -ENODEV;
}
/* Default PX4_SPI_BUS_SENSORS to 1MHz and de-assert the known chip selects.
/* Default bus 1 to 1MHz and de-assert the known chip selects.
*/
SPI_SETFREQUENCY(spi_sensors, 1 * 1000 * 1000);
SPI_SETBITS(spi_sensors, 8);
SPI_SETMODE(spi_sensors, SPIDEV_MODE0);
for (int cs = PX4_SENSOR_BUS_FIRST_CS; cs <= PX4_SENSOR_BUS_LAST_CS; cs++) {
SPI_SELECT(spi_sensors, cs, false);
}
/* Get the SPI port for the Memory */
spi_memory = px4_spibus_initialize(PX4_SPI_BUS_MEMORY);
struct spi_dev_s *spi_memory = px4_spibus_initialize(0);
if (!spi_memory) {
syslog(LOG_ERR, "[boot] FAILED to initialize SPI port %d\n", PX4_SPI_BUS_MEMORY);
syslog(LOG_ERR, "[boot] FAILED to initialize SPI port %d\n", 0);
return -ENODEV;
}
/* Default PX4_SPI_BUS_MEMORY to 12MHz and de-assert the known chip selects.
/* Default bus 0 to 12MHz and de-assert the known chip selects.
*/
SPI_SETFREQUENCY(spi_memory, 12 * 1000 * 1000);
SPI_SETBITS(spi_memory, 8);
SPI_SETMODE(spi_memory, SPIDEV_MODE3);
for (int cs = PX4_MEMORY_BUS_FIRST_CS; cs <= PX4_MEMORY_BUS_LAST_CS; cs++) {
SPI_SELECT(spi_memory, cs, false);
}
/* Configure EXTERNAL SPI-based devices */
spi_ext = px4_spibus_initialize(PX4_SPI_BUS_EXTERNAL);
struct spi_dev_s *spi_ext = px4_spibus_initialize(2);
if (!spi_ext) {
syslog(LOG_ERR, "[boot] FAILED to initialize SPI port %d\n", PX4_SPI_BUS_EXTERNAL);
syslog(LOG_ERR, "[boot] FAILED to initialize SPI port %d\n", 2);
return -ENODEV;
}
/* Default PX4_SPI_BUS_SENSORS to 1MHz and de-assert the known chip selects.
/* Default external bus to 1MHz and de-assert the known chip selects.
*/
SPI_SETFREQUENCY(spi_ext, 8 * 1000 * 1000);
SPI_SETBITS(spi_ext, 8);
SPI_SETMODE(spi_ext, SPIDEV_MODE3);
for (int cs = PX4_EXTERNAL_BUS_FIRST_CS; cs <= PX4_EXTERNAL_BUS_LAST_CS; cs++) {
SPI_SELECT(spi_ext, cs, false);
/* deselect all */
for (int bus = 0; bus < SPI_BUS_MAX_BUS_ITEMS; ++bus) {
for (int i = 0; i < SPI_BUS_MAX_DEVICES; ++i) {
if (px4_spi_buses[bus].devices[i].cs_gpio != 0) {
SPI_SELECT(spi_ext, px4_spi_buses[bus].devices[i].devid, false);
}
}
}
return OK;
}
@@ -282,35 +298,37 @@ __EXPORT int fmuk66_spi_bus_initialize(void)
*
************************************************************************************/
void kinetis_spi0select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
static inline void kinetis_spixselect(const px4_spi_bus_t *bus, struct spi_dev_s *dev, uint32_t devid, bool selected)
{
spiinfo("devid: %d CS: %s\n", (int)devid, selected ? "assert" : "de-assert");
int matched_dev_idx = -1;
/* SPI select is active low, so write !selected to select the device */
for (int i = 0; i < SPI_BUS_MAX_DEVICES; ++i) {
if (bus->devices[i].cs_gpio == 0) {
break;
}
uint32_t sel = devid;
if (devid == bus->devices[i].devid) {
matched_dev_idx = i;
if (devid == SPIDEV_FLASH(0)) {
sel = PX4_SPIDEV_MEMORY;
}
ASSERT(PX4_SPI_BUS_ID(sel) == PX4_SPI_BUS_MEMORY);
/* Making sure the other peripherals are not selected */
for (unsigned int cs = 0; arraySize(spi0selects_gpio) > 1 && cs < arraySize(spi0selects_gpio); cs++) {
if (spi0selects_gpio[cs] != 0) {
kinetis_gpiowrite(spi0selects_gpio[cs], 1);
} else {
// Making sure the other peripherals are not selected
kinetis_gpiowrite(bus->devices[i].cs_gpio, 1);
}
}
uint32_t gpio = spi0selects_gpio[PX4_SPI_DEV_ID(sel)];
if (gpio) {
kinetis_gpiowrite(gpio, !selected);
// different devices might use the same CS, so make sure to configure the one we want last
if (matched_dev_idx != -1) {
// SPI select is active low, so write !selected to select the device
kinetis_gpiowrite(bus->devices[matched_dev_idx].cs_gpio, !selected);
}
}
void kinetis_spi0select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
{
spiinfo("devid: %d CS: %s\n", (int)devid, selected ? "assert" : "de-assert");
kinetis_spixselect(_spi_bus0, dev, devid, selected);
}
uint8_t kinetis_spi0status(FAR struct spi_dev_s *dev, uint32_t devid)
{
return SPI_STATUS_PRESENT;
@@ -319,25 +337,7 @@ uint8_t kinetis_spi0status(FAR struct spi_dev_s *dev, uint32_t devid)
void kinetis_spi1select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
{
spiinfo("devid: %d CS: %s\n", (int)devid, selected ? "assert" : "de-assert");
/* SPI select is active low, so write !selected to select the device */
int sel = (int) devid;
ASSERT(PX4_SPI_BUS_ID(sel) == PX4_SPI_BUS_SENSORS);
/* Making sure the other peripherals are not selected */
for (unsigned int cs = 0; arraySize(spi1selects_gpio) > 1 && cs < arraySize(spi1selects_gpio); cs++) {
if (spi1selects_gpio[cs] != 0) {
kinetis_gpiowrite(spi1selects_gpio[cs], 1);
}
}
uint32_t gpio = spi1selects_gpio[PX4_SPI_DEV_ID(sel)];
if (gpio) {
kinetis_gpiowrite(gpio, !selected);
}
kinetis_spixselect(_spi_bus1, dev, devid, selected);
}
uint8_t kinetis_spi1status(FAR struct spi_dev_s *dev, uint32_t devid)
@@ -348,25 +348,7 @@ uint8_t kinetis_spi1status(FAR struct spi_dev_s *dev, uint32_t devid)
void kinetis_spi2select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
{
spiinfo("devid: %d CS: %s\n", (int)devid, selected ? "assert" : "de-assert");
/* SPI select is active low, so write !selected to select the device */
int sel = (int) devid;
ASSERT(PX4_SPI_BUS_ID(sel) == PX4_SPI_BUS_EXTERNAL);
/* Making sure the other peripherals are not selected */
for (unsigned int cs = 0; arraySize(spi2selects_gpio) > 1 && cs < arraySize(spi2selects_gpio); cs++) {
if (spi2selects_gpio[cs] != 0) {
kinetis_gpiowrite(spi2selects_gpio[cs], 1);
}
}
uint32_t gpio = spi2selects_gpio[PX4_SPI_DEV_ID(sel)];
if (gpio) {
kinetis_gpiowrite(gpio, !selected);
}
kinetis_spixselect(_spi_bus2, dev, devid, selected);
}
uint8_t kinetis_spi2status(FAR struct spi_dev_s *dev, uint32_t devid)

1
boards/nxp/fmurt1062-v1/src/CMakeLists.txt
View File

@@ -35,6 +35,7 @@ px4_add_library(drivers_board
autoleds.c
automount.c
can.c
i2c.cpp
init.c
led.c
sdhc.c

21
boards/nxp/fmurt1062-v1/src/board_config.h
View File

@@ -186,29 +186,30 @@
#define PX4_SPIDEV_BMI 0
/* ^ END Legacy SPI defines TODO: fix this with enumeration */
#include <drivers/drv_sensor.h>
#define PX4_SPIDEV_ICM_20689 PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS,0)
#define PX4_SPIDEV_BMI055_GYR PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS,1)
#define PX4_SPIDEV_BMI055_ACC PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS,2)
#define PX4_SPIDEV_AUX_MEM PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS,3)
#define PX4_SPIDEV_ICM_20689 PX4_MK_SPI_SEL(0,DRV_IMU_DEVTYPE_ICM20689)
#define PX4_SPIDEV_BMI055_GYR PX4_MK_SPI_SEL(0,DRV_GYR_DEVTYPE_BMI055)
#define PX4_SPIDEV_BMI055_ACC PX4_MK_SPI_SEL(0,DRV_ACC_DEVTYPE_BMI055)
#define PX4_SPIDEV_AUX_MEM PX4_MK_SPI_SEL(0,DRV_DEVTYPE_UNUSED)
#define PX4_SENSOR_BUS_CS_GPIO {GPIO_SPI1_CS1_ICM20689, GPIO_SPI1_CS3_BMI055_GYRO, GPIO_SPI1_CS4_BMI055_ACCEL, SPI1_CS5_AUX_MEM}
#define PX4_SENSORS_BUS_FIRST_CS PX4_SPIDEV_ICM_20689
#define PX4_SENSORS_BUS_LAST_CS PX4_SPIDEV_AUX_MEM
#define PX4_SPIDEV_MEMORY PX4_MK_SPI_SEL(PX4_SPI_BUS_MEMORY,0)
#define PX4_SPIDEV_MEMORY SPIDEV_FLASH(0)
#define PX4_MEMORY_BUS_CS_GPIO {GPIO_SPI2_CS_FRAM}
#define PX4_MEMORY_BUS_FIRST_CS PX4_SPIDEV_MEMORY
#define PX4_MEMORY_BUS_LAST_CS PX4_SPIDEV_MEMORY
#define PX4_SPIDEV_BARO PX4_MK_SPI_SEL(PX4_SPI_BUS_BARO,0)
#define PX4_SPIDEV_BARO PX4_MK_SPI_SEL(0,DRV_BARO_DEVTYPE_MS5611)
#define PX4_BARO_BUS_CS_GPIO {GPIO_SPI3_CS1_MS5611}
#define PX4_BARO_BUS_FIRST_CS PX4_SPIDEV_BARO
#define PX4_BARO_BUS_LAST_CS PX4_SPIDEV_BARO
#define PX4_SPIDEV_EXTERNAL1_1 PX4_MK_SPI_SEL(PX4_SPI_BUS_EXTERNAL1,0)
#define PX4_SPIDEV_EXTERNAL1_2 PX4_MK_SPI_SEL(PX4_SPI_BUS_EXTERNAL1,1)
#define PX4_SPIDEV_EXTERNAL1_3 PX4_MK_SPI_SEL(PX4_SPI_BUS_EXTERNAL1,2)
#define PX4_SPIDEV_EXTERNAL1_1 PX4_MK_SPI_SEL(0,0)
#define PX4_SPIDEV_EXTERNAL1_2 PX4_MK_SPI_SEL(0,1)
#define PX4_SPIDEV_EXTERNAL1_3 PX4_MK_SPI_SEL(0,2)
#define PX4_EXTERNAL1_BUS_CS_GPIO {SPI4_CS1_EXTERNAL1, SPI4_CS2_EXTERNAL1, SPI4_CS3_EXTERNAL1}
#define PX4_EXTERNAL1_BUS_FIRST_CS PX4_SPIDEV_EXTERNAL1_1
#define PX4_EXTERNAL1_BUS_LAST_CS PX4_SPIDEV_EXTERNAL1_3
@@ -581,8 +582,6 @@ extern int imxrt1062_spi_bus_initialize(void);
extern int imxrt_usb_initialize(void);
void board_spi_reset(int ms);
extern void imxrt_usbinitialize(void);
extern void board_peripheral_reset(int ms);

41
boards/nxp/fmurt1062-v1/src/i2c.cpp Normal file
View File

@@ -0,0 +1,41 @@
/****************************************************************************
*
* Copyright (C) 2020 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include <px4_arch/i2c_hw_description.h>
constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
initI2CBusExternal(1),
initI2CBusExternal(2),
initI2CBusInternal(3),
};

2
boards/nxp/fmurt1062-v1/src/init.c
View File

@@ -256,7 +256,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
VDD_3V3_SENSORS_EN(true);
VDD_3V3_SPEKTRUM_POWER_EN(true);
board_spi_reset(10);
board_spi_reset(10, 0xffff);
if (OK == board_determine_hw_info()) {
syslog(LOG_INFO, "[boot] Rev 0x%1x : Ver 0x%1x %s\n", board_get_hw_revision(), board_get_hw_version(),

