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99 lines
3.4 KiB
C++
99 lines
3.4 KiB
C++
/****************************************************************************
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*
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* Copyright (C) 2020 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include <px4_platform_common/px4_config.h>
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#include <px4_platform/gpio.h>
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#include <stdint.h>
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#include <stdbool.h>
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#include <debug.h>
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#include <unistd.h>
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#include <nuttx/spi/spi.h>
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#include <arch/board/board.h>
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#include <systemlib/px4_macros.h>
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#include <nuttx/mmcsd.h>
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#include <arm_arch.h>
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#include <chip.h>
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#include <stm32_gpio.h>
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#include "board_config.h"
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#include <px4_arch/spi_hw_description.h>
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#include <drivers/drv_sensor.h>
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#include <nuttx/spi/spi.h>
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constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
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initSPIBus(SPI::Bus::SPI1, {
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initSPIDevice(SPIDEV_MMCSD(0), SPI::CS{GPIO::PortC, GPIO::Pin12}),
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initSPIDevice(DRV_FLOW_DEVTYPE_PMW3901, SPI::CS{GPIO::PortB, GPIO::Pin4}),
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initSPIDevice(DRV_DEVTYPE_UNUSED, SPI::CS{GPIO::PortB, GPIO::Pin5}),
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}),
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};
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static constexpr bool unused = validateSPIConfig(px4_spi_buses);
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/************************************************************************************
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* Name: stm32_spi_bus_initialize
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*
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* Description:
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* Called to configure SPI buses on PX4FMU board.
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*
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************************************************************************************/
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static struct spi_dev_s *spi_expansion;
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__EXPORT int stm32_spi_bus_initialize(void)
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{
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/* Configure SPI-based devices */
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/* Get the external SPI port */
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spi_expansion = stm32_spibus_initialize(1);
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if (!spi_expansion) {
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syslog(LOG_ERR, "[boot] FAILED to initialize SPI port %d\n", 1);
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return -ENODEV;
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}
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#ifdef CONFIG_MMCSD
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int ret = mmcsd_spislotinitialize(CONFIG_NSH_MMCSDMINOR, CONFIG_NSH_MMCSDSLOTNO, spi_expansion);
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if (ret != OK) {
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syslog(LOG_ERR, "[boot] FAILED to bind SPI port 1 to the MMCSD driver\n");
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return -ENODEV;
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}
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#endif
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return OK;
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}
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