mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-05-31 10:26:52 +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
@@ -33,6 +33,7 @@
|
||||
|
||||
add_library(drivers_board
|
||||
init.c
|
||||
i2c.cpp
|
||||
led.c
|
||||
sdio.c
|
||||
spi.cpp
|
||||
@@ -42,6 +43,7 @@ add_library(drivers_board
|
||||
|
||||
target_link_libraries(drivers_board
|
||||
PRIVATE
|
||||
arch_spi
|
||||
drivers__led # drv_led_start
|
||||
nuttx_arch # sdio
|
||||
nuttx_drivers # sdio
|
||||
|
||||
@@ -103,16 +103,17 @@
|
||||
#define PX4_SPI_BUS_RAMTRON PX4_SPI_BUS_2
|
||||
/* ^ END Legacy SPI defines TODO: fix this with enumeration */
|
||||
|
||||
#define PX4_SPIDEV_ICM_20602 PX4_MK_SPI_SEL(PX4_SPI_BUS_1,0)
|
||||
#define PX4_SPIDEV_ICM_20948 PX4_MK_SPI_SEL(PX4_SPI_BUS_1,1)
|
||||
#include <drivers/drv_sensor.h>
|
||||
#define PX4_SPIDEV_ICM_20602 PX4_MK_SPI_SEL(0,DRV_IMU_DEVTYPE_ICM20602)
|
||||
#define PX4_SPIDEV_ICM_20948 PX4_MK_SPI_SEL(0,DRV_DEVTYPE_UNUSED)
|
||||
#define PX4_SPI_BUS_1_CS_GPIO {GPIO_SPI1_CS1_ICM20602, GPIO_SPI1_CS2_ICM20948}
|
||||
|
||||
#define PX4_SPIDEV_MEMORY PX4_MK_SPI_SEL(PX4_SPI_BUS_2,0)
|
||||
#define PX4_SPIDEV_BARO PX4_MK_SPI_SEL(PX4_SPI_BUS_2,1)
|
||||
#define PX4_SPIDEV_MEMORY SPIDEV_FLASH(0)
|
||||
#define PX4_SPIDEV_BARO PX4_MK_SPI_SEL(0,DRV_DEVTYPE_DPS310)
|
||||
#define PX4_SPI_BUS_2_CS_GPIO {GPIO_SPI2_CS1_FRAM, GPIO_SPI2_CS2_BARO}
|
||||
|
||||
#define PX4_SPIDEV_BMI088_ACC PX4_MK_SPI_SEL(PX4_SPI_BUS_5,0)
|
||||
#define PX4_SPIDEV_BMI088_GYR PX4_MK_SPI_SEL(PX4_SPI_BUS_5,1)
|
||||
#define PX4_SPIDEV_BMI088_ACC PX4_MK_SPI_SEL(0,DRV_ACC_DEVTYPE_BMI088)
|
||||
#define PX4_SPIDEV_BMI088_GYR PX4_MK_SPI_SEL(0,DRV_GYR_DEVTYPE_BMI088)
|
||||
#define PX4_SPI_BUS_5_CS_GPIO {GPIO_SPI5_CS1_BMI088_ACCEL, GPIO_SPI5_CS2_BMI088_GYRO}
|
||||
|
||||
|
||||
@@ -176,12 +177,10 @@
|
||||
#define GPIO_nVDD_BRICK1_VALID GPIO_nPOWER_IN_A /* Brick 1 Is Chosen */
|
||||
#define BOARD_NUMBER_BRICKS 1
|
||||
|
||||
#define GPIO_VDD_3V3_SENSORS_EN /* PE3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN3)
|
||||
#define GPIO_VDD_3V3_SPEKTRUM_POWER_EN /* PE4 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN4)
|
||||
|
||||
|
||||
/* Define True logic Power Control in arch agnostic form */
|
||||
#define VDD_3V3_SENSORS_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, (on_true))
|
||||
#define VDD_3V3_SPEKTRUM_POWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SPEKTRUM_POWER_EN, (on_true))
|
||||
#define READ_VDD_3V3_SPEKTRUM_POWER_EN() px4_arch_gpioread(GPIO_VDD_3V3_SPEKTRUM_POWER_EN)
|
||||
|
||||
@@ -260,7 +259,6 @@
|
||||
GPIO_CAN1_RX, \
|
||||
GPIO_CAN1_SILENT_S0, \
|
||||
GPIO_nPOWER_IN_A, \
|
||||
GPIO_VDD_3V3_SENSORS_EN, \
|
||||
GPIO_VDD_3V3_SPEKTRUM_POWER_EN, \
|
||||
GPIO_TONE_ALARM_IDLE, \
|
||||
GPIO_SAFETY_SWITCH_IN, \
|
||||
@@ -298,8 +296,6 @@ int stm32_sdio_initialize(void);
|
||||
|
||||
extern void stm32_spiinitialize(void);
|
||||
|
||||
void board_spi_reset(int ms);
|
||||
|
||||
extern void stm32_usbinitialize(void);
|
||||
|
||||
extern void board_peripheral_reset(int ms);
|
||||
|
||||
@@ -0,0 +1,39 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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/i2c_hw_description.h>
|
||||
|
||||
constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