268
boards/nxp/fmurt1062-v1/src/spi.cpp
View File

@@ -37,6 +37,10 @@
* Included Files
************************************************************************************/
#include <px4_arch/spi_hw_description.h>
#include <drivers/drv_sensor.h>
#include <nuttx/spi/spi.h>
#include <px4_platform_common/px4_config.h>
#include <px4_log.h>
@@ -59,20 +63,30 @@
#if defined(CONFIG_IMXRT_LPSPI1) || defined(CONFIG_IMXRT_LPSPI2) || \
defined(CONFIG_IMXRT_LPSPI3) || defined(CONFIG_IMXRT_LPSPI4)
/* Define CS GPIO array */
#if defined(CONFIG_IMXRT_LPSPI1)
static const uint32_t spi1selects_gpio[] = PX4_SENSOR_BUS_CS_GPIO;
#endif
#if defined(CONFIG_IMXRT_LPSPI2)
static const uint32_t spi2selects_gpio[] = PX4_MEMORY_BUS_CS_GPIO;
#endif
#if defined(CONFIG_IMXRT_LPSPI3)
static const uint32_t spi3selects_gpio[] = PX4_BARO_BUS_CS_GPIO;
#endif
#if defined(CONFIG_IMXRT_LPSPI4)
static const uint32_t spi4selects_gpio[] = PX4_EXTERNAL1_BUS_CS_GPIO;
#endif
constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
initSPIBus(1, {
initSPIDevice(DRV_IMU_DEVTYPE_ICM20689, SPI::CS{GPIO::Port3, GPIO::Pin26}, SPI::DRDY{GPIO::Port4, GPIO::Pin15}), /* GPIO_EMC_40 GPIO3_IO26 */
initSPIDevice(DRV_GYR_DEVTYPE_BMI055, SPI::CS{GPIO::Port2, GPIO::Pin26}, SPI::DRDY{GPIO::Port4, GPIO::Pin16}), /* GPIO_B1_10 GPIO2_IO26 */
initSPIDevice(DRV_ACC_DEVTYPE_BMI055, SPI::CS{GPIO::Port2, GPIO::Pin31}, SPI::DRDY{GPIO::Port3, GPIO::Pin23}), /* GPIO_B1_15 GPIO2_IO31 */
initSPIDevice(DRV_DEVTYPE_UNUSED, SPI::CS{GPIO::Port3, GPIO::Pin0}), /* GPIO_SD_B1_00 GPIO3_IO00, AUX_MEM */
}, {GPIO::Port3, GPIO::Pin27}),
initSPIBus(2, {
initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::Port3, GPIO::Pin20}) /* GPIO_EMC_34 G GPIO3_IO20 */
}),
initSPIBus(3, {
initSPIDevice(DRV_BARO_DEVTYPE_MS5611, SPI::CS{GPIO::Port4, GPIO::Pin14}), /* GPIO_EMC_14 GPIO4_IO14 */
}),
initSPIBusExternal(4, {
initSPIConfigExternal(SPI::CS{GPIO::Port4, GPIO::Pin7}), /* GPIO_EMC_07 GPIO4_IO07 */
initSPIConfigExternal(SPI::CS{GPIO::Port2, GPIO::Pin30}), /* GPIO_B1_14 GPIO2_IO30 */
initSPIConfigExternal(SPI::CS{GPIO::Port4, GPIO::Pin11}), /* GPIO_EMC_11 GPIO4_IO011 */
}),
};
static constexpr bool unused = validateSPIConfig(px4_spi_buses);
#define _PIN_OFF(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT | IOMUX_PULL_DOWN_100K | IOMUX_CMOS_INPUT))
/************************************************************************************
* Public Functions
@@ -87,18 +101,13 @@ static const uint32_t spi4selects_gpio[] = PX4_EXTERNAL1_BUS_CS_GPIO;
void imxrt_spidev_initialize(void)
{
#if defined(CONFIG_IMXRT_LPSPI1)
px4_gpio_init(spi1selects_gpio, arraySize(spi1selects_gpio));
#endif
#if defined(CONFIG_IMXRT_LPSPI2)
px4_gpio_init(spi2selects_gpio, arraySize(spi2selects_gpio));
#endif
#if defined(CONFIG_IMXRT_LPSPI3)
px4_gpio_init(spi3selects_gpio, arraySize(spi3selects_gpio));
#endif
#if defined(CONFIG_IMXRT_LPSPI4)
px4_gpio_init(spi4selects_gpio, arraySize(spi4selects_gpio));
#endif
for (int bus = 0; bus < SPI_BUS_MAX_BUS_ITEMS; ++bus) {
for (int i = 0; i < SPI_BUS_MAX_DEVICES; ++i) {
if (px4_spi_buses[bus].devices[i].cs_gpio != 0) {
px4_arch_configgpio(px4_spi_buses[bus].devices[i].cs_gpio);
}
}
}
}
/************************************************************************************
@@ -108,39 +117,48 @@ void imxrt_spidev_initialize(void)
* Called to configure SPI chip select GPIO pins for the NXP FMUKRT1062-V1 board.
*
************************************************************************************/
static struct spi_dev_s *spi_sensors;
static struct spi_dev_s *spi_memory;
static struct spi_dev_s *spi_baro;
static struct spi_dev_s *spi_ext;
static const px4_spi_bus_t *_spi_bus1;
static const px4_spi_bus_t *_spi_bus2;
static const px4_spi_bus_t *_spi_bus3;
static const px4_spi_bus_t *_spi_bus4;
__EXPORT int imxrt1062_spi_bus_initialize(void)
{
for (int i = 0; i < SPI_BUS_MAX_BUS_ITEMS; ++i) {
switch (px4_spi_buses[i].bus) {
case 1: _spi_bus1 = &px4_spi_buses[i]; break;
case 2: _spi_bus2 = &px4_spi_buses[i]; break;
case 3: _spi_bus3 = &px4_spi_buses[i]; break;
case 4: _spi_bus4 = &px4_spi_buses[i]; break;
}
}
/* Configure SPI-based devices */
spi_sensors = px4_spibus_initialize(PX4_SPI_BUS_SENSORS);
struct spi_dev_s *spi_sensors = px4_spibus_initialize(1);
if (!spi_sensors) {
PX4_ERR("[boot] FAILED to initialize SPI port %d\n", PX4_SPI_BUS_SENSORS);
PX4_ERR("[boot] FAILED to initialize SPI port %d\n", 1);
return -ENODEV;
}
/* Default PX4_SPI_BUS_SENSORS to 1MHz and de-assert the known chip selects.
/* Default bus 1 to 1MHz and de-assert the known chip selects.
*/
SPI_SETFREQUENCY(spi_sensors, 1 * 1000 * 1000);
SPI_SETBITS(spi_sensors, 8);
SPI_SETMODE(spi_sensors, SPIDEV_MODE3);
for (int cs = PX4_SENSORS_BUS_FIRST_CS; cs <= PX4_SENSORS_BUS_LAST_CS; cs++) {
SPI_SELECT(spi_sensors, cs, false);
}
/* Get the SPI port for the Memory */
spi_memory = px4_spibus_initialize(PX4_SPI_BUS_MEMORY);
struct spi_dev_s *spi_memory = px4_spibus_initialize(2);
if (!spi_memory) {
PX4_ERR("[boot] FAILED to initialize SPI port %d\n", PX4_SPI_BUS_MEMORY);
PX4_ERR("[boot] FAILED to initialize SPI port %d\n", 2);
return -ENODEV;
}
@@ -151,16 +169,12 @@ __EXPORT int imxrt1062_spi_bus_initialize(void)
SPI_SETBITS(spi_memory, 8);
SPI_SETMODE(spi_memory, SPIDEV_MODE3);
for (int cs = PX4_MEMORY_BUS_FIRST_CS; cs <= PX4_MEMORY_BUS_LAST_CS; cs++) {
SPI_SELECT(spi_memory, cs, false);
}
/* Get the SPI port for the BARO */
spi_baro = px4_spibus_initialize(PX4_SPI_BUS_BARO);
struct spi_dev_s *spi_baro = px4_spibus_initialize(3);
if (!spi_baro) {
PX4_ERR("[boot] FAILED to initialize SPI port %d\n", PX4_SPI_BUS_BARO);
PX4_ERR("[boot] FAILED to initialize SPI port %d\n", 3);
return -ENODEV;
}
@@ -171,28 +185,29 @@ __EXPORT int imxrt1062_spi_bus_initialize(void)
SPI_SETBITS(spi_baro, 8);
SPI_SETMODE(spi_baro, SPIDEV_MODE3);
for (int cs = PX4_BARO_BUS_FIRST_CS; cs <= PX4_BARO_BUS_LAST_CS; cs++) {
SPI_SELECT(spi_baro, cs, false);
}
/* Get the SPI port for the PX4_SPI_EXTERNAL1 */
spi_ext = px4_spibus_initialize(PX4_SPI_BUS_EXTERNAL1);
struct spi_dev_s *spi_ext = px4_spibus_initialize(4);
if (!spi_ext) {
PX4_ERR("[boot] FAILED to initialize SPI port %d\n", PX4_SPI_BUS_EXTERNAL1);
PX4_ERR("[boot] FAILED to initialize SPI port %d\n", 4);
return -ENODEV;
}
/* Default PX4_SPI_BUS_SENSORS to 1MHz and de-assert the known chip selects.
/* Default ext bus to 1MHz and de-assert the known chip selects.
*/
SPI_SETFREQUENCY(spi_ext, 8 * 1000 * 1000);
SPI_SETBITS(spi_ext, 8);
SPI_SETMODE(spi_ext, SPIDEV_MODE3);
for (int cs = PX4_EXTERNAL1_BUS_FIRST_CS; cs <= PX4_EXTERNAL1_BUS_LAST_CS; cs++) {
SPI_SELECT(spi_ext, cs, false);
/* deselect all */
for (int bus = 0; bus < SPI_BUS_MAX_BUS_ITEMS; ++bus) {
for (int i = 0; i < SPI_BUS_MAX_DEVICES; ++i) {
if (px4_spi_buses[bus].devices[i].cs_gpio != 0) {
SPI_SELECT(spi_ext, px4_spi_buses[bus].devices[i].devid, false);
}
}
}
return OK;
@@ -224,25 +239,35 @@ __EXPORT int imxrt1062_spi_bus_initialize(void)
*
****************************************************************************/
static inline void imxrt_spixselect(const px4_spi_bus_t *bus, struct spi_dev_s *dev, uint32_t devid, bool selected)
{
int matched_dev_idx = -1;
for (int i = 0; i < SPI_BUS_MAX_DEVICES; ++i) {
if (bus->devices[i].cs_gpio == 0) {
break;
}
if (devid == bus->devices[i].devid) {
matched_dev_idx = i;
} else {
// Making sure the other peripherals are not selected
imxrt_gpio_write(bus->devices[i].cs_gpio, 1);
}
}
// different devices might use the same CS, so make sure to configure the one we want last
if (matched_dev_idx != -1) {
// SPI select is active low, so write !selected to select the device
imxrt_gpio_write(bus->devices[matched_dev_idx].cs_gpio, !selected);
}
}
#if defined(CONFIG_IMXRT_LPSPI1)
__EXPORT void imxrt_lpspi1select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
{
/* SPI select is active low, so write !selected to select the device */
int sel = (int) devid;
ASSERT(PX4_SPI_BUS_ID(sel) == PX4_SPI_BUS_SENSORS);
/* Making sure the other peripherals are not selected */
for (auto cs : spi1selects_gpio) {
imxrt_gpio_write(cs, 1);
}
uint32_t gpio = spi1selects_gpio[PX4_SPI_DEV_ID(sel)];
if (gpio) {
imxrt_gpio_write(gpio, !selected);
}
imxrt_spixselect(_spi_bus1, dev, devid, selected);
}
__EXPORT uint8_t imxrt_lpspi1status(FAR struct spi_dev_s *dev, uint32_t devid)
@@ -254,27 +279,7 @@ __EXPORT uint8_t imxrt_lpspi1status(FAR struct spi_dev_s *dev, uint32_t devid)
#if defined(CONFIG_IMXRT_LPSPI2)
__EXPORT void imxrt_lpspi2select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
{
/* SPI select is active low, so write !selected to select the device */
int sel = (int) devid;
if (devid == SPIDEV_FLASH(0)) {
sel = PX4_SPIDEV_MEMORY;
}
ASSERT(PX4_SPI_BUS_ID(sel) == PX4_SPI_BUS_MEMORY);
/* Making sure the other peripherals are not selected */
for (auto cs : spi2selects_gpio) {
imxrt_gpio_write(cs, 1);
}
uint32_t gpio = spi2selects_gpio[PX4_SPI_DEV_ID(sel)];
if (gpio) {
imxrt_gpio_write(gpio, !selected);
}
imxrt_spixselect(_spi_bus2, dev, devid, selected);
}
__EXPORT uint8_t imxrt_lpspi2status(FAR struct spi_dev_s *dev, uint32_t devid)
@@ -286,22 +291,7 @@ __EXPORT uint8_t imxrt_lpspi2status(FAR struct spi_dev_s *dev, uint32_t devid)
#if defined(CONFIG_IMXRT_LPSPI3)
__EXPORT void imxrt_lpspi3select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
{
/* SPI select is active low, so write !selected to select the device */
int sel = (int) devid;
ASSERT(PX4_SPI_BUS_ID(sel) == PX4_SPI_BUS_BARO);
/* Making sure the other peripherals are not selected */
for (auto cs : spi3selects_gpio) {
imxrt_gpio_write(cs, 1);
}
uint32_t gpio = spi3selects_gpio[PX4_SPI_DEV_ID(sel)];
if (gpio) {
imxrt_gpio_write(gpio, !selected);
}
imxrt_spixselect(_spi_bus3, dev, devid, selected);
}
__EXPORT uint8_t imxrt_lpspi3status(FAR struct spi_dev_s *dev, uint32_t devid)
@@ -313,20 +303,7 @@ __EXPORT uint8_t imxrt_lpspi3status(FAR struct spi_dev_s *dev, uint32_t devid)
#if defined(CONFIG_IMXRT_LPSPI4)
__EXPORT void imxrt_lpspi4select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
{
int sel = (int) devid;
ASSERT(PX4_SPI_BUS_ID(sel) == PX4_SPI_BUS_EXTERNAL1);
/* Making sure the other peripherals are not selected */
for (auto cs : spi4selects_gpio) {
imxrt_gpio_write(cs, 1);
}
uint32_t gpio = spi4selects_gpio[PX4_SPI_DEV_ID(sel)];
if (gpio) {
imxrt_gpio_write(gpio, !selected);
}
imxrt_spixselect(_spi_bus4, dev, devid, selected);
}
__EXPORT uint8_t imxrt_lpspi4status(FAR struct spi_dev_s *dev, uint32_t devid)
@@ -343,23 +320,29 @@ __EXPORT uint8_t imxrt_lpspi4status(FAR struct spi_dev_s *dev, uint32_t devid)
*
************************************************************************************/
__EXPORT void board_spi_reset(int ms)
__EXPORT void board_spi_reset(int ms, int bus_mask)
{
#ifdef CONFIG_IMXRT_LPSPI1
/* Goal not to back feed the chips on the bus via IO lines */
for (auto cs : spi1selects_gpio) {
imxrt_config_gpio(_PIN_OFF(cs));
for (int bus = 0; bus < SPI_BUS_MAX_BUS_ITEMS; ++bus) {
if (px4_spi_buses[bus].bus == 1 || px4_spi_buses[bus].bus == 3) {
for (int i = 0; i < SPI_BUS_MAX_DEVICES; ++i) {
if (px4_spi_buses[bus].devices[i].cs_gpio != 0) {
imxrt_config_gpio(_PIN_OFF(px4_spi_buses[bus].devices[i].cs_gpio));
}
if (px4_spi_buses[bus].devices[i].drdy_gpio != 0) {
imxrt_config_gpio(_PIN_OFF(px4_spi_buses[bus].devices[i].drdy_gpio));
}
}
}
}
imxrt_config_gpio(GPIO_SPI1_SCK_OFF);
imxrt_config_gpio(GPIO_SPI1_MISO_OFF);
imxrt_config_gpio(GPIO_SPI1_MOSI_OFF);
for (auto cs : spi3selects_gpio) {
imxrt_config_gpio(_PIN_OFF(cs));
}
imxrt_config_gpio(GPIO_SPI3_SCK_OFF);
imxrt_config_gpio(GPIO_SPI3_MISO_OFF);
imxrt_config_gpio(GPIO_SPI3_MOSI_OFF);
@@ -368,12 +351,6 @@ __EXPORT void board_spi_reset(int ms)
imxrt_config_gpio(_PIN_OFF(GPIO_LPI2C3_SDA_RESET));
imxrt_config_gpio(_PIN_OFF(GPIO_LPI2C3_SCL_RESET));
# if BOARD_USE_DRDY
imxrt_config_gpio(GPIO_DRDY_OFF_SPI1_DRDY1_ICM20689);
imxrt_config_gpio(GPIO_DRDY_OFF_SPI1_DRDY2_BMI055_GYRO);
imxrt_config_gpio(GPIO_DRDY_OFF_SPI1_DRDY3_BMI055_ACC);
imxrt_config_gpio(GPIO_DRDY_OFF_SPI1_DRDY4_ICM20602);
# endif
/* set the sensor rail off */
imxrt_gpio_write(GPIO_VDD_3V3_SENSORS_EN, 0);
@@ -390,19 +367,24 @@ __EXPORT void board_spi_reset(int ms)
usleep(100);
/* reconfigure the SPI pins */
for (auto cs : spi1selects_gpio) {
imxrt_config_gpio(cs);
for (int bus = 0; bus < SPI_BUS_MAX_BUS_ITEMS; ++bus) {
if (px4_spi_buses[bus].bus == 1 || px4_spi_buses[bus].bus == 3) {
for (int i = 0; i < SPI_BUS_MAX_DEVICES; ++i) {
if (px4_spi_buses[bus].devices[i].cs_gpio != 0) {
imxrt_config_gpio(px4_spi_buses[bus].devices[i].cs_gpio);
}
if (px4_spi_buses[bus].devices[i].drdy_gpio != 0) {
imxrt_config_gpio(px4_spi_buses[bus].devices[i].drdy_gpio);
}
}
}
}
imxrt_config_gpio(GPIO_LPSPI1_SCK);
imxrt_config_gpio(GPIO_LPSPI1_MISO);
imxrt_config_gpio(GPIO_LPSPI1_MOSI);
/* reconfigure the SPI pins */
for (auto cs : spi3selects_gpio) {
imxrt_config_gpio(cs);
}
imxrt_config_gpio(GPIO_LPSPI3_SCK);
imxrt_config_gpio(GPIO_LPSPI3_MISO);
imxrt_config_gpio(GPIO_LPSPI3_MOSI);
@@ -410,12 +392,6 @@ __EXPORT void board_spi_reset(int ms)
imxrt_config_gpio(GPIO_LPI2C3_SDA);
imxrt_config_gpio(GPIO_LPI2C3_SCL);
# if BOARD_USE_DRDY
imxrt_config_gpio(GPIO_SPI1_DRDY1_ICM20689);
imxrt_config_gpio(GPIO_SPI1_DRDY2_BMI055_GYRO);
imxrt_config_gpio(GPIO_SPI1_DRDY3_BMI055_ACC);
imxrt_config_gpio(GPIO_SPI1_DRDY4_ICM20602);
# endif
#endif /* CONFIG_IMXRT_LPSPI1 */
}

