mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-05-27 02:06:27 +08:00
boards: add new spi+i2c config
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
Daniel Agar
@@ -33,15 +33,17 @@
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add_library(drivers_board
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can.c
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i2c.cpp
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init.c
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led.c
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spi.c
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spi.cpp
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timer_config.cpp
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usb.c
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)
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target_link_libraries(drivers_board
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PRIVATE
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arch_spi
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drivers__led # drv_led_start
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nuttx_arch # sdio
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nuttx_drivers # sdio
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@@ -118,13 +118,14 @@
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#define PX4_SPI_BUS_BARO PX4_SPI_BUS_SENSORS
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/* Use these in place of the uint32_t enumeration to select a specific SPI device on SPI4 */
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#define PX4_SPIDEV_GYRO PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 1)
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#define PX4_SPIDEV_ACCEL_MAG PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 2)
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#define PX4_SPIDEV_BARO PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 3)
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#define PX4_SPIDEV_MPU PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 4)
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#include <drivers/drv_sensor.h>
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#define PX4_SPIDEV_GYRO PX4_MK_SPI_SEL(0, DRV_GYR_DEVTYPE_L3GD20)
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#define PX4_SPIDEV_ACCEL_MAG PX4_MK_SPI_SEL(0, DRV_ACC_DEVTYPE_LSM303D)
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#define PX4_SPIDEV_BARO PX4_MK_SPI_SEL(0, DRV_BARO_DEVTYPE_MS5611)
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#define PX4_SPIDEV_MPU PX4_MK_SPI_SEL(0, DRV_IMU_DEVTYPE_MPU6000)
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/* External bus */
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#define PX4_SPIDEV_EXT0 PX4_MK_SPI_SEL(PX4_SPI_BUS_EXT, 1)
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#define PX4_SPIDEV_EXT0 PX4_MK_SPI_SEL(0, 0)
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/* I2C busses */
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@@ -152,29 +153,6 @@
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#define BOARD_BATTERY1_V_DIV (10.177939394f)
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#define BOARD_BATTERY1_A_PER_V (15.391030303f)
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/* User GPIOs
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*
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* GPIO0-7 are the PWM servo outputs.
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*/
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#define GPIO_GPIO0_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN9)
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#define GPIO_GPIO1_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN11)
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#define GPIO_GPIO2_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN13)
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#define GPIO_GPIO3_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN14)
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#define GPIO_GPIO4_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN12)
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#define GPIO_GPIO5_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN13)
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#define GPIO_GPIO6_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN14)
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#define GPIO_GPIO7_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN15)
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#define GPIO_GPIO0_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN9)
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#define GPIO_GPIO1_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN11)
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#define GPIO_GPIO2_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN13)
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#define GPIO_GPIO3_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN14)
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#define GPIO_GPIO4_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN12)
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#define GPIO_GPIO5_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN13)
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#define GPIO_GPIO6_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN14)
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#define GPIO_GPIO7_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN15)
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/* Power supply control and monitoring GPIOs */
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// #define GPIO_VDD_5V_PERIPH_EN (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN8)
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// #define GPIO_VDD_BRICK_VALID (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN5)
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@@ -285,7 +263,6 @@ __BEGIN_DECLS
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****************************************************************************************************/
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extern void stm32_spiinitialize(void);
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void board_spi_reset(int ms);
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extern void stm32_usbinitialize(void);
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@@ -0,0 +1,40 @@
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/****************************************************************************
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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
|
||||
* 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
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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
|
||||
* 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
|
||||
* 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_arch/i2c_hw_description.h>
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constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
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initI2CBusInternal(1),
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initI2CBusExternal(2),
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};
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@@ -1,249 +0,0 @@
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/****************************************************************************
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*
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* Copyright (c) 2015, 2016 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
|
||||
* 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
|
||||
* 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
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||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* 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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/**
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* @file mindpx_spi.c
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*
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* Board-specific SPI functions.
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*/
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/************************************************************************************
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* Included Files
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************************************************************************************/
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#include <px4_platform_common/px4_config.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 <nuttx/spi/spi.h>
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#include <arch/board/board.h>
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#include <up_arch.h>
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#include <chip.h>
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#include <stm32.h>
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#include "board_config.h"
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/************************************************************************************
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* Public Functions
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************************************************************************************/
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/************************************************************************************
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* Name: stm32_spiinitialize
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*
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* Description:
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* Called to configure SPI chip select GPIO pins for the PX4FMU board.
