px4_fmu-v4: add runtime external SPI4 detection to support pmw3901 (#11301)

* The build is built with SPI4. At run time the signal GPIO_8266_GPIO2 it tested. If it is low the SPI4 is configured. If it is high SPI4 is not configured.
 * board_common: Add Notion of Board has bus manifest

boards/px4/fmu-v4/default.cmake

@@ -32,6 +32,7 @@ px4_add_board(
 		magnetometer # all available magnetometer drivers
 		mkblctrl
 		pca9685
+		pmw3901
 		pwm_input
 		pwm_out_sim
 		px4flow

boards/px4/fmu-v4/init/rc.board_sensors

@@ -64,3 +64,5 @@ then
 	# BMI160 internal SPI bus
 	bmi160 start
 fi
+
+pmw3901 start

boards/px4/fmu-v4/nuttx-config/include/board.h

@@ -269,11 +269,16 @@
 #define GPIO_SPI1_MOSI  (GPIO_SPI1_MOSI_1|GPIO_SPEED_50MHz)
 #define GPIO_SPI1_SCK   (GPIO_SPI1_SCK_1|GPIO_SPEED_50MHz)
 
-
 #define GPIO_SPI2_MISO  (GPIO_SPI2_MISO_1|GPIO_SPEED_50MHz)
 #define GPIO_SPI2_MOSI  (GPIO_SPI2_MOSI_1|GPIO_SPEED_50MHz)
 #define GPIO_SPI2_SCK   (GPIO_SPI2_SCK_1|GPIO_SPEED_50MHz)
 
+#if defined(CONFIG_STM32_SPI4)
+#  define GPIO_SPI4_MISO  (GPIO_SPI4_MISO_1|GPIO_SPEED_50MHz)
+#  define GPIO_SPI4_MOSI  (GPIO_SPI4_MOSI_1|GPIO_SPEED_50MHz)
+#  define GPIO_SPI4_SCK   (GPIO_SPI4_SCK_1|GPIO_SPEED_50MHz)
+#endif
+
 /* Board provides GPIO or other Hardware for signaling to timing analyzer */
 
 #if defined(CONFIG_BOARD_USE_PROBES)

boards/px4/fmu-v4/nuttx-config/nsh/defconfig

@@ -78,7 +78,7 @@ CONFIG_ARCH="arm"
 # ARM Options
 #
 # CONFIG_ARCH_CHIP_A1X is not set
-# CONFIG_ARCH_CHIP_BCM2708 is not set
+# CONFIG_ARCH_CHIP_AM335X is not set
 # CONFIG_ARCH_CHIP_C5471 is not set
 # CONFIG_ARCH_CHIP_DM320 is not set
 # CONFIG_ARCH_CHIP_EFM32 is not set
@@ -445,7 +445,7 @@ CONFIG_STM32_HAVE_CAN2=y
 # CONFIG_STM32_HAVE_COMP6 is not set
 # CONFIG_STM32_HAVE_COMP7 is not set
 CONFIG_STM32_HAVE_DAC1=y
-CONFIG_STM32_HAVE_DAC2=y
+# CONFIG_STM32_HAVE_DAC2 is not set
 CONFIG_STM32_HAVE_RNG=y
 CONFIG_STM32_HAVE_ETHMAC=y
 CONFIG_STM32_HAVE_I2C2=y
@@ -482,7 +482,6 @@ CONFIG_STM32_CCMDATARAM=y
 CONFIG_STM32_DMA1=y
 CONFIG_STM32_DMA2=y
 # CONFIG_STM32_DAC1 is not set
-# CONFIG_STM32_DAC2 is not set
 # CONFIG_STM32_DCMI is not set
 # CONFIG_STM32_ETHMAC is not set
 # CONFIG_STM32_FSMC is not set
@@ -501,7 +500,7 @@ CONFIG_STM32_SPI1=y
 CONFIG_STM32_SPI2=y
 # CONFIG_STM32_SPI3 is not set
 # CONFIG_STM32_I2S3 is not set
-# CONFIG_STM32_SPI4 is not set
+CONFIG_STM32_SPI4=y
 # CONFIG_STM32_SPI5 is not set
 # CONFIG_STM32_SPI6 is not set
 CONFIG_STM32_SYSCFG=y
@@ -1028,8 +1027,17 @@ CONFIG_WATCHDOG_DEVPATH="/dev/watchdog0"
 # LCD Driver Support
 #
 # CONFIG_LCD is not set
+
+#
+# Character/Segment LCD Devices
+#
 # CONFIG_SLCD is not set
 