1
boards/omnibus/f4sd/init/rc.board_sensors
View File

@@ -17,4 +17,3 @@ hmc5883 -X start
bmp280 start
adc start

4
boards/omnibus/f4sd/src/CMakeLists.txt
View File

@@ -32,15 +32,17 @@
############################################################################
add_library(drivers_board
i2c.cpp
init.c
led.c
spi.c
spi.cpp
timer_config.cpp
usb.c
)
target_link_libraries(drivers_board
PRIVATE
arch_spi
drivers__led # drv_led_start
nuttx_arch # sdio
nuttx_drivers # sdio

15
boards/omnibus/f4sd/src/board_config.h
View File

@@ -112,6 +112,8 @@
/* OMNIBUSF4SD SPI chip selects and DRDY */
/*----------------------------------------------------------*/
#include <drivers/drv_sensor.h>
/* SPI chip selects */
/*
* Define the Chip Selects for SPI1
@@ -171,11 +173,11 @@
// One device per bus
#define PX4_SPI_BUS_SENSORS 1
#define PX4_SPIDEV_MPU 1
#define PX4_SPIDEV_ICM_20602 1
#define PX4_SPIDEV_MPU PX4_MK_SPI_SEL(0, DRV_IMU_DEVTYPE_MPU6000)
#define PX4_SPIDEV_ICM_20602 PX4_MK_SPI_SEL(0, DRV_IMU_DEVTYPE_ICM20602)
#define PX4_SPIDEV_BARO_BUS 3
#define PX4_SPIDEV_BARO 1
#define PX4_SPIDEV_OSD 2
#define PX4_SPIDEV_BARO PX4_MK_SPI_SEL(0, DRV_BARO_DEVTYPE_BMP280)
#define PX4_SPIDEV_OSD PX4_MK_SPI_SEL(0, DRV_OSD_DEVTYPE_ATXXXX)
/* USB OTG FS
*
@@ -259,14 +261,9 @@ __BEGIN_DECLS
* Description:
* Called to configure SPI chip select GPIO pins for the PX4FMU board.
*
* mask - is bus selection
* 1 - 1 << 0
* 2 - 1 << 1
*
****************************************************************************************************/
extern void stm32_spiinitialize(void);
void board_spi_reset(int ms);
/****************************************************************************************************

39
boards/omnibus/f4sd/src/i2c.cpp Normal file
View File

@@ -0,0 +1,39 @@
/****************************************************************************
*
* Copyright (C) 2020 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include <px4_arch/i2c_hw_description.h>
constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
initI2CBusExternal(2),
};

187
boards/omnibus/f4sd/src/spi.c
View File

@@ -1,187 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2018 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file spi.c
*
* Board-specific SPI functions.
*/
/************************************************************************************
* Included Files
************************************************************************************/
#include <px4_platform_common/px4_config.h>
#include <stdint.h>
#include <stdbool.h>
#include <debug.h>
#include <unistd.h>
#include <nuttx/spi/spi.h>
#include <arch/board/board.h>
#include <up_arch.h>
#include <chip.h>
#include <stm32.h>
#include "board_config.h"
/************************************************************************************
* Public Functions
************************************************************************************/
/************************************************************************************
* Name: stm32_spiinitialize
*
* Description:
* Called to configure SPI chip select GPIO pins for the PX4FMU board.
* mask - is bus selection
* 1 - 1 << 0
* 2 - 1 << 1
*
************************************************************************************/
__EXPORT void stm32_spiinitialize()
{
stm32_configgpio(GPIO_SPI_CS_MEMS);
stm32_configgpio(GPIO_SPI_CS_SDCARD);
stm32_configgpio(GPIO_SPI3_CS_BARO);
stm32_configgpio(GPIO_SPI3_CS_OSD);
}
__EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
{
/* SPI select is active low, so write !selected to select the device */
UNUSED(devid);
px4_arch_gpiowrite(GPIO_SPI_CS_MEMS, !selected);
}
__EXPORT uint8_t stm32_spi1status(FAR struct spi_dev_s *dev, uint32_t devid)
{
return SPI_STATUS_PRESENT;
}
__EXPORT void stm32_spi2select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
{
/* SPI select is active low, so write !selected to select the device */
UNUSED(devid);
px4_arch_gpiowrite(GPIO_SPI_CS_SDCARD, !selected);
}
__EXPORT uint8_t stm32_spi2status(FAR struct spi_dev_s *dev, uint32_t devid)
{
return SPI_STATUS_PRESENT;
}
__EXPORT void stm32_spi3select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
{
UNUSED(devid);
/* SPI select is active low, so write !selected to select the device */
px4_arch_gpiowrite(GPIO_SPI3_CS_BARO, !selected);
px4_arch_gpiowrite(GPIO_SPI3_CS_OSD, !selected);
}
__EXPORT uint8_t stm32_spi3status(FAR struct spi_dev_s *dev, uint32_t devid)
{
/* FRAM is always present */
return SPI_STATUS_PRESENT;
}
__EXPORT void board_spi_reset(int ms)
{
// TODO: DRDY
///* disable SPI bus 1 DRDY */
//stm32_configgpio(GPIO_DRDY_OFF_PORTD_PIN15);
//stm32_configgpio(GPIO_DRDY_OFF_PORTC_PIN14);
//stm32_configgpio(GPIO_DRDY_OFF_PORTE_PIN12);
//stm32_gpiowrite(GPIO_DRDY_OFF_PORTD_PIN15, 0);
//stm32_gpiowrite(GPIO_DRDY_OFF_PORTC_PIN14, 0);
//stm32_gpiowrite(GPIO_DRDY_OFF_PORTE_PIN12, 0);
/* disable SPI bus 1 CS */
stm32_configgpio(GPIO_SPI1_CS_MEMS_OFF);
stm32_gpiowrite(GPIO_SPI1_CS_MEMS_OFF, 0);
/* disable SPI bus 2 CS */
stm32_configgpio(GPIO_SPI2_CS_SDCARD_OFF);
stm32_gpiowrite(GPIO_SPI2_CS_SDCARD_OFF, 0);
/* disable SPI bus 3 CS */
stm32_configgpio(GPIO_SPI3_CS_BARO_OFF);
stm32_gpiowrite(GPIO_SPI3_CS_BARO_OFF, 0);
stm32_configgpio(GPIO_SPI3_CS_OSD_OFF);
stm32_gpiowrite(GPIO_SPI3_CS_OSD_OFF, 0);
/* disable SPI bus 1*/
stm32_configgpio(GPIO_SPI1_SCK_OFF);
stm32_configgpio(GPIO_SPI1_MISO_OFF);
stm32_configgpio(GPIO_SPI1_MOSI_OFF);
stm32_gpiowrite(GPIO_SPI1_SCK_OFF, 0);
stm32_gpiowrite(GPIO_SPI1_MISO_OFF, 0);
stm32_gpiowrite(GPIO_SPI1_MOSI_OFF, 0);
/* disable SPI bus 2*/
stm32_configgpio(GPIO_SPI2_SCK_OFF);
stm32_configgpio(GPIO_SPI2_MISO_OFF);
stm32_configgpio(GPIO_SPI2_MOSI_OFF);
stm32_gpiowrite(GPIO_SPI2_SCK_OFF, 0);
stm32_gpiowrite(GPIO_SPI2_MISO_OFF, 0);
stm32_gpiowrite(GPIO_SPI2_MOSI_OFF, 0);
/* disable SPI bus 3*/
stm32_configgpio(GPIO_SPI3_SCK_OFF);
stm32_configgpio(GPIO_SPI3_MISO_OFF);
stm32_configgpio(GPIO_SPI3_MOSI_OFF);
stm32_gpiowrite(GPIO_SPI3_SCK_OFF, 0);
stm32_gpiowrite(GPIO_SPI3_MISO_OFF, 0);
stm32_gpiowrite(GPIO_SPI3_MOSI_OFF, 0);
/* wait a bit before starting SPI, different times didn't influence results */
usleep(100);
stm32_spiinitialize();
stm32_configgpio(GPIO_SPI1_SCK);
stm32_configgpio(GPIO_SPI1_MISO);
stm32_configgpio(GPIO_SPI1_MOSI);
// TODO: why do we not enable SPI2 here?
stm32_configgpio(GPIO_SPI3_SCK);
stm32_configgpio(GPIO_SPI3_MISO);
stm32_configgpio(GPIO_SPI3_MOSI);
}

53
boards/omnibus/f4sd/src/spi.cpp Normal file
View File

@@ -0,0 +1,53 @@
/****************************************************************************
*
* Copyright (C) 2018 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include <px4_arch/spi_hw_description.h>
#include <drivers/drv_sensor.h>
#include <nuttx/spi/spi.h>
constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
initSPIBus(1, {
initSPIDevice(DRV_IMU_DEVTYPE_MPU6000, SPI::CS{GPIO::PortA, GPIO::Pin4}),
initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortA, GPIO::Pin4}),
}),
initSPIBus(2, {
initSPIDevice(SPIDEV_MMCSD(0), SPI::CS{GPIO::PortB, GPIO::Pin12})
}),
initSPIBus(3, {
initSPIDevice(DRV_BARO_DEVTYPE_BMP280, SPI::CS{GPIO::PortB, GPIO::Pin3}),
initSPIDevice(DRV_OSD_DEVTYPE_ATXXXX, SPI::CS{GPIO::PortA, GPIO::Pin15}),
}),
};
static constexpr bool unused = validateSPIConfig(px4_spi_buses);

5
boards/px4/fmu-v2/src/CMakeLists.txt
View File

@@ -33,10 +33,10 @@
add_library(drivers_board
can.c
i2c.c
i2c.cpp
init.c
led.c
spi.c
spi.cpp
timer_config.cpp
usb.c
manifest.c
@@ -44,6 +44,7 @@ add_library(drivers_board
target_link_libraries(drivers_board
PRIVATE
arch_spi
drivers__led # drv_led_start
nuttx_arch # sdio
nuttx_drivers # sdio

35
boards/px4/fmu-v2/src/board_config.h
View File

@@ -60,6 +60,7 @@
#define HW_VER_FMUV2MINI_STATE 0xA /* PB12:PU:1 PB12:PD:0 PB4:PU:1 PB4PD:0 */
#define HW_VER_FMUV2X_STATE 0xB /* PB12:PU:1 PB12:PD:0 PB4:PU:1 PB4PD:1 */
#define HW_VER_TYPE_INIT {'V','2',0, 0}
#define BOARD_NUM_SPI_CFG_HW_VERSIONS 3
/****************************************************************************************************
* Definitions
@@ -87,12 +88,7 @@
#define GPIO_LED1 (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN12)
#define BOARD_OVERLOAD_LED LED_AMBER
/*
* Define the ability to shut off off the sensor signals
* by changing the signals to inputs
*/
#define _PIN_OFF(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_50MHz))
#include <drivers/drv_sensor.h>
/* Due to inconsistent use of chip select and dry signal on
* different board that use this build. We are defining the GPIO
@@ -208,24 +204,27 @@
/* Use these to select a specific SPI device on SPI1 */
#define PX4_SPIDEV_GYRO PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 1)
#define PX4_SPIDEV_ACCEL_MAG PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 2)
#define PX4_SPIDEV_BARO PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 3)
#define PX4_SPIDEV_MPU PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 4)
#define PX4_SPIDEV_GYRO PX4_MK_SPI_SEL(0, DRV_GYR_DEVTYPE_L3GD20)
#define PX4_SPIDEV_ACCEL_MAG PX4_MK_SPI_SEL(0, DRV_ACC_DEVTYPE_LSM303D)
#define PX4_SPIDEV_BARO PX4_MK_SPI_SEL(0, DRV_BARO_DEVTYPE_MS5611)
#define PX4_SPIDEV_MPU PX4_MK_SPI_SEL(0, DRV_IMU_DEVTYPE_MPU6000)
/* FMUv3 SPI on external bus */
#define PX4_SPIDEV_EXT_GYRO PX4_MK_SPI_SEL(PX4_SPI_BUS_EXT, 1)
#define PX4_SPIDEV_EXT_ACCEL_MAG PX4_MK_SPI_SEL(PX4_SPI_BUS_EXT, 2)
#define PX4_SPIDEV_EXT_BARO PX4_MK_SPI_SEL(PX4_SPI_BUS_EXT, 3)
#define PX4_SPIDEV_EXT_MPU PX4_MK_SPI_SEL(PX4_SPI_BUS_EXT, 4)
#define PX4_SPIDEV_EXT_BMI PX4_MK_SPI_SEL(PX4_SPI_BUS_EXT, 5)
#define PX4_SPIDEV_EXT_GYRO PX4_MK_SPI_SEL(0, DRV_GYR_DEVTYPE_L3GD20)
#define PX4_SPIDEV_EXT_ACCEL_MAG PX4_MK_SPI_SEL(0, DRV_ACC_DEVTYPE_LSM303D)
#define PX4_SPIDEV_EXT_BARO PX4_MK_SPI_SEL(0, DRV_BARO_DEVTYPE_MS5611)
#define PX4_SPIDEV_EXT_MPU PX4_MK_SPI_SEL(0, DRV_IMU_DEVTYPE_MPU6000)
#define PX4_SPIDEV_EXT_BMI PX4_MK_SPI_SEL(0, DRV_GYR_DEVTYPE_BMI055)
/* I2C busses */
#define BOARD_OVERRIDE_I2C_BUS_EXTERNAL
#define PX4_I2C_BUS_EXPANSION 1
#define PX4_I2C_BUS_ONBOARD 2
#define PX4_I2C_BUS_LED PX4_I2C_BUS_ONBOARD
#define BOARD_SPI_BUS_MAX_BUS_ITEMS 3
/*----------------------------------------------------------*/
/* FMUv3 Cube SPI chip selects and DRDY */
/*----------------------------------------------------------*/
@@ -292,7 +291,7 @@
#define GPIO_SPI4_EXTERN_CS GPIO_SPI4_CS_PB1
/* PB1 is an External CS on V3 */
#define PX4_SPIDEV_HMC 5
#define PX4_SPIDEV_HMC PX4_MK_SPI_SEL(0, DRV_MAG_DEVTYPE_HMC5883)
/*----------------------------------------------------------*/
/* End FMUv3 Cube SPI chip selects and DRDY */
@@ -351,7 +350,7 @@
*/
#define GPIO_SPI1_EXTI_20608_DRDY_PC14 (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTC|GPIO_PIN14)
#define PX4_SPIDEV_ICM_20608 6 /* ICM_20608 on PC15 */
#define PX4_SPIDEV_ICM_20608 PX4_MK_SPI_SEL(0, DRV_IMU_DEVTYPE_ICM20608)
@@ -379,7 +378,6 @@
#define GPIO_VDD_BRICK_VALID (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN5)
#define GPIO_VDD_SERVO_VALID (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN7)
#define GPIO_VDD_USB_VALID (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN0)
#define GPIO_VDD_3V3_SENSORS_EN (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN3)
#define GPIO_VDD_5V_HIPOWER_OC (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN10)
#define GPIO_VDD_5V_PERIPH_OC (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN15)
@@ -463,7 +461,6 @@ extern void stm32_spiinitialize(void);
*
****************************************************************************************************/
void board_spi_reset(int ms);
extern void board_peripheral_reset(int ms);
/****************************************************************************************************

