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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

2
boards/mro/ctrl-zero-f7/src/CMakeLists.txt
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@@ -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
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@@ -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
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@@ -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
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@@ -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
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@@ -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);
}