|
||||
initI2CBusExternal(1),
|
||||
};
|
||||
|
||||
@@ -101,7 +101,7 @@ __END_DECLS
|
||||
__EXPORT void board_peripheral_reset(int ms)
|
||||
{
|
||||
/* set the peripheral rails off */
|
||||
VDD_3V3_SENSORS_EN(false);
|
||||
board_control_spi_sensors_power(false, 0xffff);
|
||||
|
||||
bool last = READ_VDD_3V3_SPEKTRUM_POWER_EN();
|
||||
/* Keep Spektum on to discharge rail*/
|
||||
@@ -115,7 +115,7 @@ __EXPORT void board_peripheral_reset(int ms)
|
||||
|
||||
/* switch the peripheral rail back on */
|
||||
VDD_3V3_SPEKTRUM_POWER_EN(last);
|
||||
VDD_3V3_SENSORS_EN(true);
|
||||
board_control_spi_sensors_power(true, 0xffff);
|
||||
}
|
||||
|
||||
/************************************************************************************
|
||||
@@ -198,7 +198,7 @@ stm32_boardinitialize(void)
|
||||
__EXPORT int board_app_initialize(uintptr_t arg)
|
||||
{
|
||||
/* Power on Interfaces */
|
||||
VDD_3V3_SENSORS_EN(true);
|
||||
board_control_spi_sensors_power(true, 0xffff);
|
||||
VDD_3V3_SPEKTRUM_POWER_EN(true);
|
||||
|
||||
px4_platform_init();
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2019 PX4 Development Team. All rights reserved.
|
||||
* 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
|
||||
@@ -31,234 +31,25 @@
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file spi.cpp
|
||||
*
|
||||
* Board-specific SPI functions.
|
||||
*/
|
||||
|
||||
/************************************************************************************
|
||||
* Included Files
|
||||
************************************************************************************/
|
||||
|
||||
#include <board_config.h>
|
||||
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
#include <debug.h>
|
||||
#include <unistd.h>
|
||||
|
||||
#include <px4_arch/spi_hw_description.h>
|
||||
#include <drivers/drv_sensor.h>
|
||||
#include <nuttx/spi/spi.h>
|
||||
#include <arch/board/board.h>
|
||||
#include <systemlib/px4_macros.h>
|
||||
|
||||
#include <up_arch.h>
|
||||
#include <chip.h>
|
||||
#include <stm32_gpio.h>
|
||||
#include "board_config.h"
|
||||
constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
|
||||
initSPIBus(1, {
|
||||
initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortC, GPIO::Pin2}, SPI::DRDY{GPIO::PortD, GPIO::Pin15}),
|
||||
// ICM-20948
|
||||
initSPIDevice(DRV_DEVTYPE_UNUSED, SPI::CS{GPIO::PortE, GPIO::Pin15}, SPI::DRDY{GPIO::PortE, GPIO::Pin12}),
|
||||
}, {GPIO::PortE, GPIO::Pin3}),
|
||||
initSPIBus(2, {
|
||||
initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortD, GPIO::Pin10}),
|
||||
initSPIDevice(DRV_DEVTYPE_DPS310, SPI::CS{GPIO::PortD, GPIO::Pin7}),
|
||||
}),
|
||||
initSPIBus(5, {
|
||||
initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortF, GPIO::Pin10}, SPI::DRDY{GPIO::PortF, GPIO::Pin3}),
|
||||
initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortF, GPIO::Pin6}, SPI::DRDY{GPIO::PortF, GPIO::Pin1}),
|
||||
}, {GPIO::PortE, GPIO::Pin3}),
|
||||
};
|
||||
|
||||
/* Define CS GPIO array */
|
||||
static constexpr uint32_t spi1selects_gpio[] = PX4_SPI_BUS_1_CS_GPIO;
|
||||
static constexpr uint32_t spi2selects_gpio[] = PX4_SPI_BUS_2_CS_GPIO;
|
||||
static constexpr uint32_t spi5selects_gpio[] = PX4_SPI_BUS_5_CS_GPIO;
|
||||