12
boards/px4/fmu-v2/src/i2c.c → boards/px4/fmu-v2/src/i2c.cpp
View File

@@ -38,15 +38,23 @@
*/
#include "board_config.h"
#include <px4_platform_common/i2c.h>
#include <px4_arch/i2c_hw_description.h>
__EXPORT bool px4_i2c_bus_external(int bus)
constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
initI2CBusExternal(1),
initI2CBusInternal(2),
};
bool px4_i2c_bus_external(const px4_i2c_bus_t &bus)
{
if (HW_VER_FMUV3 == board_get_hw_version()) {
/* All FMUV3 2.1 i2c buses are external */
return true;
} else {
if (bus != PX4_I2C_BUS_ONBOARD) {
if (bus.bus != 2) {
return true;
}
}

19
boards/px4/fmu-v2/src/init.c
View File

@@ -160,7 +160,7 @@ __EXPORT void board_on_reset(int status)
up_mdelay(400);
/* on reboot (status >= 0) reset sensors and peripherals */
board_spi_reset(10);
board_spi_reset(10, 0xffff);
}
}
@@ -309,7 +309,8 @@ stm32_boardinitialize(void)
/* configure power supply control/sense pins */
stm32_configgpio(GPIO_VDD_5V_PERIPH_EN);
stm32_configgpio(GPIO_VDD_3V3_SENSORS_EN);
board_control_spi_sensors_power_configgpio();
board_control_spi_sensors_power(true, 0xffff);
stm32_configgpio(GPIO_VDD_BRICK_VALID);
stm32_configgpio(GPIO_VDD_SERVO_VALID);
stm32_configgpio(GPIO_VDD_USB_VALID);
@@ -419,7 +420,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
syslog(LOG_DEBUG, "\nFMUv2 ver 0x%1X : Rev %x %s\n", hw_version, hw_revision, hw_type);
}
/* configure SPI interfaces */
/* configure SPI interfaces (after the hw is determined) */
stm32_spiinitialize();
px4_platform_init();
@@ -457,10 +458,10 @@ __EXPORT int board_app_initialize(uintptr_t arg)
/* Configure SPI-based devices */
spi1 = stm32_spibus_initialize(PX4_SPI_BUS_SENSORS);
spi1 = stm32_spibus_initialize(1);
if (!spi1) {
syslog(LOG_ERR, "[boot] FAILED to initialize SPI port %d\n", PX4_SPI_BUS_SENSORS);
syslog(LOG_ERR, "[boot] FAILED to initialize SPI port %d\n", 1);
led_on(LED_AMBER);
return -ENODEV;
}
@@ -473,10 +474,10 @@ __EXPORT int board_app_initialize(uintptr_t arg)
/* Get the SPI port for the FRAM */
spi2 = stm32_spibus_initialize(PX4_SPI_BUS_RAMTRON);
spi2 = stm32_spibus_initialize(2);
if (!spi2) {
syslog(LOG_ERR, "[boot] FAILED to initialize SPI port %d\n", PX4_SPI_BUS_RAMTRON);
syslog(LOG_ERR, "[boot] FAILED to initialize SPI port %d\n", 2);
led_on(LED_AMBER);
return -ENODEV;
}
@@ -489,10 +490,10 @@ __EXPORT int board_app_initialize(uintptr_t arg)
SPI_SETBITS(spi2, 8);
SPI_SETMODE(spi2, SPIDEV_MODE3);
spi4 = stm32_spibus_initialize(PX4_SPI_BUS_EXT);
spi4 = stm32_spibus_initialize(4);
if (!spi4) {
syslog(LOG_ERR, "[boot] FAILED to initialize SPI port %d\n", PX4_SPI_BUS_EXT);
syslog(LOG_ERR, "[boot] FAILED to initialize SPI port %d\n", 4);
led_on(LED_AMBER);
return -ENODEV;
}

461
boards/px4/fmu-v2/src/spi.c
View File

@@ -1,461 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file px4fmu_spi.c
*
* Board-specific SPI functions.
*/
/************************************************************************************
* Included Files
************************************************************************************/
#include <px4_platform_common/px4_config.h>
#include <stdint.h>
#include <stdbool.h>
#include <debug.h>
#include <unistd.h>
#include <nuttx/spi/spi.h>
#include <arch/board/board.h>
#include <up_arch.h>
#include <chip.h>
#include <stm32.h>
#include "board_config.h"
/************************************************************************************
* Public Functions
************************************************************************************/
/************************************************************************************
* Name: stm32_spiinitialize
*
* Description:
* Called to configure SPI chip select GPIO pins for the PX4FMU board.
*
************************************************************************************/
#ifdef CONFIG_STM32_SPI1
/* Verification
* PA5 PA6 PA7 PB0 PB1 PB4 PC1 PC2 PC13 PC14 PC15 PD7 PD15 PE2 PE4 PE5 PE6
* driver X X X X X X
* local V2 v2 V2 V3 a V2 V2M V2x a a 4
*/
static void stm32_spi1_initialize(void)
{
stm32_configgpio(GPIO_SPI1_CS_PC2);
stm32_configgpio(GPIO_SPI1_CS_PD7);
stm32_configgpio(GPIO_SPI1_EXTI_DRDY_PD15);
if (HW_VER_FMUV2MINI == board_get_hw_version()) {
stm32_configgpio(GPIO_SPI1_EXTI_20608_DRDY_PC14);
stm32_configgpio(GPIO_SPI1_CS_PC15);
} else if (HW_VER_FMUV3 == board_get_hw_version()) {
stm32_configgpio(GPIO_SPI1_CS_PC1);
} else {
stm32_configgpio(GPIO_SPI1_EXTI_DRDY_PB0);
stm32_configgpio(GPIO_SPI1_EXTI_DRDY_PB1);
stm32_configgpio(GPIO_SPI1_EXTI_DRDY_PB4);
stm32_configgpio(GPIO_SPI1_CS_PC13);
stm32_configgpio(GPIO_SPI1_CS_PC15);
}
}
#endif // CONFIG_STM32_SPI1
#ifdef CONFIG_STM32_SPI4
/* Verification
* PA5 PA6 PA7 PB0 PB1 PB4 PC1 PC2 PC13 PC14 PC15 PD7 PD15 PE2 PE4 PE5 PE6
* driver X X X X X X
* local V3 V3 - V3 a V3 V23 V3 - -
*/
static void stm32_spi4_initialize(void)
{
stm32_configgpio(GPIO_SPI4_NSS_PE4);
if (HW_VER_FMUV3 == board_get_hw_version()) {
stm32_configgpio(GPIO_SPI4_EXTI_DRDY_PB0);
stm32_configgpio(GPIO_SPI4_CS_PB1);
stm32_configgpio(GPIO_SPI4_CS_PC13);
stm32_configgpio(GPIO_SPI4_CS_PC15);
}
if (HW_VER_FMUV2MINI != board_get_hw_version()) {
stm32_configgpio(GPIO_SPI4_GPIO_PC14);
}
}
#endif //CONFIG_STM32_SPI4
__EXPORT void stm32_spiinitialize(void)
{
#ifdef CONFIG_STM32_SPI1
stm32_spi1_initialize();
#endif
#ifdef CONFIG_STM32_SPI2
stm32_configgpio(GPIO_SPI2_CS_PD10);
#endif
#ifdef CONFIG_STM32_SPI4
stm32_spi4_initialize();
#endif
}
#ifdef CONFIG_STM32_SPI1
__EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
{
/* SPI select is active low, so write !selected to select the device */
/* Verification
* PA5 PA6 PA7 PB0 PB1 PB4 PC1 PC2 PC13 PC14 PC15 PD7 PD15 PE2 PE4 PE5 PE6
* driver X X X X X X
* local - - - V3 a V2 - V2M a - -
*/
switch (devid) {
case PX4_SPIDEV_GYRO:
/* Making sure the other peripherals are not selected */
if (HW_VER_FMUV2 == board_get_hw_version()) {
stm32_gpiowrite(GPIO_SPI1_CS_PC13, !selected);
}
if (HW_VER_FMUV3 != board_get_hw_version()) {
stm32_gpiowrite(GPIO_SPI1_CS_PC15, 1);
}
stm32_gpiowrite(GPIO_SPI1_CS_PD7, 1);
stm32_gpiowrite(GPIO_SPI1_CS_PC2, 1);
if (HW_VER_FMUV3 == board_get_hw_version()) {
stm32_gpiowrite(GPIO_SPI1_CS_PC1, 1);
}
break;
case PX4_SPIDEV_ICM_20608:
case PX4_SPIDEV_ACCEL_MAG:
/* Making sure the other peripherals are not selected */
if (HW_VER_FMUV2 == board_get_hw_version()) {
stm32_gpiowrite(GPIO_SPI1_CS_PC13, 1);
}
if (HW_VER_FMUV3 != board_get_hw_version()) {
stm32_gpiowrite(GPIO_SPI1_CS_PC15, !selected);
}
stm32_gpiowrite(GPIO_SPI1_CS_PD7, 1);
stm32_gpiowrite(GPIO_SPI1_CS_PC2, 1);
if (HW_VER_FMUV3 == board_get_hw_version()) {
stm32_gpiowrite(GPIO_SPI1_CS_PC1, 1);
}
break;
case PX4_SPIDEV_BARO:
/* Making sure the other peripherals are not selected */
if (HW_VER_FMUV2 == board_get_hw_version()) {
stm32_gpiowrite(GPIO_SPI1_CS_PC13, 1);
}
if (HW_VER_FMUV3 != board_get_hw_version()) {
stm32_gpiowrite(GPIO_SPI1_CS_PC15, 1);
}
stm32_gpiowrite(GPIO_SPI1_CS_PD7, !selected);
stm32_gpiowrite(GPIO_SPI1_CS_PC2, 1);
if (HW_VER_FMUV3 == board_get_hw_version()) {
stm32_gpiowrite(GPIO_SPI1_CS_PC1, 1);
}
break;
case PX4_SPIDEV_MPU:
/* Making sure the other peripherals are not selected */
if (HW_VER_FMUV2 == board_get_hw_version()) {
stm32_gpiowrite(GPIO_SPI1_CS_PC13, 1);
}
if (HW_VER_FMUV3 != board_get_hw_version()) {
stm32_gpiowrite(GPIO_SPI1_CS_PC15, 1);
}
stm32_gpiowrite(GPIO_SPI1_CS_PD7, 1);
stm32_gpiowrite(GPIO_SPI1_CS_PC2, !selected);
if (HW_VER_FMUV3 == board_get_hw_version()) {
stm32_gpiowrite(GPIO_SPI1_CS_PC1, 1);
}
break;
case PX4_SPIDEV_HMC:
if (HW_VER_FMUV2 == board_get_hw_version()) {
stm32_gpiowrite(GPIO_SPI1_CS_PC13, 1);
}
if (HW_VER_FMUV3 != board_get_hw_version()) {
stm32_gpiowrite(GPIO_SPI1_CS_PC15, 1);
}
stm32_gpiowrite(GPIO_SPI1_CS_PD7, 1);
stm32_gpiowrite(GPIO_SPI1_CS_PC2, 1);
if (HW_VER_FMUV3 == board_get_hw_version()) {
stm32_gpiowrite(GPIO_SPI1_CS_PC1, !selected);
}
break;
default:
break;
}
}
__EXPORT uint8_t stm32_spi1status(FAR struct spi_dev_s *dev, uint32_t devid)
{
return SPI_STATUS_PRESENT;
}
#endif // CONFIG_STM32_SPI1
#ifdef CONFIG_STM32_SPI2
__EXPORT void stm32_spi2select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
{
/* there can only be one device on this bus, so always select it */
stm32_gpiowrite(GPIO_SPI2_CS_PD10, !selected);
}
__EXPORT uint8_t stm32_spi2status(FAR struct spi_dev_s *dev, uint32_t devid)
{
/* FRAM is always present */
return SPI_STATUS_PRESENT;
}
#endif
#ifdef CONFIG_STM32_SPI4
__EXPORT void stm32_spi4select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
{
/* SPI select is active low, so write !selected to select the device */
/* Verification
* PA5 PA6 PA7 PB0 PB1 PB4 PC1 PC2 PC13 PC14 PC15 PD7 PD15 PE2 PE4 PE5 PE6
* driver X X X X X X
* local - - - - - V3 !V2M V3 - - a
*/
switch (devid) {
case PX4_SPIDEV_EXT_MPU:
/* Making sure the other peripherals are not selected */
stm32_gpiowrite(GPIO_SPI4_NSS_PE4, !selected);
if (HW_VER_FMUV2MINI != board_get_hw_version()) {
stm32_gpiowrite(GPIO_SPI4_GPIO_PC14, 1);
}
if (HW_VER_FMUV3 == board_get_hw_version()) {
stm32_gpiowrite(GPIO_SPI4_CS_PC15, 1);
stm32_gpiowrite(GPIO_SPI4_CS_PC13, 1);
}
break;
case PX4_SPIDEV_EXT_BARO:
/* Making sure the other peripherals are not selected */
stm32_gpiowrite(GPIO_SPI4_NSS_PE4, 1);
if (HW_VER_FMUV2MINI != board_get_hw_version()) {
stm32_gpiowrite(GPIO_SPI4_GPIO_PC14, !selected);
}
if (HW_VER_FMUV3 == board_get_hw_version()) {
stm32_gpiowrite(GPIO_SPI4_CS_PC15, 1);
stm32_gpiowrite(GPIO_SPI4_CS_PC13, 1);
}
break;
case PX4_SPIDEV_ICM_20608:
case PX4_SPIDEV_EXT_ACCEL_MAG:
/* Making sure the other peripherals are not selected */
stm32_gpiowrite(GPIO_SPI4_NSS_PE4, 1);
if (HW_VER_FMUV2MINI != board_get_hw_version()) {
stm32_gpiowrite(GPIO_SPI4_GPIO_PC14, 1);
}
if (HW_VER_FMUV3 == board_get_hw_version()) {
stm32_gpiowrite(GPIO_SPI4_CS_PC15, !selected);
stm32_gpiowrite(GPIO_SPI4_CS_PC13, 1);
}
break;
case PX4_SPIDEV_EXT_BMI:
case PX4_SPIDEV_EXT_GYRO:
/* Making sure the other peripherals are not selected */
stm32_gpiowrite(GPIO_SPI4_NSS_PE4, 1);
if (HW_VER_FMUV2MINI != board_get_hw_version()) {
stm32_gpiowrite(GPIO_SPI4_GPIO_PC14, 1);
}
if (HW_VER_FMUV3 == board_get_hw_version()) {
stm32_gpiowrite(GPIO_SPI4_CS_PC15, 1);
stm32_gpiowrite(GPIO_SPI4_CS_PC13, !selected);
}
break;
default:
break;
}
}
__EXPORT uint8_t stm32_spi4status(FAR struct spi_dev_s *dev, uint32_t devid)
{
return SPI_STATUS_PRESENT;
}
#endif // CONFIG_STM32_SPI4
/* V2, V2M SPI1 All signals SPI4, V3 ALL signals */
/* Verification
* PA5 PA6 PA7 PB0 PB1 PB4 PC1 PC2 PC13 PC14 PC15 PD7 PD15 PE2 PE4 PE5 PE6
* local A A A A A A V3 A A !V2 A A A V3 V3 V3 V3
*/
__EXPORT void board_spi_reset(int ms)
{
/* disable SPI bus */
stm32_configgpio(_PIN_OFF(GPIO_SPI1_CS_PC2));
stm32_configgpio(_PIN_OFF(GPIO_SPI1_CS_PC13));
stm32_configgpio(_PIN_OFF(GPIO_SPI1_CS_PC15));
stm32_configgpio(_PIN_OFF(GPIO_SPI1_CS_PD7));
stm32_gpiowrite(_PIN_OFF(GPIO_SPI1_CS_PC2), 0);
stm32_gpiowrite(_PIN_OFF(GPIO_SPI1_CS_PC13), 0);
stm32_gpiowrite(_PIN_OFF(GPIO_SPI1_CS_PC15), 0);
stm32_gpiowrite(_PIN_OFF(GPIO_SPI1_CS_PD7), 0);
stm32_configgpio(_PIN_OFF(GPIO_SPI1_SCK));
stm32_configgpio(_PIN_OFF(GPIO_SPI1_MISO));
stm32_configgpio(_PIN_OFF(GPIO_SPI1_MOSI));
stm32_gpiowrite(_PIN_OFF(GPIO_SPI1_SCK), 0);
stm32_gpiowrite(_PIN_OFF(GPIO_SPI1_MISO), 0);
stm32_gpiowrite(_PIN_OFF(GPIO_SPI1_MOSI), 0);
stm32_configgpio(_PIN_OFF(GPIO_SPI1_EXTI_DRDY_PB0));
stm32_configgpio(_PIN_OFF(GPIO_SPI1_EXTI_DRDY_PB1));
stm32_configgpio(_PIN_OFF(GPIO_SPI1_EXTI_DRDY_PB4));
stm32_configgpio(_PIN_OFF(GPIO_SPI1_EXTI_DRDY_PD15));
stm32_gpiowrite(_PIN_OFF(GPIO_SPI1_EXTI_DRDY_PB0), 0);
stm32_gpiowrite(_PIN_OFF(GPIO_SPI1_EXTI_DRDY_PB1), 0);
stm32_gpiowrite(_PIN_OFF(GPIO_SPI1_EXTI_DRDY_PB4), 0);
stm32_gpiowrite(_PIN_OFF(GPIO_SPI1_EXTI_DRDY_PD15), 0);
if (HW_VER_FMUV2 != board_get_hw_version()) {
stm32_configgpio(_PIN_OFF(GPIO_SPI4_CS_PC14));
stm32_gpiowrite(_PIN_OFF(GPIO_SPI4_CS_PC14), 0);
}
if (HW_VER_FMUV3 == board_get_hw_version()) {
stm32_configgpio(_PIN_OFF(GPIO_SPI1_CS_PC1));
stm32_gpiowrite(_PIN_OFF(GPIO_SPI1_CS_PC1), 0);
stm32_configgpio(_PIN_OFF(GPIO_SPI4_NSS_PE4));
stm32_gpiowrite(_PIN_OFF(GPIO_SPI4_NSS_PE4), 0);
stm32_configgpio(_PIN_OFF(GPIO_SPI4_SCK));
stm32_configgpio(_PIN_OFF(GPIO_SPI4_MISO));
stm32_configgpio(_PIN_OFF(GPIO_SPI4_MOSI));
stm32_gpiowrite(_PIN_OFF(GPIO_SPI4_SCK), 0);
stm32_gpiowrite(_PIN_OFF(GPIO_SPI4_MISO), 0);
stm32_gpiowrite(_PIN_OFF(GPIO_SPI4_MOSI), 0);
}
/* set the sensor rail off */
stm32_configgpio(GPIO_VDD_3V3_SENSORS_EN);
stm32_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, 0);
/* wait for the sensor rail to reach GND */
usleep(ms * 1000);
syslog(LOG_DEBUG, "reset done, %d ms\n", ms);
/* re-enable power */
/* switch the sensor rail back on */
stm32_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, 1);
/* wait a bit before starting SPI, different times didn't influence results */
usleep(100);
/* reconfigure the SPI pins */
stm32_configgpio(GPIO_SPI1_SCK);
stm32_configgpio(GPIO_SPI1_MISO);
stm32_configgpio(GPIO_SPI1_MOSI);
if (HW_VER_FMUV3 == board_get_hw_version()) {
stm32_configgpio(GPIO_SPI4_SCK);
stm32_configgpio(GPIO_SPI4_MISO);
stm32_configgpio(GPIO_SPI4_MOSI);
stm32_spi4_initialize();
}
stm32_spi1_initialize();
}
__EXPORT bool px4_spi_bus_external(int bus)
{
if (HW_VER_FMUV3 == board_get_hw_version()) {
/* all FMUv3 2.1 spi buses are internal */
return false;
} else {
if (bus == PX4_SPI_BUS_EXT) {
return true;
}
}
return false;
}