+#
+# Other LCD-related Devices
+#
+# CONFIG_LCD_OTHER is not set
+
 #
 # LED Support
 #
@@ -1608,6 +1616,7 @@ CONFIG_BUILTIN_PROXY_STACKSIZE=1024
 #
 # CONFIG_EXAMPLES_ADXL372_TEST is not set
 # CONFIG_EXAMPLES_APA102 is not set
+# CONFIG_EXAMPLES_BATTERY is not set
 # CONFIG_EXAMPLES_CALIB_UDELAY is not set
 # CONFIG_EXAMPLES_CCTYPE is not set
 # CONFIG_EXAMPLES_CHAT is not set
@@ -1660,7 +1669,6 @@ CONFIG_BUILTIN_PROXY_STACKSIZE=1024
 # CONFIG_EXAMPLES_SLCD is not set
 # CONFIG_EXAMPLES_SMART is not set
 # CONFIG_EXAMPLES_SMART_TEST is not set
-# CONFIG_EXAMPLES_SMP is not set
 # CONFIG_EXAMPLES_SMPS is not set
 # CONFIG_EXAMPLES_STAT is not set
 # CONFIG_EXAMPLES_TCPECHO is not set
@@ -1892,6 +1900,7 @@ CONFIG_READLINE_ECHO=y
 # CONFIG_SYSTEM_SUDOKU is not set
 # CONFIG_SYSTEM_SYSTEM is not set
 # CONFIG_SYSTEM_TEE is not set
+# CONFIG_SYSTEM_TERMCURSES is not set
 # CONFIG_SYSTEM_UBLOXMODEM is not set
 # CONFIG_SYSTEM_VI is not set
 # CONFIG_SYSTEM_ZMODEM is not set