static constexpr bool unused = validateSPIConfig(px4_spi_buses);
|
||||
|
||||
/************************************************************************************
|
||||
* Name: stm32_spiinitialize
|
||||
*
|
||||
* Description:
|
||||
* Called to configure SPI chip select GPIO pins for the PX4FMU board.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
__EXPORT void stm32_spiinitialize()
|
||||
{
|
||||
#ifdef CONFIG_STM32F7_SPI1
|
||||
|
||||
for (auto gpio : spi1selects_gpio) {
|
||||
px4_arch_configgpio(gpio);
|
||||
}
|
||||
|
||||
#endif // CONFIG_STM32F7_SPI1
|
||||
|
||||
|
||||
#if defined(CONFIG_STM32F7_SPI2)
|
||||
|
||||
for (auto gpio : spi2selects_gpio) {
|
||||
px4_arch_configgpio(gpio);
|
||||
}
|
||||
|
||||
#endif // CONFIG_STM32F7_SPI2
|
||||
|
||||
#ifdef CONFIG_STM32F7_SPI5
|
||||
|
||||
for (auto gpio : spi5selects_gpio) {
|
||||
px4_arch_configgpio(gpio);
|
||||
}
|
||||
|
||||
#endif // CONFIG_STM32F7_SPI5
|
||||
}
|
||||
|
||||
/************************************************************************************
|
||||
* Name: stm32_spi1select and stm32_spi1status
|
||||
*
|
||||
* Description:
|
||||
* Called by stm32 spi driver on bus 1.
|
||||
*
|
||||
************************************************************************************/
|
||||
#ifdef CONFIG_STM32F7_SPI1
|
||||
__EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
|
||||
{
|
||||
ASSERT(PX4_SPI_BUS_ID(devid) == PX4_SPI_BUS_1);
|
||||
|
||||
// Making sure the other peripherals are not selected
|
||||
for (auto cs : spi1selects_gpio) {
|
||||
stm32_gpiowrite(cs, 1);
|
||||
}
|
||||
|
||||
// SPI select is active low, so write !selected to select the device
|
||||
stm32_gpiowrite(spi1selects_gpio[PX4_SPI_DEV_ID(devid)], !selected);
|
||||
}
|
||||
|
||||
__EXPORT uint8_t stm32_spi1status(FAR struct spi_dev_s *dev, uint32_t devid)
|
||||
{
|
||||
return SPI_STATUS_PRESENT;
|
||||
}
|
||||
#endif // CONFIG_STM32F7_SPI1
|
||||
|
||||
/************************************************************************************
|
||||
* Name: stm32_spi2select and stm32_spi2status
|
||||
*
|
||||
* Description:
|
||||
* Called by stm32 spi driver on bus 2.
|
||||
*
|
||||
************************************************************************************/
|
||||
#if defined(CONFIG_STM32F7_SPI2)
|
||||
__EXPORT void stm32_spi2select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
|
||||
{
|
||||
if (devid == SPIDEV_FLASH(0)) {
|
||||
devid = PX4_SPIDEV_MEMORY;
|
||||
}
|
||||
|
||||
ASSERT(PX4_SPI_BUS_ID(devid) == PX4_SPI_BUS_2);
|
||||
|
||||
// Making sure the other peripherals are not selected
|
||||
for (auto cs : spi2selects_gpio) {
|
||||
stm32_gpiowrite(cs, 1);
|
||||
}
|
||||
|
||||
// SPI select is active low, so write !selected to select the device
|
||||
stm32_gpiowrite(spi2selects_gpio[PX4_SPI_DEV_ID(devid)], !selected);
|
||||
}
|
||||
|
||||
__EXPORT uint8_t stm32_spi2status(FAR struct spi_dev_s *dev, uint32_t devid)
|
||||
{
|
||||
return SPI_STATUS_PRESENT;
|
||||
}
|
||||
#endif // CONFIG_STM32F7_SPI2 && GPIO_SPI2_CS_FRAM
|
||||
|
||||
/************************************************************************************
|
||||
* Name: stm32_spi5select and stm32_spi5status
|
||||
*
|
||||
* Description:
|
||||
* Called by stm32 spi driver on bus 5.