90
boards/px4/fmu-v2/src/spi.cpp Normal file
View File

@@ -0,0 +1,90 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include <nuttx/spi/spi.h>
#include <px4_arch/spi_hw_description.h>
#include <drivers/drv_sensor.h>
constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSIONS] = {
initSPIHWVersion(HW_VER_FMUV2, {
initSPIBus(1, {
initSPIDevice(DRV_IMU_DEVTYPE_MPU6000, SPI::CS{GPIO::PortC, GPIO::Pin2}, SPI::DRDY{GPIO::PortD, GPIO::Pin15}),
initSPIDevice(DRV_IMU_DEVTYPE_MPU9250, SPI::CS{GPIO::PortC, GPIO::Pin2}, SPI::DRDY{GPIO::PortD, GPIO::Pin15}),
initSPIDevice(DRV_GYR_DEVTYPE_L3GD20, SPI::CS{GPIO::PortC, GPIO::Pin13}, SPI::DRDY{GPIO::PortB, GPIO::Pin0}),
initSPIDevice(DRV_ACC_DEVTYPE_LSM303D, SPI::CS{GPIO::PortC, GPIO::Pin15}),
initSPIDevice(DRV_BARO_DEVTYPE_MS5611, SPI::CS{GPIO::PortD, GPIO::Pin7}),
}, {GPIO::PortE, GPIO::Pin3}),
initSPIBus(2, {
initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortD, GPIO::Pin10})
}),
initSPIBusExternal(4, {
initSPIConfigExternal(SPI::CS{GPIO::PortC, GPIO::Pin14}),
initSPIConfigExternal(SPI::CS{GPIO::PortE, GPIO::Pin4}),
}),
}),
initSPIHWVersion(HW_VER_FMUV3, {
initSPIBus(1, {
initSPIDevice(DRV_IMU_DEVTYPE_MPU6000, SPI::CS{GPIO::PortC, GPIO::Pin2}, SPI::DRDY{GPIO::PortD, GPIO::Pin15}),
initSPIDevice(DRV_IMU_DEVTYPE_MPU9250, SPI::CS{GPIO::PortC, GPIO::Pin2}, SPI::DRDY{GPIO::PortD, GPIO::Pin15}),
initSPIDevice(DRV_MAG_DEVTYPE_HMC5883, SPI::CS{GPIO::PortC, GPIO::Pin1}), // HMC5983
initSPIDevice(DRV_BARO_DEVTYPE_MS5611, SPI::CS{GPIO::PortD, GPIO::Pin7}),
}, {GPIO::PortE, GPIO::Pin3}),
initSPIBus(2, {
initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortD, GPIO::Pin10})
}),
initSPIBus(4, {
initSPIDevice(DRV_IMU_DEVTYPE_MPU6000, SPI::CS{GPIO::PortE, GPIO::Pin4}),
initSPIDevice(DRV_IMU_DEVTYPE_MPU9250, SPI::CS{GPIO::PortE, GPIO::Pin4}),
initSPIDevice(DRV_GYR_DEVTYPE_L3GD20, SPI::CS{GPIO::PortC, GPIO::Pin13}),
initSPIDevice(DRV_BARO_DEVTYPE_MS5611, SPI::CS{GPIO::PortC, GPIO::Pin14}),
initSPIDevice(DRV_ACC_DEVTYPE_LSM303D, SPI::CS{GPIO::PortC, GPIO::Pin15}),
}),
}),
initSPIHWVersion(HW_VER_FMUV2MINI, {
initSPIBus(1, {
initSPIDevice(DRV_IMU_DEVTYPE_ICM20608, SPI::CS{GPIO::PortC, GPIO::Pin15}, SPI::DRDY{GPIO::PortC, GPIO::Pin14}),
initSPIDevice(DRV_BARO_DEVTYPE_MS5611, SPI::CS{GPIO::PortD, GPIO::Pin7}),
}, {GPIO::PortE, GPIO::Pin3}),
initSPIBus(2, {
initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortD, GPIO::Pin10})
}),
initSPIBusExternal(4, { // unused, but we must at least define it here
}),
}),
// HW_VER_FMUV2X: treat as HW_VER_FMUV2
};
static constexpr bool unused = validateSPIConfig(px4_spi_buses_all_hw);

5
boards/px4/fmu-v3/src/CMakeLists.txt
View File

@@ -33,10 +33,10 @@
add_library(drivers_board
can.c
i2c.c
i2c.cpp
init.c
led.c
spi.c
spi.cpp
timer_config.cpp
usb.c
manifest.c
@@ -44,6 +44,7 @@ add_library(drivers_board
target_link_libraries(drivers_board
PRIVATE
arch_spi
drivers__led # drv_led_start
nuttx_arch # sdio
nuttx_drivers # sdio

35
boards/px4/fmu-v3/src/board_config.h
View File

@@ -60,6 +60,7 @@
#define HW_VER_FMUV2MINI_STATE 0xA /* PB12:PU:1 PB12:PD:0 PB4:PU:1 PB4PD:0 */
#define HW_VER_FMUV2X_STATE 0xB /* PB12:PU:1 PB12:PD:0 PB4:PU:1 PB4PD:1 */
#define HW_VER_TYPE_INIT {'V','2',0, 0}
#define BOARD_NUM_SPI_CFG_HW_VERSIONS 3
/****************************************************************************************************
* Definitions
@@ -87,12 +88,7 @@
#define GPIO_LED1 (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN12)
#define BOARD_OVERLOAD_LED LED_AMBER
/*
* Define the ability to shut off off the sensor signals
* by changing the signals to inputs
*/
#define _PIN_OFF(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_50MHz))
#include <drivers/drv_sensor.h>
/* Due to inconsistent use of chip select and dry signal on
* different board that use this build. We are defining the GPIO
@@ -208,24 +204,27 @@
/* Use these to select a specific SPI device on SPI1 */
#define PX4_SPIDEV_GYRO PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 1)
#define PX4_SPIDEV_ACCEL_MAG PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 2)
#define PX4_SPIDEV_BARO PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 3)
#define PX4_SPIDEV_MPU PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 4)
#define PX4_SPIDEV_GYRO PX4_MK_SPI_SEL(0, DRV_GYR_DEVTYPE_L3GD20)
#define PX4_SPIDEV_ACCEL_MAG PX4_MK_SPI_SEL(0, DRV_ACC_DEVTYPE_LSM303D)
#define PX4_SPIDEV_BARO PX4_MK_SPI_SEL(0, DRV_BARO_DEVTYPE_MS5611)
#define PX4_SPIDEV_MPU PX4_MK_SPI_SEL(0, DRV_IMU_DEVTYPE_MPU6000)
/* FMUv3 SPI on external bus */
#define PX4_SPIDEV_EXT_GYRO PX4_MK_SPI_SEL(PX4_SPI_BUS_EXT, 1)
#define PX4_SPIDEV_EXT_ACCEL_MAG PX4_MK_SPI_SEL(PX4_SPI_BUS_EXT, 2)
#define PX4_SPIDEV_EXT_BARO PX4_MK_SPI_SEL(PX4_SPI_BUS_EXT, 3)
#define PX4_SPIDEV_EXT_MPU PX4_MK_SPI_SEL(PX4_SPI_BUS_EXT, 4)
#define PX4_SPIDEV_EXT_BMI PX4_MK_SPI_SEL(PX4_SPI_BUS_EXT, 5)
#define PX4_SPIDEV_EXT_GYRO PX4_MK_SPI_SEL(0, DRV_GYR_DEVTYPE_L3GD20)
#define PX4_SPIDEV_EXT_ACCEL_MAG PX4_MK_SPI_SEL(0, DRV_ACC_DEVTYPE_LSM303D)
#define PX4_SPIDEV_EXT_BARO PX4_MK_SPI_SEL(0, DRV_BARO_DEVTYPE_MS5611)
#define PX4_SPIDEV_EXT_MPU PX4_MK_SPI_SEL(0, DRV_IMU_DEVTYPE_MPU6000)
#define PX4_SPIDEV_EXT_BMI PX4_MK_SPI_SEL(0, DRV_GYR_DEVTYPE_BMI055)
/* I2C busses */
#define BOARD_OVERRIDE_I2C_BUS_EXTERNAL
#define PX4_I2C_BUS_EXPANSION 1
#define PX4_I2C_BUS_ONBOARD 2
#define PX4_I2C_BUS_LED PX4_I2C_BUS_ONBOARD
#define BOARD_SPI_BUS_MAX_BUS_ITEMS 3
/*----------------------------------------------------------*/
/* FMUv3 Cube SPI chip selects and DRDY */
/*----------------------------------------------------------*/
@@ -292,7 +291,7 @@
#define GPIO_SPI4_EXTERN_CS GPIO_SPI4_CS_PB1
/* PB1 is an External CS on V3 */
#define PX4_SPIDEV_HMC 5
#define PX4_SPIDEV_HMC PX4_MK_SPI_SEL(0, DRV_MAG_DEVTYPE_HMC5883)
/*----------------------------------------------------------*/
/* End FMUv3 Cube SPI chip selects and DRDY */
@@ -351,7 +350,7 @@
*/
#define GPIO_SPI1_EXTI_20608_DRDY_PC14 (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTC|GPIO_PIN14)
#define PX4_SPIDEV_ICM_20608 6 /* ICM_20608 on PC15 */
#define PX4_SPIDEV_ICM_20608 PX4_MK_SPI_SEL(0, DRV_IMU_DEVTYPE_ICM20608)
@@ -379,7 +378,6 @@
#define GPIO_VDD_BRICK_VALID (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN5)
#define GPIO_VDD_SERVO_VALID (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN7)
#define GPIO_VDD_USB_VALID (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN0)
#define GPIO_VDD_3V3_SENSORS_EN (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN3)
#define GPIO_VDD_5V_HIPOWER_OC (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN10)
#define GPIO_VDD_5V_PERIPH_OC (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN15)
@@ -463,7 +461,6 @@ extern void stm32_spiinitialize(void);
*
****************************************************************************************************/
void board_spi_reset(int ms);
extern void board_peripheral_reset(int ms);
/****************************************************************************************************