boards/px4/fmu-v4/nuttx-config/stackcheck/defconfig

@@ -78,7 +78,7 @@ CONFIG_ARCH="arm"
 # ARM Options
 #
 # CONFIG_ARCH_CHIP_A1X is not set
-# CONFIG_ARCH_CHIP_BCM2708 is not set
+# CONFIG_ARCH_CHIP_AM335X is not set
 # CONFIG_ARCH_CHIP_C5471 is not set
 # CONFIG_ARCH_CHIP_DM320 is not set
 # CONFIG_ARCH_CHIP_EFM32 is not set
@@ -109,6 +109,7 @@ CONFIG_ARCH="arm"
 # CONFIG_ARCH_CHIP_SAMV7 is not set
 CONFIG_ARCH_CHIP_STM32=y
 # CONFIG_ARCH_CHIP_STM32F0 is not set
+# CONFIG_ARCH_CHIP_STM32L0 is not set
 # CONFIG_ARCH_CHIP_STM32F7 is not set
 # CONFIG_ARCH_CHIP_STM32H7 is not set
 # CONFIG_ARCH_CHIP_STM32L4 is not set
@@ -349,6 +350,7 @@ CONFIG_ARCH_CHIP_STM32F427V=y
 # CONFIG_STM32_FLASH_CONFIG_6 is not set
 # CONFIG_STM32_FLASH_CONFIG_8 is not set
 # CONFIG_STM32_FLASH_CONFIG_B is not set
+# CONFIG_STM32_FLASH_CONFIG_Z is not set
 # CONFIG_STM32_FLASH_CONFIG_C is not set
 # CONFIG_STM32_FLASH_CONFIG_D is not set
 # CONFIG_STM32_FLASH_CONFIG_E is not set
@@ -443,7 +445,7 @@ CONFIG_STM32_HAVE_CAN2=y
 # CONFIG_STM32_HAVE_COMP6 is not set
 # CONFIG_STM32_HAVE_COMP7 is not set
 CONFIG_STM32_HAVE_DAC1=y
-CONFIG_STM32_HAVE_DAC2=y
+# CONFIG_STM32_HAVE_DAC2 is not set
 CONFIG_STM32_HAVE_RNG=y
 CONFIG_STM32_HAVE_ETHMAC=y
 CONFIG_STM32_HAVE_I2C2=y
@@ -480,7 +482,6 @@ CONFIG_STM32_CCMDATARAM=y
 CONFIG_STM32_DMA1=y
 CONFIG_STM32_DMA2=y
 # CONFIG_STM32_DAC1 is not set
-# CONFIG_STM32_DAC2 is not set
 # CONFIG_STM32_DCMI is not set
 # CONFIG_STM32_ETHMAC is not set
 # CONFIG_STM32_FSMC is not set
@@ -490,7 +491,6 @@ CONFIG_STM32_I2C1=y
 # CONFIG_STM32_I2C2 is not set
 # CONFIG_STM32_I2C3 is not set
 CONFIG_STM32_RTC=y
-# CONFIG_STM32_USBHOST is not sety
 CONFIG_STM32_OTGFS=y
 # CONFIG_STM32_OTGHS is not set
 CONFIG_STM32_PWR=y
@@ -500,7 +500,7 @@ CONFIG_STM32_SPI1=y
 CONFIG_STM32_SPI2=y
 # CONFIG_STM32_SPI3 is not set
 # CONFIG_STM32_I2S3 is not set
-# CONFIG_STM32_SPI4 is not set
+CONFIG_STM32_SPI4=y
 # CONFIG_STM32_SPI5 is not set
 # CONFIG_STM32_SPI6 is not set
 CONFIG_STM32_SYSCFG=y
@@ -687,20 +687,7 @@ CONFIG_STM32_RTC_MAGIC_TIME_SET=0xfacefeef
 # CONFIG_STM32_RTC_LSECLOCK is not set
 # CONFIG_STM32_RTC_LSICLOCK is not set
 CONFIG_STM32_RTC_HSECLOCK=y
-
+# CONFIG_STM32_USBHOST is not set
-#
-# USB FS Host Configuration
-#
-CONFIG_STM32_OTGFS_RXFIFO_SIZE=128
-CONFIG_STM32_OTGFS_NPTXFIFO_SIZE=96
-CONFIG_STM32_OTGFS_PTXFIFO_SIZE=128
-CONFIG_STM32_OTGFS_DESCSIZE=128
-# CONFIG_STM32_OTGFS_SOFINTR is not set
-CONFIG_STM32_OTGFS_VBUS_CONTROL=y
-
-#
-# USB Host Debug Configuration
-#
 
 #
 # USB Device Configuration
@@ -838,6 +825,7 @@ CONFIG_PREALLOC_TIMERS=50
 CONFIG_INIT_ENTRYPOINT=y
 # CONFIG_INIT_FILEPATH is not set
 CONFIG_USER_ENTRYPOINT="nsh_main"
+CONFIG_USERMAIN_PRIORITY=100
 CONFIG_RR_INTERVAL=0
 # CONFIG_SCHED_SPORADIC is not set
 CONFIG_TASK_NAME_SIZE=24
@@ -1039,8 +1027,17 @@ CONFIG_WATCHDOG_DEVPATH="/dev/watchdog0"
 # LCD Driver Support
 #
 # CONFIG_LCD is not set
+
+#
+# Character/Segment LCD Devices
+#
 # CONFIG_SLCD is not set
 
