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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/px4/fmu-v5x/init/rc.board_sensors
View File

@@ -30,7 +30,7 @@ qmc5883 -X start
# Possible internal compass
bmm150 start
# Possible internal Barro
# Possible internal Baro
bmp388 -I start
bmp388 -J start

2
boards/px4/fmu-v5x/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

26
boards/px4/fmu-v5x/src/board_config.h
View File

@@ -227,21 +227,22 @@
#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_ISM330 PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS2,0)
#define PX4_SPIDEV_ISM330 PX4_MK_SPI_SEL(0,DRV_DEVTYPE_ST_ISM330DLC)
#define PX4_SENSORS2_BUS_CS_GPIO {GPIO_SPI2_nCS1_ISM330}
#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_SPI3_nCS2_BMI088_GYRO, GPIO_SPI3_nCS1_BMI088_ACCEL}
#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_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 {GPIO_SPI6_nCS1_EXTERNAL1, GPIO_SPI6_nCS2_EXTERNAL1}
@@ -389,9 +390,6 @@
#define GPIO_VDD_5V_PERIPH_nOC /* PE15 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTE|GPIO_PIN15)
#define GPIO_VDD_5V_HIPOWER_nEN /* PF12 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTF|GPIO_PIN12)
#define GPIO_VDD_5V_HIPOWER_nOC /* PF13 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTF|GPIO_PIN13)
#define GPIO_VDD_3V3_SENSORS1_EN /* PI11 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTI|GPIO_PIN11)
#define GPIO_VDD_3V3_SENSORS2_EN /* PD15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN15)
#define GPIO_VDD_3V3_SENSORS3_EN /* PE7 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN7)
#define GPIO_VDD_3V3_SENSORS4_EN /* PG8 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)
#define GPIO_VDD_3V3_SPEKTRUM_POWER_EN /* PH2 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN2)
#define GPIO_VDD_3V3_SD_CARD_EN /* PC13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)
@@ -413,9 +411,6 @@
#define VDD_5V_PERIPH_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_5V_PERIPH_nEN, !(on_true))
#define VDD_5V_HIPOWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_5V_HIPOWER_nEN, !(on_true))
#define VDD_3V3_SENSORS1_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS1_EN, (on_true))
#define VDD_3V3_SENSORS2_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS2_EN, (on_true))
#define VDD_3V3_SENSORS3_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS3_EN, (on_true))
#define VDD_3V3_SENSORS4_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS4_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)
@@ -569,9 +564,6 @@
GPIO_VDD_5V_PERIPH_nOC, \
GPIO_VDD_5V_HIPOWER_nEN, \
GPIO_VDD_5V_HIPOWER_nOC, \
GPIO_VDD_3V3_SENSORS1_EN, \
GPIO_VDD_3V3_SENSORS2_EN, \
GPIO_VDD_3V3_SENSORS3_EN, \
GPIO_VDD_3V3_SENSORS4_EN, \
GPIO_VDD_3V3_SPEKTRUM_POWER_EN, \
GPIO_VDD_3V3_SD_CARD_EN, \
@@ -627,8 +619,6 @@ 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);

41
boards/px4/fmu-v5x/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),
initI2CBusExternal(3),
initI2CBusInternal(4),
};