12
boards/px4/fmu-v3/src/i2c.c → boards/px4/fmu-v3/src/i2c.cpp
View File

@@ -38,15 +38,23 @@
*/
#include "board_config.h"
#include <px4_platform_common/i2c.h>
#include <px4_arch/i2c_hw_description.h>
__EXPORT bool px4_i2c_bus_external(int bus)
constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
initI2CBusExternal(1),
initI2CBusInternal(2),
};
bool px4_i2c_bus_external(const px4_i2c_bus_t &bus)
{
if (HW_VER_FMUV3 == board_get_hw_version()) {
/* All FMUV3 2.1 i2c buses are external */
return true;
} else {
if (bus != PX4_I2C_BUS_ONBOARD) {
if (bus.bus != 2) {
return true;
}
}

19
boards/px4/fmu-v3/src/init.c
View File

@@ -160,7 +160,7 @@ __EXPORT void board_on_reset(int status)
up_mdelay(400);
/* on reboot (status >= 0) reset sensors and peripherals */
board_spi_reset(10);
board_spi_reset(10, 0xffff);
}
}
@@ -309,7 +309,8 @@ stm32_boardinitialize(void)
/* configure power supply control/sense pins */
stm32_configgpio(GPIO_VDD_5V_PERIPH_EN);
stm32_configgpio(GPIO_VDD_3V3_SENSORS_EN);
board_control_spi_sensors_power_configgpio();
board_control_spi_sensors_power(true, 0xffff);
stm32_configgpio(GPIO_VDD_BRICK_VALID);
stm32_configgpio(GPIO_VDD_SERVO_VALID);
stm32_configgpio(GPIO_VDD_USB_VALID);
@@ -419,7 +420,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
syslog(LOG_DEBUG, "\nFMUv2 ver 0x%1X : Rev %x %s\n", hw_version, hw_revision, hw_type);
}
/* configure SPI interfaces */
/* configure SPI interfaces (after the hw is determined) */
stm32_spiinitialize();
px4_platform_init();
@@ -457,10 +458,10 @@ __EXPORT int board_app_initialize(uintptr_t arg)
/* Configure SPI-based devices */
spi1 = stm32_spibus_initialize(PX4_SPI_BUS_SENSORS);
spi1 = stm32_spibus_initialize(1);
if (!spi1) {
syslog(LOG_ERR, "[boot] FAILED to initialize SPI port %d\n", PX4_SPI_BUS_SENSORS);
syslog(LOG_ERR, "[boot] FAILED to initialize SPI port %d\n", 1);
led_on(LED_AMBER);
return -ENODEV;
}
@@ -473,10 +474,10 @@ __EXPORT int board_app_initialize(uintptr_t arg)
/* Get the SPI port for the FRAM */
spi2 = stm32_spibus_initialize(PX4_SPI_BUS_RAMTRON);
spi2 = stm32_spibus_initialize(2);
if (!spi2) {
syslog(LOG_ERR, "[boot] FAILED to initialize SPI port %d\n", PX4_SPI_BUS_RAMTRON);
syslog(LOG_ERR, "[boot] FAILED to initialize SPI port %d\n", 2);
led_on(LED_AMBER);
return -ENODEV;
}
@@ -489,10 +490,10 @@ __EXPORT int board_app_initialize(uintptr_t arg)
SPI_SETBITS(spi2, 8);
SPI_SETMODE(spi2, SPIDEV_MODE3);
spi4 = stm32_spibus_initialize(PX4_SPI_BUS_EXT);
spi4 = stm32_spibus_initialize(4);
if (!spi4) {
syslog(LOG_ERR, "[boot] FAILED to initialize SPI port %d\n", PX4_SPI_BUS_EXT);
syslog(LOG_ERR, "[boot] FAILED to initialize SPI port %d\n", 4);
led_on(LED_AMBER);
return -ENODEV;
}

461
boards/px4/fmu-v3/src/spi.c
View File

@@ -1,461 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file px4fmu_spi.c
*
* Board-specific SPI functions.
*/
/************************************************************************************
* Included Files
************************************************************************************/
#include <px4_platform_common/px4_config.h>
#include <stdint.h>
#include <stdbool.h>
#include <debug.h>
#include <unistd.h>
#include <nuttx/spi/spi.h>
#include <arch/board/board.h>
#include <up_arch.h>
#include <chip.h>
#include <stm32.h>
#include "board_config.h"
/************************************************************************************
* Public Functions
************************************************************************************/
/************************************************************************************
* Name: stm32_spiinitialize
*
* Description:
* Called to configure SPI chip select GPIO pins for the PX4FMU board.
*
************************************************************************************/
#ifdef CONFIG_STM32_SPI1
/* Verification
* PA5 PA6 PA7 PB0 PB1 PB4 PC1 PC2 PC13 PC14 PC15 PD7 PD15 PE2 PE4 PE5 PE6
* driver X X X X X X
* local V2 v2 V2 V3 a V2 V2M V2x a a 4
*/
static void stm32_spi1_initialize(void)
{
stm32_configgpio(GPIO_SPI1_CS_PC2);
stm32_configgpio(GPIO_SPI1_CS_PD7);
stm32_configgpio(GPIO_SPI1_EXTI_DRDY_PD15);
if (HW_VER_FMUV2MINI == board_get_hw_version()) {
stm32_configgpio(GPIO_SPI1_EXTI_20608_DRDY_PC14);
stm32_configgpio(GPIO_SPI1_CS_PC15);
} else if (HW_VER_FMUV3 == board_get_hw_version()) {
stm32_configgpio(GPIO_SPI1_CS_PC1);
} else {
stm32_configgpio(GPIO_SPI1_EXTI_DRDY_PB0);
stm32_configgpio(GPIO_SPI1_EXTI_DRDY_PB1);
stm32_configgpio(GPIO_SPI1_EXTI_DRDY_PB4);
stm32_configgpio(GPIO_SPI1_CS_PC13);
stm32_configgpio(GPIO_SPI1_CS_PC15);
}
}
#endif // CONFIG_STM32_SPI1
#ifdef CONFIG_STM32_SPI4
/* Verification
* PA5 PA6 PA7 PB0 PB1 PB4 PC1 PC2 PC13 PC14 PC15 PD7 PD15 PE2 PE4 PE5 PE6
* driver X X X X X X
* local V3 V3 - V3 a V3 V23 V3 - -
*/
static void stm32_spi4_initialize(void)
{
stm32_configgpio(GPIO_SPI4_NSS_PE4);
if (HW_VER_FMUV3 == board_get_hw_version()) {
stm32_configgpio(GPIO_SPI4_EXTI_DRDY_PB0);
stm32_configgpio(GPIO_SPI4_CS_PB1);
stm32_configgpio(GPIO_SPI4_CS_PC13);
stm32_configgpio(GPIO_SPI4_CS_PC15);
}
if (HW_VER_FMUV2MINI != board_get_hw_version()) {
stm32_configgpio(GPIO_SPI4_GPIO_PC14);
}
}
#endif //CONFIG_STM32_SPI4
__EXPORT void stm32_spiinitialize(void)
{
#ifdef CONFIG_STM32_SPI1
stm32_spi1_initialize();
#endif
#ifdef CONFIG_STM32_SPI2
stm32_configgpio(GPIO_SPI2_CS_PD10);
#endif
#ifdef CONFIG_STM32_SPI4
stm32_spi4_initialize();
#endif
}
#ifdef CONFIG_STM32_SPI1
__EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
{
/* SPI select is active low, so write !selected to select the device */
/* Verification
* PA5 PA6 PA7 PB0 PB1 PB4 PC1 PC2 PC13 PC14 PC15 PD7 PD15 PE2 PE4 PE5 PE6
* driver X X X X X X
* local - - - V3 a V2 - V2M a - -
*/
switch (devid) {
case PX4_SPIDEV_GYRO:
/* Making sure the other peripherals are not selected */
if (HW_VER_FMUV2 == board_get_hw_version()) {
stm32_gpiowrite(GPIO_SPI1_CS_PC13, !selected);
}
if (HW_VER_FMUV3 != board_get_hw_version()) {
stm32_gpiowrite(GPIO_SPI1_CS_PC15, 1);
}
stm32_gpiowrite(GPIO_SPI1_CS_PD7, 1);
stm32_gpiowrite(GPIO_SPI1_CS_PC2, 1);
if (HW_VER_FMUV3 == board_get_hw_version()) {
stm32_gpiowrite(GPIO_SPI1_CS_PC1, 1);
}
break;
case PX4_SPIDEV_ICM_20608:
case PX4_SPIDEV_ACCEL_MAG:
/* Making sure the other peripherals are not selected */
if (HW_VER_FMUV2 == board_get_hw_version()) {
stm32_gpiowrite(GPIO_SPI1_CS_PC13, 1);
}
if (HW_VER_FMUV3 != board_get_hw_version()) {
stm32_gpiowrite(GPIO_SPI1_CS_PC15, !selected);
}
stm32_gpiowrite(GPIO_SPI1_CS_PD7, 1);
stm32_gpiowrite(GPIO_SPI1_CS_PC2, 1);
if (HW_VER_FMUV3 == board_get_hw_version()) {
stm32_gpiowrite(GPIO_SPI1_CS_PC1, 1);
}
break;
case PX4_SPIDEV_BARO:
/* Making sure the other peripherals are not selected */
if (HW_VER_FMUV2 == board_get_hw_version()) {
stm32_gpiowrite(GPIO_SPI1_CS_PC13, 1);
}
if (HW_VER_FMUV3 != board_get_hw_version()) {
stm32_gpiowrite(GPIO_SPI1_CS_PC15, 1);
}
stm32_gpiowrite(GPIO_SPI1_CS_PD7, !selected);
stm32_gpiowrite(GPIO_SPI1_CS_PC2, 1);
if (HW_VER_FMUV3 == board_get_hw_version()) {
stm32_gpiowrite(GPIO_SPI1_CS_PC1, 1);
}
break;
case PX4_SPIDEV_MPU:
/* Making sure the other peripherals are not selected */
if (HW_VER_FMUV2 == board_get_hw_version()) {
stm32_gpiowrite(GPIO_SPI1_CS_PC13, 1);
}
if (HW_VER_FMUV3 != board_get_hw_version()) {
stm32_gpiowrite(GPIO_SPI1_CS_PC15, 1);
}
stm32_gpiowrite(GPIO_SPI1_CS_PD7, 1);
stm32_gpiowrite(GPIO_SPI1_CS_PC2, !selected);
if (HW_VER_FMUV3 == board_get_hw_version()) {
stm32_gpiowrite(GPIO_SPI1_CS_PC1, 1);
}
break;
case PX4_SPIDEV_HMC:
if (HW_VER_FMUV2 == board_get_hw_version()) {
stm32_gpiowrite(GPIO_SPI1_CS_PC13, 1);
}
if (HW_VER_FMUV3 != board_get_hw_version()) {
stm32_gpiowrite(GPIO_SPI1_CS_PC15, 1);
}
stm32_gpiowrite(GPIO_SPI1_CS_PD7, 1);
stm32_gpiowrite(GPIO_SPI1_CS_PC2, 1);
if (HW_VER_FMUV3 == board_get_hw_version()) {
stm32_gpiowrite(GPIO_SPI1_CS_PC1, !selected);
}
break;
default:
break;
}
}
__EXPORT uint8_t stm32_spi1status(FAR struct spi_dev_s *dev, uint32_t devid)
{
return SPI_STATUS_PRESENT;
}
#endif // CONFIG_STM32_SPI1
#ifdef CONFIG_STM32_SPI2
__EXPORT void stm32_spi2select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
{
/* there can only be one device on this bus, so always select it */
stm32_gpiowrite(GPIO_SPI2_CS_PD10, !selected);
}
__EXPORT uint8_t stm32_spi2status(FAR struct spi_dev_s *dev, uint32_t devid)
{
/* FRAM is always present */
return SPI_STATUS_PRESENT;
}
#endif
#ifdef CONFIG_STM32_SPI4
__EXPORT void stm32_spi4select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
{
/* SPI select is active low, so write !selected to select the device */
/* Verification
* PA5 PA6 PA7 PB0 PB1 PB4 PC1 PC2 PC13 PC14 PC15 PD7 PD15 PE2 PE4 PE5 PE6
* driver X X X X X X
* local - - - - - V3 !V2M V3 - - a
*/
switch (devid) {
case PX4_SPIDEV_EXT_MPU:
/* Making sure the other peripherals are not selected */
stm32_gpiowrite(GPIO_SPI4_NSS_PE4, !selected);
if (HW_VER_FMUV2MINI != board_get_hw_version()) {
stm32_gpiowrite(GPIO_SPI4_GPIO_PC14, 1);
}
if (HW_VER_FMUV3 == board_get_hw_version()) {
stm32_gpiowrite(GPIO_SPI4_CS_PC15, 1);
stm32_gpiowrite(GPIO_SPI4_CS_PC13, 1);
}
break;
case PX4_SPIDEV_EXT_BARO:
/* Making sure the other peripherals are not selected */
stm32_gpiowrite(GPIO_SPI4_NSS_PE4, 1);
if (HW_VER_FMUV2MINI != board_get_hw_version()) {
stm32_gpiowrite(GPIO_SPI4_GPIO_PC14, !selected);
}
if (HW_VER_FMUV3 == board_get_hw_version()) {
stm32_gpiowrite(GPIO_SPI4_CS_PC15, 1);
stm32_gpiowrite(GPIO_SPI4_CS_PC13, 1);
}
break;
case PX4_SPIDEV_ICM_20608:
case PX4_SPIDEV_EXT_ACCEL_MAG:
/* Making sure the other peripherals are not selected */
stm32_gpiowrite(GPIO_SPI4_NSS_PE4, 1);
if (HW_VER_FMUV2MINI != board_get_hw_version()) {
stm32_gpiowrite(GPIO_SPI4_GPIO_PC14, 1);
}
if (HW_VER_FMUV3 == board_get_hw_version()) {
stm32_gpiowrite(GPIO_SPI4_CS_PC15, !selected);
stm32_gpiowrite(GPIO_SPI4_CS_PC13, 1);
}
break;
case PX4_SPIDEV_EXT_BMI:
case PX4_SPIDEV_EXT_GYRO:
/* Making sure the other peripherals are not selected */
stm32_gpiowrite(GPIO_SPI4_NSS_PE4, 1);
if (HW_VER_FMUV2MINI != board_get_hw_version()) {
stm32_gpiowrite(GPIO_SPI4_GPIO_PC14, 1);
}
if (HW_VER_FMUV3 == board_get_hw_version()) {
stm32_gpiowrite(GPIO_SPI4_CS_PC15, 1);
stm32_gpiowrite(GPIO_SPI4_CS_PC13, !selected);
}
break;
default:
break;
}
}
__EXPORT uint8_t stm32_spi4status(FAR struct spi_dev_s *dev, uint32_t devid)
{
return SPI_STATUS_PRESENT;
}
#endif // CONFIG_STM32_SPI4
/* V2, V2M SPI1 All signals SPI4, V3 ALL signals */
/* Verification
* PA5 PA6 PA7 PB0 PB1 PB4 PC1 PC2 PC13 PC14 PC15 PD7 PD15 PE2 PE4 PE5 PE6
* local A A A A A A V3 A A !V2 A A A V3 V3 V3 V3
*/
__EXPORT void board_spi_reset(int ms)
{
/* disable SPI bus */
stm32_configgpio(_PIN_OFF(GPIO_SPI1_CS_PC2));
stm32_configgpio(_PIN_OFF(GPIO_SPI1_CS_PC13));
stm32_configgpio(_PIN_OFF(GPIO_SPI1_CS_PC15));
stm32_configgpio(_PIN_OFF(GPIO_SPI1_CS_PD7));
stm32_gpiowrite(_PIN_OFF(GPIO_SPI1_CS_PC2), 0);
stm32_gpiowrite(_PIN_OFF(GPIO_SPI1_CS_PC13), 0);
stm32_gpiowrite(_PIN_OFF(GPIO_SPI1_CS_PC15), 0);
stm32_gpiowrite(_PIN_OFF(GPIO_SPI1_CS_PD7), 0);
stm32_configgpio(_PIN_OFF(GPIO_SPI1_SCK));
stm32_configgpio(_PIN_OFF(GPIO_SPI1_MISO));
stm32_configgpio(_PIN_OFF(GPIO_SPI1_MOSI));
stm32_gpiowrite(_PIN_OFF(GPIO_SPI1_SCK), 0);
stm32_gpiowrite(_PIN_OFF(GPIO_SPI1_MISO), 0);
stm32_gpiowrite(_PIN_OFF(GPIO_SPI1_MOSI), 0);
stm32_configgpio(_PIN_OFF(GPIO_SPI1_EXTI_DRDY_PB0));
stm32_configgpio(_PIN_OFF(GPIO_SPI1_EXTI_DRDY_PB1));
stm32_configgpio(_PIN_OFF(GPIO_SPI1_EXTI_DRDY_PB4));
stm32_configgpio(_PIN_OFF(GPIO_SPI1_EXTI_DRDY_PD15));
stm32_gpiowrite(_PIN_OFF(GPIO_SPI1_EXTI_DRDY_PB0), 0);
stm32_gpiowrite(_PIN_OFF(GPIO_SPI1_EXTI_DRDY_PB1), 0);
stm32_gpiowrite(_PIN_OFF(GPIO_SPI1_EXTI_DRDY_PB4), 0);
stm32_gpiowrite(_PIN_OFF(GPIO_SPI1_EXTI_DRDY_PD15), 0);
if (HW_VER_FMUV2 != board_get_hw_version()) {
stm32_configgpio(_PIN_OFF(GPIO_SPI4_CS_PC14));
stm32_gpiowrite(_PIN_OFF(GPIO_SPI4_CS_PC14), 0);
}
if (HW_VER_FMUV3 == board_get_hw_version()) {
stm32_configgpio(_PIN_OFF(GPIO_SPI1_CS_PC1));
stm32_gpiowrite(_PIN_OFF(GPIO_SPI1_CS_PC1), 0);
stm32_configgpio(_PIN_OFF(GPIO_SPI4_NSS_PE4));
stm32_gpiowrite(_PIN_OFF(GPIO_SPI4_NSS_PE4), 0);
stm32_configgpio(_PIN_OFF(GPIO_SPI4_SCK));
stm32_configgpio(_PIN_OFF(GPIO_SPI4_MISO));
stm32_configgpio(_PIN_OFF(GPIO_SPI4_MOSI));
stm32_gpiowrite(_PIN_OFF(GPIO_SPI4_SCK), 0);
stm32_gpiowrite(_PIN_OFF(GPIO_SPI4_MISO), 0);
stm32_gpiowrite(_PIN_OFF(GPIO_SPI4_MOSI), 0);
}
/* set the sensor rail off */
stm32_configgpio(GPIO_VDD_3V3_SENSORS_EN);
stm32_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, 0);
/* wait for the sensor rail to reach GND */
usleep(ms * 1000);
syslog(LOG_DEBUG, "reset done, %d ms\n", ms);
/* re-enable power */
/* switch the sensor rail back on */
stm32_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, 1);
/* wait a bit before starting SPI, different times didn't influence results */
usleep(100);
/* reconfigure the SPI pins */
stm32_configgpio(GPIO_SPI1_SCK);
stm32_configgpio(GPIO_SPI1_MISO);
stm32_configgpio(GPIO_SPI1_MOSI);
if (HW_VER_FMUV3 == board_get_hw_version()) {
stm32_configgpio(GPIO_SPI4_SCK);
stm32_configgpio(GPIO_SPI4_MISO);
stm32_configgpio(GPIO_SPI4_MOSI);
stm32_spi4_initialize();
}
stm32_spi1_initialize();
}
__EXPORT bool px4_spi_bus_external(int bus)
{
if (HW_VER_FMUV3 == board_get_hw_version()) {
/* all FMUv3 2.1 spi buses are internal */
return false;
} else {
if (bus == PX4_SPI_BUS_EXT) {
return true;
}
}
return false;
}