+#
+# Other LCD-related Devices
+#
+# CONFIG_LCD_OTHER is not set
+
 #
 # LED Support
 #
@@ -1619,6 +1616,7 @@ CONFIG_BUILTIN_PROXY_STACKSIZE=1024
 #
 # CONFIG_EXAMPLES_ADXL372_TEST is not set
 # CONFIG_EXAMPLES_APA102 is not set
+# CONFIG_EXAMPLES_BATTERY is not set
 # CONFIG_EXAMPLES_CALIB_UDELAY is not set
 # CONFIG_EXAMPLES_CCTYPE is not set
 # CONFIG_EXAMPLES_CHAT is not set
@@ -1654,11 +1652,9 @@ CONFIG_BUILTIN_PROXY_STACKSIZE=1024
 # CONFIG_EXAMPLES_NXDEMO is not set
 # CONFIG_EXAMPLES_NXFFS is not set
 # CONFIG_EXAMPLES_OBD2 is not set
-# CONFIG_EXAMPLES_OSTEST is not set
 # CONFIG_EXAMPLES_PCA9635 is not set
 # CONFIG_EXAMPLES_PDCURSES is not set
 # CONFIG_EXAMPLES_PIPE is not set
-# CONFIG_EXAMPLES_POPEN is not set
 # CONFIG_EXAMPLES_POSIXSPAWN is not set
 # CONFIG_EXAMPLES_POWERLED is not set
 # CONFIG_EXAMPLES_POWERMONITOR is not set
@@ -1673,7 +1669,6 @@ CONFIG_BUILTIN_PROXY_STACKSIZE=1024
 # CONFIG_EXAMPLES_SLCD is not set
 # CONFIG_EXAMPLES_SMART is not set
 # CONFIG_EXAMPLES_SMART_TEST is not set
-# CONFIG_EXAMPLES_SMP is not set
 # CONFIG_EXAMPLES_SMPS is not set
 # CONFIG_EXAMPLES_STAT is not set
 # CONFIG_EXAMPLES_TCPECHO is not set
@@ -1834,9 +1829,7 @@ CONFIG_NSH_MMCSDSLOTNO=0
 # Configure Command Options
 #
 CONFIG_NSH_VARS=y
-# CONFIG_NSH_CMDOPT_DD_STATS is not set
 CONFIG_NSH_CODECS_BUFSIZE=128
-# CONFIG_NSH_CMDOPT_HEXDUMP is not set
 CONFIG_NSH_PROC_MOUNTPOINT="/proc"
 CONFIG_NSH_FILEIOSIZE=512
 CONFIG_NSH_STRERROR=y
@@ -1907,6 +1900,7 @@ CONFIG_READLINE_ECHO=y
 # CONFIG_SYSTEM_SUDOKU is not set
 # CONFIG_SYSTEM_SYSTEM is not set
 # CONFIG_SYSTEM_TEE is not set
+# CONFIG_SYSTEM_TERMCURSES is not set
 # CONFIG_SYSTEM_UBLOXMODEM is not set
 # CONFIG_SYSTEM_VI is not set
 # CONFIG_SYSTEM_ZMODEM is not set
@@ -1914,6 +1908,7 @@ CONFIG_READLINE_ECHO=y
 #
 # Testing
 #
+# CONFIG_TESTING_OSTEST is not set
 # CONFIG_TESTING_UNITY is not set
 
 #

boards/px4/fmu-v4/src/board_config.h

@@ -105,8 +105,12 @@
 #define GPIO_SPI2_CS_MS5611          (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN7)
 #define GPIO_SPI2_CS_FRAM            (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN10)
 
-/* There are no DRDY on SPI 2. */
+/* Define the Chip Selects for SPI4. */
 
+#ifdef CONFIG_STM32_SPI4
+#  define BOARD_HAS_BUS_MANIFEST 1 // We support a bus manifest because spi 4 is optional
+#  define GPIO_SPI4_CS_1         (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN8)  //ESP_RTS_PIN
+#endif /* CONFIG_STM32_SPI4 */
 /**
  * Define the ability to shut off off the sensor signals
  * by changing the signals to inputs.
@@ -128,14 +132,34 @@
 #define GPIO_DRDY_OFF_PORTC_PIN14    _PIN_OFF(GPIO_DRDY_PORTC_PIN14)
 #define GPIO_DRDY_OFF_PORTE_PIN12    _PIN_OFF(GPIO_DRDY_PORTE_PIN12)
 