|
||||
*
|
||||
************************************************************************************/
|
||||
#ifdef CONFIG_STM32F7_SPI5
|
||||
__EXPORT void stm32_spi5select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
|
||||
{
|
||||
ASSERT(PX4_SPI_BUS_ID(devid) == PX4_SPI_BUS_5);
|
||||
|
||||
// Making sure the other peripherals are not selected
|
||||
for (auto cs : spi5selects_gpio) {
|
||||
stm32_gpiowrite(cs, 1);
|
||||
}
|
||||
|
||||
// SPI select is active low, so write !selected to select the device
|
||||
stm32_gpiowrite(spi5selects_gpio[PX4_SPI_DEV_ID(devid)], !selected);
|
||||
}
|
||||
|
||||
__EXPORT uint8_t stm32_spi5status(FAR struct spi_dev_s *dev, uint32_t devid)
|
||||
{
|
||||
return SPI_STATUS_PRESENT;
|
||||
}
|
||||
#endif // CONFIG_STM32F7_SPI5
|
||||
|
||||
/************************************************************************************
|
||||
* Name: board_spi_reset
|
||||
*
|
||||
* Description:
|
||||
*
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
__EXPORT void board_spi_reset(int ms)
|
||||
{
|
||||
// disable SPI bus
|
||||
|
||||
// SPI1
|
||||
for (auto cs : spi1selects_gpio) {
|
||||
stm32_configgpio(_PIN_OFF(cs));
|
||||
}
|
||||
|
||||
stm32_configgpio(_PIN_OFF(GPIO_SPI1_SCK));
|
||||
stm32_configgpio(_PIN_OFF(GPIO_SPI1_MISO));
|
||||
stm32_configgpio(_PIN_OFF(GPIO_SPI1_MOSI));
|
||||
stm32_configgpio(_PIN_OFF(GPIO_SPI1_DRDY1_ICM20602));
|
||||
stm32_configgpio(_PIN_OFF(GPIO_SPI1_DRDY2_ICM20948));
|
||||
|
||||
|
||||
// SPI5
|
||||
for (auto cs : spi5selects_gpio) {
|
||||
stm32_configgpio(_PIN_OFF(cs));
|
||||
}
|
||||
|
||||
stm32_configgpio(_PIN_OFF(GPIO_SPI5_SCK));
|
||||
stm32_configgpio(_PIN_OFF(GPIO_SPI5_MISO));
|
||||
stm32_configgpio(_PIN_OFF(GPIO_SPI5_MOSI));
|
||||
stm32_configgpio(_PIN_OFF(GPIO_DRDY_BMI088_INT1_ACCEL));
|
||||
stm32_configgpio(_PIN_OFF(GPIO_DRDY_BMI088_INT2_ACCEL));
|
||||
stm32_configgpio(_PIN_OFF(GPIO_DRDY_BMI088_INT3_GYRO));
|
||||
stm32_configgpio(_PIN_OFF(GPIO_DRDY_BMI088_INT4_GYRO));
|
||||
|
||||
/* set the sensor rail off */
|
||||
stm32_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, 0);
|
||||
|
||||
/* wait for the sensor rail to reach GND */
|
||||
usleep(ms * 1000);
|
||||
syslog(LOG_DEBUG, "reset done, %d ms\n", ms);
|
||||
|
||||
/* re-enable power */
|
||||
|
||||
/* switch the sensor rail back on */
|
||||
stm32_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, 1);
|
||||
|
||||
/* wait a bit before starting SPI, different times didn't influence results */
|
||||
usleep(100);
|
||||
|
||||
/* reconfigure the SPI pins */
|
||||
|
||||
// SPI1
|
||||
for (auto cs : spi1selects_gpio) {
|
||||
stm32_configgpio(cs);
|
||||
}
|
||||
|
||||
stm32_configgpio(GPIO_SPI1_SCK);
|
||||
stm32_configgpio(GPIO_SPI1_MISO);
|
||||