90
boards/px4/fmu-v3/src/spi.cpp Normal file
View File

@@ -0,0 +1,90 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include <nuttx/spi/spi.h>
#include <px4_arch/spi_hw_description.h>
#include <drivers/drv_sensor.h>
constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSIONS] = {
initSPIHWVersion(HW_VER_FMUV2, {
initSPIBus(1, {
initSPIDevice(DRV_IMU_DEVTYPE_MPU6000, SPI::CS{GPIO::PortC, GPIO::Pin2}, SPI::DRDY{GPIO::PortD, GPIO::Pin15}),
initSPIDevice(DRV_IMU_DEVTYPE_MPU9250, SPI::CS{GPIO::PortC, GPIO::Pin2}, SPI::DRDY{GPIO::PortD, GPIO::Pin15}),
initSPIDevice(DRV_GYR_DEVTYPE_L3GD20, SPI::CS{GPIO::PortC, GPIO::Pin13}, SPI::DRDY{GPIO::PortB, GPIO::Pin0}),
initSPIDevice(DRV_ACC_DEVTYPE_LSM303D, SPI::CS{GPIO::PortC, GPIO::Pin15}),
initSPIDevice(DRV_BARO_DEVTYPE_MS5611, SPI::CS{GPIO::PortD, GPIO::Pin7}),
}, {GPIO::PortE, GPIO::Pin3}),
initSPIBus(2, {
initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortD, GPIO::Pin10})
}),
initSPIBusExternal(4, {
initSPIConfigExternal(SPI::CS{GPIO::PortC, GPIO::Pin14}),
initSPIConfigExternal(SPI::CS{GPIO::PortE, GPIO::Pin4}),
}),
}),
initSPIHWVersion(HW_VER_FMUV3, {
initSPIBus(1, {
initSPIDevice(DRV_IMU_DEVTYPE_MPU6000, SPI::CS{GPIO::PortC, GPIO::Pin2}, SPI::DRDY{GPIO::PortD, GPIO::Pin15}),
initSPIDevice(DRV_IMU_DEVTYPE_MPU9250, SPI::CS{GPIO::PortC, GPIO::Pin2}, SPI::DRDY{GPIO::PortD, GPIO::Pin15}),
initSPIDevice(DRV_MAG_DEVTYPE_HMC5883, SPI::CS{GPIO::PortC, GPIO::Pin1}), // HMC5983
initSPIDevice(DRV_BARO_DEVTYPE_MS5611, SPI::CS{GPIO::PortD, GPIO::Pin7}),
}, {GPIO::PortE, GPIO::Pin3}),
initSPIBus(2, {
initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortD, GPIO::Pin10})
}),
initSPIBus(4, {
initSPIDevice(DRV_IMU_DEVTYPE_MPU6000, SPI::CS{GPIO::PortE, GPIO::Pin4}),
initSPIDevice(DRV_IMU_DEVTYPE_MPU9250, SPI::CS{GPIO::PortE, GPIO::Pin4}),
initSPIDevice(DRV_GYR_DEVTYPE_L3GD20, SPI::CS{GPIO::PortC, GPIO::Pin13}),
initSPIDevice(DRV_BARO_DEVTYPE_MS5611, SPI::CS{GPIO::PortC, GPIO::Pin14}),
initSPIDevice(DRV_ACC_DEVTYPE_LSM303D, SPI::CS{GPIO::PortC, GPIO::Pin15}),
}),
}),
initSPIHWVersion(HW_VER_FMUV2MINI, {
initSPIBus(1, {
initSPIDevice(DRV_IMU_DEVTYPE_ICM20608, SPI::CS{GPIO::PortC, GPIO::Pin15}, SPI::DRDY{GPIO::PortC, GPIO::Pin14}),
initSPIDevice(DRV_BARO_DEVTYPE_MS5611, SPI::CS{GPIO::PortD, GPIO::Pin7}),
}, {GPIO::PortE, GPIO::Pin3}),
initSPIBus(2, {
initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortD, GPIO::Pin10})
}),
initSPIBusExternal(4, { // unused, but we must at least define it here
}),
}),
// HW_VER_FMUV2X: treat as HW_VER_FMUV2
};
static constexpr bool unused = validateSPIConfig(px4_spi_buses_all_hw);

4
boards/px4/fmu-v4/src/CMakeLists.txt
View File

@@ -33,15 +33,17 @@
add_library(drivers_board
can.c
i2c.cpp
init.c
led.c
spi.c
spi.cpp
timer_config.cpp
usb.c
)
target_link_libraries(drivers_board
PRIVATE
arch_spi
drivers__led # drv_led_start
nuttx_arch # sdio
nuttx_drivers # sdio

26
boards/px4/fmu-v4/src/board_config.h
View File

@@ -143,25 +143,25 @@
# define SPI_BUS_INIT_MASK_EXT PX4_SPI_BUS_EXTERNAL
#endif /* CONFIG_STM32_SPI4 */
#define SPI_BUS_INIT_MASK (PX4_SPI_BUS_RAMTRON | PX4_SPI_BUS_SENSORS)
#include <drivers/drv_sensor.h>
/* Use these in place of the uint32_t enumeration to select a specific SPI device on SPI1 */
#define PX4_SPIDEV_MPU PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 4)
#define PX4_SPIDEV_HMC PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 5)
#define PX4_SPIDEV_LIS PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 7)
#define PX4_SPIDEV_ICM_20608 PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 10)
#define PX4_SPIDEV_ICM_20602 PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 11)
#define PX4_SPIDEV_MPU2 PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 14)
#define PX4_SPIDEV_MPU PX4_MK_SPI_SEL(0, DRV_IMU_DEVTYPE_MPU6000)
#define PX4_SPIDEV_HMC PX4_MK_SPI_SEL(0, DRV_MAG_DEVTYPE_HMC5883)
#define PX4_SPIDEV_LIS PX4_MK_SPI_SEL(0, DRV_MAG_DEVTYPE_LIS3MDL)
#define PX4_SPIDEV_ICM_20608 PX4_MK_SPI_SEL(0, DRV_IMU_DEVTYPE_ICM20608)
#define PX4_SPIDEV_ICM_20602 PX4_MK_SPI_SEL(0, DRV_IMU_DEVTYPE_ICM20602)
#define PX4_SPIDEV_MPU2 PX4_MK_SPI_SEL(0, DRV_IMU_DEVTYPE_MPU9250)
/**
* Onboard MS5611 and FRAM are both on bus SPI2.
* spi_dev_e:SPIDEV_FLASH has the value 2 and is used in the NuttX ramtron driver.
* PX4_MK_SPI_SEL differentiate by adding in PX4_SPI_DEVICE_ID.
*/
#define PX4_SPIDEV_BARO PX4_MK_SPI_SEL(PX4_SPI_BUS_BARO, 3)
#define PX4_SPIDEV_BARO PX4_MK_SPI_SEL(0, DRV_BARO_DEVTYPE_MS5611)
#ifdef CONFIG_STM32_SPI4
# define PX4_SPIDEV_EXTERNAL PX4_MK_SPI_SEL(PX4_SPI_BUS_EXTERNAL, 1)
# define PX4_SPIDEV_EXTERNAL PX4_MK_SPI_SEL(0, 0)
#endif /* CONFIG_STM32_SPI4 */
/* I2C busses. */
@@ -188,7 +188,6 @@
/* Power supply control and monitoring GPIOs. */
#define GPIO_VDD_BRICK_VALID (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN5)
#define GPIO_VDD_USB_VALID (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN0)
#define GPIO_VDD_3V3_SENSORS_EN (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN3)
/* Tone alarm output. */
#define TONE_ALARM_TIMER 2 /* timer 2 */
@@ -307,14 +306,9 @@ __BEGIN_DECLS
* Description:
* Called to configure SPI chip select GPIO pins for the PX4FMU board.
*
* mask - is bus selection
* 1 - 1 << 0
* 2 - 1 << 1
*
****************************************************************************************************/
extern void stm32_spiinitialize(int mask);
void board_spi_reset(int ms);
extern void stm32_spiinitialize(void);
extern void stm32_usbinitialize(void);