15
boards/px4/fmu-v5x/src/init.c
View File

@@ -105,9 +105,7 @@ __EXPORT void board_peripheral_reset(int ms)
/* set the peripheral rails off */
VDD_5V_PERIPH_EN(false);
VDD_3V3_SENSORS1_EN(false);
VDD_3V3_SENSORS2_EN(false);
VDD_3V3_SENSORS3_EN(false);
board_control_spi_sensors_power(false, 0xffff);
VDD_3V3_SENSORS4_EN(false);
bool last = READ_VDD_3V3_SPEKTRUM_POWER_EN();
@@ -122,9 +120,7 @@ __EXPORT void board_peripheral_reset(int ms)
/* switch the peripheral rail back on */
VDD_3V3_SPEKTRUM_POWER_EN(last);
VDD_3V3_SENSORS1_EN(true);
VDD_3V3_SENSORS2_EN(true);
VDD_3V3_SENSORS3_EN(true);
board_control_spi_sensors_power(true, 0xffff);
VDD_3V3_SENSORS4_EN(true);
VDD_5V_PERIPH_EN(true);
@@ -176,7 +172,9 @@ stm32_boardinitialize(void)
const uint32_t gpio[] = PX4_GPIO_INIT_LIST;
px4_gpio_init(gpio, arraySize(gpio));
/* configure SPI interfaces */
/* configure SPI interfaces (we can do this here as long as we only have a single SPI hw config version -
* otherwise we need to move this after board_determine_hw_info()) */
_Static_assert(BOARD_NUM_SPI_CFG_HW_VERSIONS == 1, "Need to move the SPI initialization for multi-version support");
stm32_spiinitialize();
@@ -220,7 +218,8 @@ __EXPORT int board_app_initialize(uintptr_t arg)
VDD_3V3_SD_CARD_EN(true);
VDD_5V_PERIPH_EN(true);
VDD_5V_HIPOWER_EN(true);
board_spi_reset(0xff00000A);
board_spi_reset(10, 0xffff);
VDD_3V3_SENSORS4_EN(true);
VDD_3V3_SPEKTRUM_POWER_EN(true);
SE050_RESET(false);

413
boards/px4/fmu-v5x/src/spi.cpp
View File

@@ -31,392 +31,33 @@
*
****************************************************************************/
/**
* @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}),
}, {GPIO::PortI, GPIO::Pin11}),
initSPIBus(2, {
initSPIDevice(DRV_DEVTYPE_ST_ISM330DLC, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortH, GPIO::Pin12}),
}, {GPIO::PortD, GPIO::Pin15}),
initSPIBus(3, {
initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin8}, SPI::DRDY{GPIO::PortI, GPIO::Pin7}),
initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin6}),
}, {GPIO::PortE, GPIO::Pin7}),
// initSPIBus(4, {
// // no devices
// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
// }, {GPIO::PortG, GPIO::Pin8}),
initSPIBus(5, {
initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
}),
initSPIBusExternal(6, {
initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11}),
initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}),
}),
};
static constexpr bool unused = validateSPIConfig(px4_spi_buses);
/* Define CS GPIO array */
static constexpr uint32_t spi1selects_gpio[] = PX4_SENSORS1_BUS_CS_GPIO;
static constexpr uint32_t spi2selects_gpio[] = PX4_SENSORS2_BUS_CS_GPIO;
static constexpr uint32_t spi3selects_gpio[] = PX4_SENSORS3_BUS_CS_GPIO;
#ifdef CONFIG_STM32F7_SPI4
static constexpr uint32_t spi4selects_gpio[] = PX4_SENSORS4_BUS_CS_GPIO;
#endif
static constexpr uint32_t spi5selects_gpio[] = PX4_MEMORY_BUS_CS_GPIO;
static constexpr uint32_t spi6selects_gpio[] = PX4_EXTERNAL1_BUS_CS_GPIO;
/************************************************************************************
* 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_SENSORS4);
// 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_EXTERNAL1);
// 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
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 */
stm32_gpiowrite(GPIO_VDD_3V3_SENSORS1_EN, 0);
}
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);
stm32_configgpio(GPIO_DRDY_OFF_SPI2_DRDY1_ISM330);
/* set the sensor rail off */
stm32_gpiowrite(GPIO_VDD_3V3_SENSORS2_EN, 0);
}
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 */
stm32_gpiowrite(GPIO_VDD_3V3_SENSORS3_EN, 0);
}
if (mask & 8) {
/* set the sensor rail off */
stm32_gpiowrite(GPIO_VDD_3V3_SENSORS4_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_SENSORS1_EN, 1);
stm32_gpiowrite(GPIO_VDD_3V3_SENSORS2_EN, 1);
stm32_gpiowrite(GPIO_VDD_3V3_SENSORS3_EN, 1);
stm32_gpiowrite(GPIO_VDD_3V3_SENSORS4_EN, 1);
/* wait a bit before starting SPI, different times didn't influence results */
usleep(100);
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
}
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);
stm32_configgpio(GPIO_SPI2_DRDY1_ISM330);
}
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
}
}