+/* SPI 4 bus off. */
+#ifdef CONFIG_STM32_SPI4
+#  define GPIO_SPI4_SCK_OFF          _PIN_OFF(GPIO_SPI4_SCK)
+#  define GPIO_SPI4_MISO_OFF         _PIN_OFF(GPIO_SPI4_MISO)
+#  define GPIO_SPI4_MOSI_OFF         _PIN_OFF(GPIO_SPI4_MOSI)
+#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.
+ *
  */
+
 #define PX4_SPI_BUS_SENSORS          1
 #define PX4_SPI_BUS_RAMTRON          2
 #define PX4_SPI_BUS_BARO             PX4_SPI_BUS_RAMTRON
 
+#ifdef CONFIG_STM32_SPI4
+#  define PX4_SPI_BUS_EXTERNAL       4
+/* The mask passes to init the SPI bus pins
+ * N.B This works ONLY with buss numbers that are powers of 2
+ * Adding SPI3 would break this!
+ */
+#  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)
+
 /* Use these in place of the uint32_t enumeration 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)
@@ -158,6 +182,10 @@
  */
 #define PX4_SPIDEV_BARO             PX4_MK_SPI_SEL(PX4_SPI_BUS_BARO, 3)
 
+#ifdef CONFIG_STM32_SPI4
+#  define PX4_SPIDEV_EXTERNAL       PX4_MK_SPI_SEL(PX4_SPI_BUS_EXTERNAL, 1)
+#endif /* CONFIG_STM32_SPI4 */
+
 /* I2C busses. */
 #define PX4_I2C_BUS_EXPANSION        1
 #define PX4_I2C_BUS_LED              PX4_I2C_BUS_EXPANSION
@@ -281,6 +309,7 @@
 #define GPIO_SPEKTRUM_PWR_EN         (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN4)
 
 #define GPIO_8266_GPIO0              (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN2)
+#define GPIO_8266_GPIO2              (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN4)
 #define GPIO_8266_PD                 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN5)
 #define GPIO_8266_RST                (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN6)
 

boards/px4/fmu-v4/src/init.c

@@ -201,17 +201,35 @@ stm32_boardinitialize(void)
 	stm32_configgpio(GPIO_SBUS_INV);
 	stm32_configgpio(GPIO_SPEKTRUM_PWR_EN);
 
+	stm32_configgpio(GPIO_8266_GPIO2);
 	stm32_configgpio(GPIO_8266_GPIO0);
-	stm32_configgpio(GPIO_8266_PD);
-	stm32_configgpio(GPIO_8266_RST);
 
 	// Safety - led on in led driver.
 	stm32_configgpio(GPIO_BTN_SAFETY);
 	stm32_configgpio(GPIO_RSSI_IN);
 	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 {
+#endif /* CONFIG_STM32_SPI4 */
+
+		stm32_configgpio(GPIO_8266_PD);
+		stm32_configgpio(GPIO_8266_RST);
+
+#if defined(CONFIG_STM32_SPI4)
+	}
+
+#endif /* CONFIG_STM32_SPI4 */
+
 // Configure SPI all interfaces GPIO.
-	stm32_spiinitialize(PX4_SPI_BUS_RAMTRON | PX4_SPI_BUS_SENSORS);
+	stm32_spiinitialize(spi_init_mask);
 
 	// Configure heater GPIO.
 	stm32_configgpio(GPIO_HEATER_INPUT);
@@ -246,6 +264,9 @@ stm32_boardinitialize(void)
 static struct spi_dev_s *spi1;
 static struct spi_dev_s *spi2;
 static struct sdio_dev_s *sdio;
+#if defined(CONFIG_STM32_SPI4)
+static struct spi_dev_s *spi4;
+#endif
 
 __EXPORT int board_app_initialize(uintptr_t arg)
 {
@@ -329,6 +350,29 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	SPI_SELECT(spi2, SPIDEV_FLASH(0), false);
 	SPI_SELECT(spi2, PX4_SPIDEV_BARO, false);
 
