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PX4:comon Support BOARD_HAS_HW_SPLIT_VERSIONING

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This commit is contained in:
David Sidrane
2024-01-11 09:57:06 -08:00
committed by Daniel Agar
parent 81f3542113
commit 136e08652f
5 changed files with 72 additions and 6 deletions
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platforms/common/spi.cpp
+21 -5
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@@ -44,12 +44,26 @@
#if BOARD_NUM_SPI_CFG_HW_VERSIONS > 1
void px4_set_spi_buses_from_hw_version()
{
#if defined(BOARD_HAS_SIMPLE_HW_VERSIONING)
int hw_version_revision = board_get_hw_version();
#else
int hw_version_revision = HW_VER_REV(board_get_hw_version(), board_get_hw_revision());
#endif
# if defined(BOARD_HAS_HW_SPLIT_VERSIONING)
int hw_fmun_id = GET_HW_FMUM_ID();
for (int i = 0; i < BOARD_NUM_SPI_CFG_HW_VERSIONS; ++i) {
if (!px4_spi_buses && px4_spi_buses_all_hw[i].board_hw_fmun_id == 0) {
px4_spi_buses = px4_spi_buses_all_hw[i].buses;
}
if (px4_spi_buses_all_hw[i].board_hw_fmun_id == hw_fmun_id) {
px4_spi_buses = px4_spi_buses_all_hw[i].buses;
}
}
# else
# if defined(BOARD_HAS_SIMPLE_HW_VERSIONING)
int hw_version_revision = board_get_hw_version();
# else
int hw_version_revision = HW_VER_REV(board_get_hw_version(), board_get_hw_revision());
# endif
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_revision == 0) {
@@ -61,6 +75,8 @@ void px4_set_spi_buses_from_hw_version()
}
}
# endif
if (!px4_spi_buses) { // fallback
px4_spi_buses = px4_spi_buses_all_hw[0].buses;
}