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px4:platform support SPI configuration selection on HW REV

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This commit is contained in:
David Sidrane
2021-04-02 06:48:15 -07:00
committed by Beat Küng
parent e4ee7c7d98
commit 69e0c2fc10
4 changed files with 13 additions and 6 deletions
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1
platforms/common/include/px4_platform_common/board_common.h
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@@ -262,6 +262,7 @@
#if defined(BOARD_HAS_HW_VERSIONING) #if defined(BOARD_HAS_HW_VERSIONING)
# define BOARD_HAS_VERSIONING 1 # define BOARD_HAS_VERSIONING 1
# define HW_VER_REV(v,r) ((uint32_t)((v) & 0xff) << 8) | ((uint32_t)(r) & 0xff)
#endif #endif
/* Default LED logical to color mapping */ /* Default LED logical to color mapping */

2
platforms/common/include/px4_platform_common/spi.h
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@@ -71,7 +71,7 @@ struct px4_spi_bus_t {
struct px4_spi_bus_all_hw_t { struct px4_spi_bus_all_hw_t {
px4_spi_bus_t buses[SPI_BUS_MAX_BUS_ITEMS]; px4_spi_bus_t buses[SPI_BUS_MAX_BUS_ITEMS];
int board_hw_version{-1}; ///< 0=default, >0 for a specific revision (see board_get_hw_version), -1=unused int board_hw_version_revision{-1}; ///< 0=default, >0 for a specific revision (see board_get_hw_version & board_get_hw_revision), -1=unused
}; };
#if BOARD_NUM_SPI_CFG_HW_VERSIONS > 1 #if BOARD_NUM_SPI_CFG_HW_VERSIONS > 1

11
platforms/common/spi.cpp
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@@ -39,14 +39,19 @@
#if BOARD_NUM_SPI_CFG_HW_VERSIONS > 1 #if BOARD_NUM_SPI_CFG_HW_VERSIONS > 1
void px4_set_spi_buses_from_hw_version() void px4_set_spi_buses_from_hw_version()
{ {
int hw_version = board_get_hw_version(); #if defined(BOARD_HAS_SIMPLE_HW_VERSIONING)
int hw_version_revision = board_get_hw_version();
#else
int hw_version_revision = board_get_hw_revision();
#endif
for (int i = 0; i < BOARD_NUM_SPI_CFG_HW_VERSIONS; ++i) { for (int i = 0; i < BOARD_NUM_SPI_CFG_HW_VERSIONS; ++i) {
if (!px4_spi_buses && px4_spi_buses_all_hw[i].board_hw_version == 0) { if (!px4_spi_buses && px4_spi_buses_all_hw[i].board_hw_version_revision == 0) {
px4_spi_buses = px4_spi_buses_all_hw[i].buses; px4_spi_buses = px4_spi_buses_all_hw[i].buses;
} }
if (px4_spi_buses_all_hw[i].board_hw_version == hw_version) { if (px4_spi_buses_all_hw[i].board_hw_version_revision == hw_version_revision) {
px4_spi_buses = px4_spi_buses_all_hw[i].buses; px4_spi_buses = px4_spi_buses_all_hw[i].buses;
} }
} }

5
platforms/nuttx/src/px4/stm/stm32_common/include/px4_arch/spi_hw_description.h
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@@ -129,7 +129,8 @@ static inline constexpr SPI::bus_device_external_cfg_t initSPIConfigExternal(SPI
struct px4_spi_bus_array_t { struct px4_spi_bus_array_t {
px4_spi_bus_t item[SPI_BUS_MAX_BUS_ITEMS]; px4_spi_bus_t item[SPI_BUS_MAX_BUS_ITEMS];
}; };
static inline constexpr px4_spi_bus_all_hw_t initSPIHWVersion(int hw_version, const px4_spi_bus_array_t &bus_items) static inline constexpr px4_spi_bus_all_hw_t initSPIHWVersion(int hw_version_revision,
const px4_spi_bus_array_t &bus_items)
{ {
px4_spi_bus_all_hw_t ret{}; px4_spi_bus_all_hw_t ret{};
@@ -137,7 +138,7 @@ static inline constexpr px4_spi_bus_all_hw_t initSPIHWVersion(int hw_version, co
ret.buses[i] = bus_items.item[i]; ret.buses[i] = bus_items.item[i];
} }
ret.board_hw_version = hw_version; ret.board_hw_version_revision = hw_version_revision;
return ret; return ret;
} }
constexpr bool validateSPIConfig(const px4_spi_bus_t spi_buses_conf[SPI_BUS_MAX_BUS_ITEMS]); constexpr bool validateSPIConfig(const px4_spi_bus_t spi_buses_conf[SPI_BUS_MAX_BUS_ITEMS]);