+#if defined(CONFIG_STM32_SPI4)
+
+	if (stm32_gpioread(GPIO_8266_GPIO2) == 0) {
+		syslog(LOG_INFO, "[boot] 8266_GPIO2 - Low Initialize SPI port 4 \n");
+
+		// Configure SPI-based devices.
+		spi4 = stm32_spibus_initialize(4);
+
+		if (!spi4) {
+			syslog(LOG_ERR, "[boot] FAILED to initialize SPI port 4\n");
+
+		} else {
+			// Default SPI4 to 20 MHz and de-assert the known chip selects.
+			SPI_SETFREQUENCY(spi4, 20 * 1000 * 1000);
+			SPI_SETBITS(spi4, 8);
+			SPI_SETMODE(spi4, SPIDEV_MODE3);
+			SPI_SELECT(spi4, PX4_SPIDEV_EXTERNAL, false);
+		}
+	}
+
+#endif /* defined(CONFIG_STM32_SPI4) */
+
+
 #ifdef CONFIG_MMCSD
 
 	// First, get an instance of the SDIO interface.

boards/px4/fmu-v4/src/spi.c

@@ -60,6 +60,24 @@
  * 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
  *
@@ -96,6 +114,13 @@ __EXPORT void stm32_spiinitialize(int mask)
 
 #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)
@@ -179,6 +204,20 @@ __EXPORT uint8_t stm32_spi2status(FAR struct spi_dev_s *dev, uint32_t devid)
 }
 #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 */
@@ -211,21 +250,52 @@ __EXPORT void board_spi_reset(int ms)
 	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);
 
@@ -236,4 +306,15 @@ __EXPORT void board_spi_reset(int ms)
 	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 */
 }

src/drivers/boards/common/board_common.h

@@ -1075,6 +1075,24 @@ __EXPORT bool px4_spi_bus_external(int bus);
 
 #endif /* BOARD_HAS_SIMPLE_HW_VERSIONING */
 
+/************************************************************************************
+ * Name: board_has_bus
+ *
+ ************************************************************************************/
+
+enum board_bus_types {
+	BOARD_SPI_BUS = 1,
+	BOARD_I2C_BUS = 2
+};
+
+#if defined(BOARD_HAS_BUS_MANIFEST)
+
+__EXPORT bool board_has_bus(enum board_bus_types type, uint32_t bus);
+
+#else
+#  define board_has_bus(t, b) true
+#endif /* BOARD_HAS_BUS_MANIFEST */
+
 /************************************************************************************
  * Name: board_hardfault_init
  *

src/drivers/pmw3901/pmw3901.cpp

@@ -79,10 +79,13 @@
 #include <board_config.h>
 
 /* Configuration Constants */
+
 #if defined PX4_SPI_BUS_EXPANSION   // crazyflie
 # define PMW3901_BUS PX4_SPI_BUS_EXPANSION
 #elif defined PX4_SPI_BUS_EXTERNAL1   // fmu-v5
 # define PMW3901_BUS PX4_SPI_BUS_EXTERNAL1
+#elif defined PX4_SPI_BUS_EXTERNAL    // fmu-v4 extspi
+# define PMW3901_BUS PX4_SPI_BUS_EXTERNAL
 #else
 # error "add the required spi bus from board_config.h here"
 #endif
@@ -91,6 +94,8 @@
 # define PMW3901_SPIDEV PX4_SPIDEV_EXPANSION_2
 #elif defined PX4_SPIDEV_EXTERNAL1_1    // fmu-v5 ext CS1
 # define PMW3901_SPIDEV PX4_SPIDEV_EXTERNAL1_1
+#elif defined PX4_SPIDEV_EXTERNAL   // fmu-v4 extspi
+# define PMW3901_SPIDEV PX4_SPIDEV_EXTERNAL
 #else
 # error "add the required spi dev from board_config.h here"
 #endif

src/lib/drivers/device/nuttx/SPI.cpp

@@ -94,7 +94,14 @@ SPI::init()
 
 	/* attach to the spi bus */
 	if (_dev == nullptr) {
-		_dev = px4_spibus_initialize(get_device_bus());
+		int bus = get_device_bus();
+
+		if (!board_has_bus(BOARD_SPI_BUS, bus)) {
+			ret = -ENOENT;
+			goto out;
+		}
+
+		_dev = px4_spibus_initialize(bus);
 	}
 
 	if (_dev == nullptr) {