mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-05-31 02:16:53 +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
@@ -32,14 +32,16 @@
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############################################################################
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add_library(drivers_board
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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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px4_layer
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)
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@@ -121,9 +121,9 @@
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#define PX4_FLOW_BUS_CS_GPIO { GPIO_SPI1_CS0_EXT, GPIO_SPI1_CS1_EXT, GPIO_SPI1_CS2_EXT }
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/* SPI1 Devices */
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#define PX4_SPIDEV_EXPANSION_1 PX4_MK_SPI_SEL(PX4_SPI_BUS_EXPANSION, 0) // SD CARD BREAKOUT
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#define PX4_SPIDEV_EXPANSION_2 PX4_MK_SPI_SEL(PX4_SPI_BUS_EXPANSION, 1) // OPTICAL FLOW BREAKOUT
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#define PX4_SPIDEV_EXPANSION_3 PX4_MK_SPI_SEL(PX4_SPI_BUS_EXPANSION, 2)
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#define PX4_SPIDEV_EXPANSION_1 SPIDEV_MMCSD(0) // SD CARD BREAKOUT
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#define PX4_SPIDEV_EXPANSION_2 PX4_MK_SPI_SEL(0, DRV_FLOW_DEVTYPE_PMW3901) // OPTICAL FLOW BREAKOUT
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#define PX4_SPIDEV_EXPANSION_3 PX4_MK_SPI_SEL(0, DRV_DEVTYPE_UNUSED)
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#define PX4_FLOW_BUS_FIRST_CS PX4_SPIDEV_EXPANSION_1
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#define PX4_FLOW_BUS_LAST_CS PX4_SPIDEV_EXPANSION_3
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@@ -261,8 +261,6 @@ extern void stm32_spiinitialize(void);
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extern int stm32_spi_bus_initialize(void);
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void board_spi_reset(int ms);
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#include <px4_platform_common/board_common.h>
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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
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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_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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initI2CBusExternal(1),
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initI2CBusInternal(3),
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};
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@@ -1,165 +0,0 @@
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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 <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 <up_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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/****************************************************************************
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* Pre-Processor Definitions
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****************************************************************************/
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/* Configuration ************************************************************/
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/* Debug ********************************************************************/
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/* Define CS GPIO array */
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static const uint32_t spi1selects_gpio[] = PX4_FLOW_BUS_CS_GPIO;
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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 stm32_spiinitialize(void)
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{
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#ifdef CONFIG_STM32_SPI1
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px4_gpio_init(spi1selects_gpio, arraySize(spi1selects_gpio));
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#endif
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}
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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(PX4_SPI_BUS_EXPANSION);
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if (!spi_expansion) {
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syslog(LOG_ERR, "[boot] FAILED to initialize SPI port %d\n", PX4_SPI_BUS_EXPANSION);
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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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/************************************************************************************
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* Name: stm32_spi1select and stm32_spi1status
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*
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* Description:
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* Called by stm32 spi driver on bus 1.
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*
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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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/* SPI select is active low, so write !selected to select the device */
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int sel = (int) devid;
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/* Making sure the other peripherals are not selected */
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for (size_t cs = 0; arraySize(spi1selects_gpio) > 1 && cs < arraySize(spi1selects_gpio); cs++) {
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if (spi1selects_gpio[cs] != 0) {
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stm32_gpiowrite(spi1selects_gpio[cs], 1);
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}
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}
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uint32_t gpio = spi1selects_gpio[PX4_SPI_DEV_ID(sel)];
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if (gpio) {
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stm32_gpiowrite(gpio, !selected);
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}
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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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return SPI_STATUS_PRESENT;
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}
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/************************************************************************************
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* Name: board_spi_reset
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*
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* Description:
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*
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*
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************************************************************************************/
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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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for (size_t cs = 0; arraySize(spi1selects_gpio) > 1 && cs < arraySize(spi1selects_gpio); cs++) {
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if (spi1selects_gpio[cs] != 0) {
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stm32_configgpio(_PIN_OFF(spi1selects_gpio[cs]));
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}
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}
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stm32_configgpio(GPIO_SPI1_SCK_OFF);
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stm32_configgpio(GPIO_SPI1_MISO_OFF);
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stm32_configgpio(GPIO_SPI1_MOSI_OFF);
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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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/* 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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for (size_t cs = 0; arraySize(spi1selects_gpio) > 1 && cs < arraySize(spi1selects_gpio); cs++) {
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if (spi1selects_gpio[cs] != 0) {
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stm32_configgpio(spi1selects_gpio[cs]);
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}
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}
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stm32_configgpio(GPIO_SPI1_SCK);
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stm32_configgpio(GPIO_SPI1_MISO);
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stm32_configgpio(GPIO_SPI1_MOSI);
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}
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@@ -0,0 +1,98 @@
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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
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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 <up_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(1, {
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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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