39
boards/px4/fmu-v4/src/i2c.cpp Normal file
View File

@@ -0,0 +1,39 @@
/****************************************************************************
*
* Copyright (C) 2020 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include <px4_arch/i2c_hw_description.h>
constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
initI2CBusExternal(1),
};

22
boards/px4/fmu-v4/src/init.c
View File

@@ -148,7 +148,7 @@ __EXPORT void board_on_reset(int status)
px4_arch_configgpio(io_timer_channel_get_gpio_output(i));
}
/**
/*
* On resets invoked from system (not boot) insure we establish a low
* output state (discharge the pins) on PWM pins before they become inputs.
*/
@@ -193,12 +193,6 @@ stm32_boardinitialize(void)
stm32_configgpio(GPIO_VDD_BRICK_VALID);
stm32_configgpio(GPIO_VDD_USB_VALID);
/**
* Start with Sensor voltage off We will enable it
* in board_app_initialize.
*/
stm32_configgpio(GPIO_VDD_3V3_SENSORS_EN);
stm32_configgpio(GPIO_SBUS_INV);
stm32_configgpio(GPIO_SPEKTRUM_PWR_EN);
@@ -209,15 +203,10 @@ stm32_boardinitialize(void)
stm32_configgpio(GPIO_BTN_SAFETY);
stm32_configgpio(GPIO_PPM_IN);
int spi_init_mask = SPI_BUS_INIT_MASK;
#if defined(CONFIG_STM32_SPI4)
/* We have SPI4 is GPIO_8266_GPIO2 PB4 pin 3 Low */
if (stm32_gpioread(GPIO_8266_GPIO2) == 0) {
spi_init_mask |= SPI_BUS_INIT_MASK_EXT;
} else {
if (stm32_gpioread(GPIO_8266_GPIO2) != 0) {
#endif /* CONFIG_STM32_SPI4 */
stm32_configgpio(GPIO_8266_PD);
@@ -228,8 +217,8 @@ stm32_boardinitialize(void)
#endif /* CONFIG_STM32_SPI4 */
// Configure SPI all interfaces GPIO.
stm32_spiinitialize(spi_init_mask);
// Configure SPI all interfaces GPIO & enable power.
stm32_spiinitialize();
// Configure heater GPIO.
stm32_configgpio(GPIO_HEATER_INPUT);
@@ -304,9 +293,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
led_on(LED_RED);
}
// Power up the sensors.
stm32_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, 1);
// Power down the heater.
stm32_gpiowrite(GPIO_HEATER_OUTPUT, 0);

316
boards/px4/fmu-v4/src/spi.c
View File

@@ -1,316 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file px4fmu_spi.c
*
* Board-specific SPI functions.
*/
/************************************************************************************
* Included Files
************************************************************************************/
#include <px4_platform_common/px4_config.h>
#include <stdint.h>
#include <stdbool.h>
#include <debug.h>
#include <unistd.h>
#include <nuttx/spi/spi.h>
#include <arch/board/board.h>
#include <up_arch.h>
#include <chip.h>
#include <stm32.h>
#include "board_config.h"
/************************************************************************************
* Public Functions
************************************************************************************/
__EXPORT bool board_has_bus(enum board_bus_types type, uint32_t bus)
{
bool rv = true;
switch (type) {
case BOARD_SPI_BUS:
#ifdef CONFIG_STM32_SPI4
rv = bus != PX4_SPI_BUS_EXTERNAL || (stm32_gpioread(GPIO_8266_GPIO2) == 0);
#endif /* CONFIG_STM32_SPI4 */
break;
case BOARD_I2C_BUS:
break;
}
return rv;
}
/************************************************************************************
* Name: stm32_spiinitialize
*
* Description:
* Called to configure SPI chip select GPIO pins for the PX4FMU board.
* mask - is bus selection
* 1 - 1 << 0
* 2 - 1 << 1
*
************************************************************************************/
__EXPORT void stm32_spiinitialize(int mask)
{
#ifdef CONFIG_STM32_SPI1
if (mask & PX4_SPI_BUS_SENSORS) {
stm32_configgpio(GPIO_SPI1_CS_PORTC_PIN2);
stm32_configgpio(GPIO_SPI1_CS_PORTC_PIN15);
stm32_configgpio(GPIO_SPI1_CS_PORTE_PIN15);
stm32_configgpio(GPIO_DRDY_PORTD_PIN15);
stm32_configgpio(GPIO_DRDY_PORTC_PIN14);
stm32_configgpio(GPIO_DRDY_PORTE_PIN12);
}
#endif
#ifdef CONFIG_STM32_SPI2
if (mask & (PX4_SPI_BUS_RAMTRON | PX4_SPI_BUS_BARO)) {
stm32_configgpio(GPIO_SPI2_CS_MS5611);
stm32_configgpio(GPIO_SPI2_CS_FRAM);
}
#endif
#ifdef CONFIG_STM32_SPI4
if (mask & PX4_SPI_BUS_EXTERNAL) {
stm32_configgpio(GPIO_SPI4_CS_1); //add cs
}
#endif /* CONFIG_STM32_SPI4 */
}
__EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
{
/* SPI select is active low, so write !selected to select the device */
switch (devid) {
/* Shared PC2 CS devices */
case PX4_SPIDEV_MPU:
/* Making sure the other peripherals are not selected */
px4_arch_gpiowrite(GPIO_SPI1_CS_PORTC_PIN2, !selected);
px4_arch_gpiowrite(GPIO_SPI1_CS_PORTC_PIN15, 1);
px4_arch_gpiowrite(GPIO_SPI1_CS_PORTE_PIN15, 1);
break;
/* Shared PC15 CS devices */
case PX4_SPIDEV_ICM_20602:
case PX4_SPIDEV_ICM_20608:
case PX4_SPIDEV_MPU2:
/* Making sure the other peripherals are not selected */
px4_arch_gpiowrite(GPIO_SPI1_CS_PORTC_PIN2, 1);
px4_arch_gpiowrite(GPIO_SPI1_CS_PORTC_PIN15, !selected);
px4_arch_gpiowrite(GPIO_SPI1_CS_PORTE_PIN15, 1);
break;
/* Shared PE15 CS devices */
case PX4_SPIDEV_HMC:
case PX4_SPIDEV_LIS:
/* Making sure the other peripherals are not selected */
px4_arch_gpiowrite(GPIO_SPI1_CS_PORTC_PIN2, 1);
px4_arch_gpiowrite(GPIO_SPI1_CS_PORTC_PIN15, 1);
px4_arch_gpiowrite(GPIO_SPI1_CS_PORTE_PIN15, !selected);
break;
default:
break;
}
}
__EXPORT uint8_t stm32_spi1status(FAR struct spi_dev_s *dev, uint32_t devid)
{
return SPI_STATUS_PRESENT;
}
#ifdef CONFIG_STM32_SPI2
__EXPORT void stm32_spi2select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
{
/* SPI select is active low, so write !selected to select the device */
switch (devid) {
case SPIDEV_FLASH(0):
/* Making sure the other peripherals are not selected */
stm32_gpiowrite(GPIO_SPI2_CS_MS5611, 1);
stm32_gpiowrite(GPIO_SPI2_CS_FRAM, !selected);
break;
case PX4_SPIDEV_BARO:
/* Making sure the other peripherals are not selected */
stm32_gpiowrite(GPIO_SPI2_CS_FRAM, 1);
stm32_gpiowrite(GPIO_SPI2_CS_MS5611, !selected);
break;
default:
break;
}
}
__EXPORT uint8_t stm32_spi2status(FAR struct spi_dev_s *dev, uint32_t devid)
{
/* FRAM is always present */
return SPI_STATUS_PRESENT;
}
#endif
#ifdef CONFIG_STM32_SPI4
__EXPORT void stm32_spi4select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
{
if (devid == PX4_SPIDEV_EXTERNAL && stm32_gpioread(GPIO_8266_GPIO2) == 0) {
stm32_gpiowrite(GPIO_SPI4_CS_1, !selected); // add cs
}
}
__EXPORT uint8_t stm32_spi4status(FAR struct spi_dev_s *dev, uint32_t devid)
{
return SPI_STATUS_PRESENT;
}
#endif /* CONFIG_STM32_SPI4 */
__EXPORT void board_spi_reset(int ms)
{
/* disable SPI bus 1 DRDY */
stm32_configgpio(GPIO_DRDY_OFF_PORTD_PIN15);
stm32_configgpio(GPIO_DRDY_OFF_PORTC_PIN14);
stm32_configgpio(GPIO_DRDY_OFF_PORTE_PIN12);
stm32_gpiowrite(GPIO_DRDY_OFF_PORTD_PIN15, 0);
stm32_gpiowrite(GPIO_DRDY_OFF_PORTC_PIN14, 0);
stm32_gpiowrite(GPIO_DRDY_OFF_PORTE_PIN12, 0);
/* disable SPI bus 1 CS */
stm32_configgpio(GPIO_SPI1_CS_OFF_PORTC_PIN2);
stm32_configgpio(GPIO_SPI1_CS_OFF_PORTC_PIN15);
stm32_configgpio(GPIO_SPI1_CS_OFF_PORTE_PIN15);
stm32_gpiowrite(GPIO_SPI1_CS_OFF_PORTC_PIN2, 0);
stm32_gpiowrite(GPIO_SPI1_CS_OFF_PORTC_PIN15, 0);
stm32_gpiowrite(GPIO_SPI1_CS_OFF_PORTE_PIN15, 0);
/* disable SPI bus 1*/
stm32_configgpio(GPIO_SPI1_SCK_OFF);
stm32_configgpio(GPIO_SPI1_MISO_OFF);
stm32_configgpio(GPIO_SPI1_MOSI_OFF);
stm32_gpiowrite(GPIO_SPI1_SCK_OFF, 0);
stm32_gpiowrite(GPIO_SPI1_MISO_OFF, 0);
stm32_gpiowrite(GPIO_SPI1_MOSI_OFF, 0);
#ifdef CONFIG_STM32_SPI4
/* disable SPI bus 4*/
if (stm32_gpioread(GPIO_8266_GPIO2) == 0) {
stm32_configgpio(GPIO_SPI4_SCK_OFF);
stm32_configgpio(GPIO_SPI4_MISO_OFF);
stm32_configgpio(GPIO_SPI4_MOSI_OFF);
stm32_gpiowrite(GPIO_SPI4_SCK_OFF, 0);
stm32_gpiowrite(GPIO_SPI4_MISO_OFF, 0);
stm32_gpiowrite(GPIO_SPI4_MOSI_OFF, 0);
}
#endif /* CONFIG_STM32_SPI4 */
/* N.B we do not have control over the SPI 2 buss powered devices
* so the the ms5611 is not resetable.
*/
/* set the sensor rail off (default) */
stm32_configgpio(GPIO_VDD_3V3_SENSORS_EN);
#ifdef CONFIG_STM32_SPI4
if (stm32_gpioread(GPIO_8266_GPIO2) == 0) {
/* set the periph rail off (default) for SPI4 */
stm32_configgpio(GPIO_PERIPH_3V3_EN);
}
#endif /* CONFIG_STM32_SPI4 */
/* wait for the sensor rail to reach GND */
usleep(ms * 1000);
syslog(LOG_DEBUG, "reset done, %d ms\n", ms);
/* re-enable power */
#ifdef CONFIG_STM32_SPI4
if (stm32_gpioread(GPIO_8266_GPIO2) == 0) {
/* switch the periph rail back on */
stm32_gpiowrite(GPIO_PERIPH_3V3_EN, 1);
}
#endif /* CONFIG_STM32_SPI4 */
/* switch the sensor rail back on */
stm32_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, 1);
/* wait a bit before starting SPI, different times didn't influence results */
usleep(100);
stm32_spiinitialize(PX4_SPI_BUS_SENSORS);
stm32_configgpio(GPIO_SPI1_SCK);
stm32_configgpio(GPIO_SPI1_MISO);
stm32_configgpio(GPIO_SPI1_MOSI);
#ifdef CONFIG_STM32_SPI4
if (stm32_gpioread(GPIO_8266_GPIO2) == 0) {
stm32_spiinitialize(PX4_SPI_BUS_EXTERNAL);
stm32_configgpio(GPIO_SPI4_SCK);
stm32_configgpio(GPIO_SPI4_MISO);
stm32_configgpio(GPIO_SPI4_MOSI);
}
#endif /* CONFIG_STM32_SPI4 */
}

76
boards/px4/fmu-v4/src/spi.cpp Normal file
View File

@@ -0,0 +1,76 @@
/****************************************************************************
*
* Copyright (C) 2020 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include <px4_arch/spi_hw_description.h>
#include <drivers/drv_sensor.h>
#include <nuttx/spi/spi.h>
constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
initSPIBus(1, {
initSPIDevice(DRV_IMU_DEVTYPE_MPU9250, SPI::CS{GPIO::PortC, GPIO::Pin2}, SPI::DRDY{GPIO::PortD, GPIO::Pin15}),
initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortC, GPIO::Pin15}, SPI::DRDY{GPIO::PortC, GPIO::Pin14}),
initSPIDevice(DRV_IMU_DEVTYPE_ICM20608, SPI::CS{GPIO::PortC, GPIO::Pin15}, SPI::DRDY{GPIO::PortC, GPIO::Pin14}),
initSPIDevice(DRV_MAG_DEVTYPE_HMC5883, SPI::CS{GPIO::PortE, GPIO::Pin15}, SPI::DRDY{GPIO::PortE, GPIO::Pin12}), // hmc5983
initSPIDevice(DRV_MAG_DEVTYPE_LIS3MDL, SPI::CS{GPIO::PortE, GPIO::Pin15}, SPI::DRDY{GPIO::PortE, GPIO::Pin12}),
}, {GPIO::PortE, GPIO::Pin3}),
initSPIBus(2, {
initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortD, GPIO::Pin10}),
initSPIDevice(DRV_BARO_DEVTYPE_MS5611, SPI::CS{GPIO::PortD, GPIO::Pin7}),
}),
initSPIBusExternal(4, {
initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin8}),
}),
};
static constexpr bool unused = validateSPIConfig(px4_spi_buses);
__EXPORT bool board_has_bus(enum board_bus_types type, uint32_t bus)
{
bool rv = true;
switch (type) {
case BOARD_SPI_BUS:
#ifdef CONFIG_STM32_SPI4
rv = bus != 4 || (stm32_gpioread(GPIO_8266_GPIO2) == 0);
#endif /* CONFIG_STM32_SPI4 */
break;
case BOARD_I2C_BUS:
break;
default: break;
}
return rv;
}

4
boards/px4/fmu-v4pro/src/CMakeLists.txt
View File

@@ -33,14 +33,16 @@
add_library(drivers_board
can.c
i2c.cpp
init.c
led.c
spi.c
spi.cpp
timer_config.cpp
usb.c
)
target_link_libraries(drivers_board
PRIVATE
arch_spi
drivers__led # drv_led_start
nuttx_arch # sdio
nuttx_drivers # sdio

Some files were not shown because too many files have changed in this diff Show More