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*
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************************************************************************************/
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__EXPORT void weak_function stm32_spiinitialize(void)
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{
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#ifdef CONFIG_STM32_SPI4
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px4_arch_configgpio(GPIO_SPI_CS_GYRO);
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px4_arch_configgpio(GPIO_SPI_CS_ACCEL_MAG);
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px4_arch_configgpio(GPIO_SPI_CS_BARO);
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px4_arch_configgpio(GPIO_SPI_CS_MPU);
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/* De-activate all peripherals,
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* required for some peripheral
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* state machines
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*/
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px4_arch_configgpio(GPIO_EXTI_GYRO_DRDY);
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px4_arch_configgpio(GPIO_EXTI_MAG_DRDY);
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px4_arch_configgpio(GPIO_EXTI_ACCEL_DRDY);
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px4_arch_configgpio(GPIO_EXTI_MPU_DRDY);
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#endif
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#ifdef CONFIG_STM32_SPI1
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stm32_configgpio(GPIO_SPI_CS_FRAM);
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stm32_gpiowrite(GPIO_SPI_CS_FRAM, 1);
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#endif
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#ifdef CONFIG_STM32_SPI2
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px4_arch_configgpio(GPIO_SPI_CS_EXT0);
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#endif
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}
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__EXPORT void stm32_spi4select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
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{
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/* SPI select is active low, so write !selected to select the device */
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switch (devid) {
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case PX4_SPIDEV_GYRO:
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/* Making sure the other peripherals are not selected */
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stm32_gpiowrite(GPIO_SPI_CS_GYRO, !selected);
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stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
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stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
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stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
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break;
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case PX4_SPIDEV_ACCEL_MAG:
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/* Making sure the other peripherals are not selected */
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stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
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stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, !selected);
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stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
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stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
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break;
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case PX4_SPIDEV_BARO:
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/* Making sure the other peripherals are not selected */
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px4_arch_gpiowrite(GPIO_SPI_CS_GYRO, 1);
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px4_arch_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
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px4_arch_gpiowrite(GPIO_SPI_CS_BARO, !selected);
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px4_arch_gpiowrite(GPIO_SPI_CS_MPU, 1);
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break;
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case PX4_SPIDEV_MPU:
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/* Making sure the other peripherals are not selected */
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stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
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stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
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stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
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stm32_gpiowrite(GPIO_SPI_CS_MPU, !selected);
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break;
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default:
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break;
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}
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}
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__EXPORT uint8_t stm32_spi4status(FAR struct spi_dev_s *dev, uint32_t devid)
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{
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return SPI_STATUS_PRESENT;
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}
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__EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
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{
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/* there can only be one device on this bus, so always select it */
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stm32_gpiowrite(GPIO_SPI_CS_FRAM, !selected);
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}
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__EXPORT uint8_t stm32_spi1status(FAR struct spi_dev_s *dev, uint32_t devid)
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{
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/* FRAM is always present */
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return SPI_STATUS_PRESENT;
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}
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#ifdef CONFIG_STM32_SPI2
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__EXPORT void stm32_spi2select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
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{
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px4_arch_gpiowrite(GPIO_SPI_CS_EXT0, !selected);
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}
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__EXPORT uint8_t stm32_spi2status(FAR struct spi_dev_s *dev, uint32_t devid)
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{
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return SPI_STATUS_PRESENT;
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}