stm32_configgpio(GPIO_SPI1_MOSI);
|
||||
stm32_configgpio(GPIO_SPI1_DRDY1_ICM20602);
|
||||
stm32_configgpio(GPIO_SPI1_DRDY2_ICM20948);
|
||||
|
||||
|
||||
// SPI5
|
||||
for (auto cs : spi5selects_gpio) {
|
||||
stm32_configgpio(cs);
|
||||
}
|
||||
|
||||
stm32_configgpio(GPIO_SPI5_SCK);
|
||||
stm32_configgpio(GPIO_SPI5_MISO);
|
||||
stm32_configgpio(GPIO_SPI5_MOSI);
|
||||
stm32_configgpio(GPIO_DRDY_BMI088_INT1_ACCEL);
|
||||
stm32_configgpio(GPIO_DRDY_BMI088_INT2_ACCEL);
|
||||
stm32_configgpio(GPIO_DRDY_BMI088_INT3_GYRO);
|
||||
stm32_configgpio(GPIO_DRDY_BMI088_INT4_GYRO);
|
||||
}
|
||||
|
||||
@@ -33,6 +33,7 @@
|
||||
|
||||
add_library(drivers_board
|
||||
init.c
|
||||
i2c.cpp
|
||||
led.c
|
||||
sdio.c
|
||||
spi.cpp
|
||||
@@ -43,6 +44,7 @@ add_dependencies(drivers_board arch_board_hw_info)
|
||||
|
||||
target_link_libraries(drivers_board
|
||||
PRIVATE
|
||||
arch_spi
|
||||
arch_board_hw_info
|
||||
drivers__led # drv_led_start
|
||||
nuttx_arch # sdio
|
||||
|
||||
@@ -107,10 +107,11 @@
|
||||
#define PX4_SPI_BUS_BARO PX4_SPI_BUS_SENSORS
|
||||
|
||||
/* Use these in place of the uint32_t enumeration to select a specific SPI device on SPI1 */
|
||||
#define PX4_SPIDEV_ICM_20602 PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 1)
|
||||
#define PX4_SPIDEV_ICM_20608 PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 2)
|
||||
#define PX4_SPIDEV_BARO PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 3)
|
||||
#define PX4_SPIDEV_MPU PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 4)
|
||||
#include <drivers/drv_sensor.h>
|
||||
#define PX4_SPIDEV_ICM_20602 PX4_MK_SPI_SEL(0, DRV_IMU_DEVTYPE_ICM20602)
|
||||
#define PX4_SPIDEV_ICM_20608 PX4_MK_SPI_SEL(0, DRV_IMU_DEVTYPE_ICM20608)
|
||||
#define PX4_SPIDEV_BARO PX4_MK_SPI_SEL(0, DRV_BARO_DEVTYPE_MS5611)
|
||||
#define PX4_SPIDEV_MPU PX4_MK_SPI_SEL(0, DRV_IMU_DEVTYPE_MPU9250)
|
||||
|
||||
/* I2C busses */
|
||||
|
||||
@@ -219,7 +220,7 @@ int stm32_sdio_initialize(void);
|
||||
|
||||
extern void stm32_spiinitialize(void);
|
||||
|
||||
void board_spi_reset(int ms);
|
||||
extern void board_peripheral_reset(int ms);
|
||||
|
||||
extern void stm32_usbinitialize(void);
|
||||
|
||||
|
||||
@@ -0,0 +1,39 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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/i2c_hw_description.h>
|
||||
|
||||
constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
|
||||
initI2CBusExternal(1),
|
||||
};
|
||||
|
||||
+15
-161
@@ -1,6 +1,6 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2019 PX4 Development Team. All rights reserved.
|
||||
* 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
|
||||
@@ -31,167 +31,21 @@
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file spi.cpp
|
||||
*
|
||||
* Board-specific SPI functions.