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#endif
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__EXPORT void board_spi_reset(int ms)
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{
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/* disable SPI bus */
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px4_arch_configgpio(GPIO_SPI_CS_GYRO_OFF);
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px4_arch_configgpio(GPIO_SPI_CS_ACCEL_MAG_OFF);
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px4_arch_configgpio(GPIO_SPI_CS_BARO_OFF);
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px4_arch_configgpio(GPIO_SPI_CS_MPU_OFF);
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px4_arch_gpiowrite(GPIO_SPI_CS_GYRO_OFF, 0);
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px4_arch_gpiowrite(GPIO_SPI_CS_ACCEL_MAG_OFF, 0);
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px4_arch_gpiowrite(GPIO_SPI_CS_BARO_OFF, 0);
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px4_arch_gpiowrite(GPIO_SPI_CS_MPU_OFF, 0);
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px4_arch_configgpio(GPIO_SPI4_SCK_OFF);
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px4_arch_configgpio(GPIO_SPI4_MISO_OFF);
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px4_arch_configgpio(GPIO_SPI4_MOSI_OFF);
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px4_arch_gpiowrite(GPIO_SPI4_SCK_OFF, 0);
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px4_arch_gpiowrite(GPIO_SPI4_MISO_OFF, 0);
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px4_arch_gpiowrite(GPIO_SPI4_MOSI_OFF, 0);
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px4_arch_configgpio(GPIO_GYRO_DRDY_OFF);
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px4_arch_configgpio(GPIO_MAG_DRDY_OFF);
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px4_arch_configgpio(GPIO_ACCEL_DRDY_OFF);
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px4_arch_configgpio(GPIO_EXTI_MPU_DRDY_OFF);
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px4_arch_gpiowrite(GPIO_GYRO_DRDY_OFF, 0);
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px4_arch_gpiowrite(GPIO_MAG_DRDY_OFF, 0);
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px4_arch_gpiowrite(GPIO_ACCEL_DRDY_OFF, 0);
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px4_arch_gpiowrite(GPIO_EXTI_MPU_DRDY_OFF, 0);
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// /* set the sensor rail off */
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// stm32_configgpio(GPIO_VDD_3V3_SENSORS_EN);
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// stm32_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, 0);
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//
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/* wait for the sensor rail to reach GND */
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usleep(ms * 1000);
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syslog(LOG_DEBUG, "reset done, %d ms\n", ms);
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//
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// /* re-enable power */
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//
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// /* switch the sensor rail back on */
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// stm32_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, 1);
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//
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/* wait a bit before starting SPI, different times didn't influence results */
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usleep(100);
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/* reconfigure the SPI pins */
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#ifdef CONFIG_STM32_SPI4
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px4_arch_configgpio(GPIO_SPI_CS_GYRO);
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px4_arch_configgpio(GPIO_SPI_CS_ACCEL_MAG);
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px4_arch_configgpio(GPIO_SPI_CS_BARO);
|
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px4_arch_configgpio(GPIO_SPI_CS_MPU);
|
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|
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/* De-activate all peripherals,
|
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* required for some peripheral
|
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* state machines
|
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*/
|
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|
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stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
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stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
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stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
|
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stm32_gpiowrite(GPIO_SPI_CS_FRAM, 1);
|
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stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
|
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|
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stm32_configgpio(GPIO_SPI4_SCK);
|
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stm32_configgpio(GPIO_SPI4_MISO);
|
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stm32_configgpio(GPIO_SPI4_MOSI);
|
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|
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// XXX bring up the EXTI pins again
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// px4_arch_configgpio(GPIO_GYRO_DRDY);
|
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// px4_arch_configgpio(GPIO_MAG_DRDY);
|
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// px4_arch_configgpio(GPIO_ACCEL_DRDY);
|
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|
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#endif
|
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|
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}
|
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@@ -0,0 +1,53 @@
|
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/****************************************************************************
|
||||
*
|
||||
* 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/spi_hw_description.h>
|
||||
#include <drivers/drv_sensor.h>
|
||||
#include <nuttx/spi/spi.h>
|
||||
|
||||
constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
|
||||
initSPIBus(1, {
|
||||
initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortE, GPIO::Pin12}),
|
||||
}),
|
||||
initSPIBusExternal(2, {
|
||||
initSPIConfigExternal(SPI::CS{GPIO::PortD, GPIO::Pin7}),
|
||||
}),
|
||||
initSPIBus(4, {
|
||||
initSPIDevice(DRV_GYR_DEVTYPE_L3GD20, SPI::CS{GPIO::PortB, GPIO::Pin2}, SPI::DRDY{GPIO::PortE, GPIO::Pin14}),
|
||||
initSPIDevice(DRV_ACC_DEVTYPE_LSM303D, SPI::CS{GPIO::PortD, GPIO::Pin11}),
|
||||
initSPIDevice(DRV_BARO_DEVTYPE_MS5611, SPI::CS{GPIO::PortC, GPIO::Pin15}),
|
||||
initSPIDevice(DRV_IMU_DEVTYPE_MPU6000, SPI::CS{GPIO::PortE, GPIO::Pin3}, SPI::DRDY{GPIO::PortE, GPIO::Pin10}),
|
||||
}),
|
||||
};
|
||||
|
||||
static constexpr bool unused = validateSPIConfig(px4_spi_buses);
|
||||
Reference in New Issue
Block a user