|
||||
*/
|
||||
|
||||
/************************************************************************************
|
||||
* Included Files
|
||||
************************************************************************************/
|
||||
|
||||
#include <board_config.h>
|
||||
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
#include <debug.h>
|
||||
#include <unistd.h>
|
||||
|
||||
#include <px4_arch/spi_hw_description.h>
|
||||
#include <drivers/drv_sensor.h>
|
||||
#include <nuttx/spi/spi.h>
|
||||
#include <arch/board/board.h>
|
||||
#include <systemlib/px4_macros.h>
|
||||
|
||||
#include <up_arch.h>
|
||||
#include <chip.h>
|
||||
#include <stm32_gpio.h>
|
||||
#include "board_config.h"
|
||||
constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
|
||||
initSPIBus(1, {
|
||||
initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortC, GPIO::Pin15}, SPI::DRDY{GPIO::PortC, GPIO::Pin14}),
|
||||
initSPIDevice(DRV_IMU_DEVTYPE_ICM20608, SPI::CS{GPIO::PortC, GPIO::Pin15}, SPI::DRDY{GPIO::PortC, GPIO::Pin14}),
|
||||
initSPIDevice(DRV_BARO_DEVTYPE_MS5611, SPI::CS{GPIO::PortD, GPIO::Pin7}),
|
||||
initSPIDevice(DRV_IMU_DEVTYPE_MPU9250, SPI::CS{GPIO::PortC, GPIO::Pin2}, SPI::DRDY{GPIO::PortD, GPIO::Pin15}),
|
||||
}),
|
||||
initSPIBus(2, {
|
||||
initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortD, GPIO::Pin10}),
|
||||
}),
|
||||
};
|
||||
|
||||
/************************************************************************************
|
||||
* Name: stm32_spiinitialize
|
||||
*
|
||||
* Description:
|
||||
* Called to configure SPI chip select GPIO pins for the PX4FMU board.
|
||||
*
|
||||
************************************************************************************/
|
||||
static constexpr bool unused = validateSPIConfig(px4_spi_buses);
|
||||
|
||||
__EXPORT void stm32_spiinitialize(void)
|
||||
{
|
||||
#ifdef CONFIG_STM32F7_SPI1
|
||||
px4_arch_configgpio(GPIO_SPI_CS_ICM_2060X);
|
||||
px4_arch_configgpio(GPIO_SPI_CS_BARO);
|
||||
px4_arch_configgpio(GPIO_SPI_CS_MPU);
|
||||
|
||||
px4_arch_configgpio(GPIO_EXTI_MPU_DRDY);
|
||||
px4_arch_configgpio(GPIO_EXTI_ICM_2060X_DRDY);
|
||||
#endif /* CONFIG_STM32F7_SPI1 */
|
||||
|
||||
#ifdef CONFIG_STM32F7_SPI2
|
||||
px4_arch_configgpio(GPIO_SPI_CS_FRAM);
|
||||
#endif /* CONFIG_STM32F7_SPI2 */
|
||||
|
||||
}
|
||||
|
||||
__EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
|
||||
{
|
||||
/* SPI select is active low, so write !selected to select the device */
|
||||
|
||||
switch (devid) {
|
||||
|
||||
/* intended fallthrough */
|
||||
case PX4_SPIDEV_ICM_20602:
|
||||
|
||||
/* intended fallthrough */
|
||||
case PX4_SPIDEV_ICM_20608:
|
||||
/* Making sure the other peripherals are not selected */
|
||||
px4_arch_gpiowrite(GPIO_SPI_CS_ICM_2060X, !selected);
|
||||
px4_arch_gpiowrite(GPIO_SPI_CS_BARO, 1);
|
||||
px4_arch_gpiowrite(GPIO_SPI_CS_MPU, 1);
|
||||
break;
|
||||
|
||||
case PX4_SPIDEV_BARO:
|
||||
/* Making sure the other peripherals are not selected */
|
||||
px4_arch_gpiowrite(GPIO_SPI_CS_ICM_2060X, 1);
|
||||
px4_arch_gpiowrite(GPIO_SPI_CS_BARO, !selected);
|
||||
px4_arch_gpiowrite(GPIO_SPI_CS_MPU, 1);
|
||||
break;
|
||||
|
||||
case PX4_SPIDEV_MPU:
|
||||
/* Making sure the other peripherals are not selected */
|
||||
px4_arch_gpiowrite(GPIO_SPI_CS_ICM_2060X, 1);
|
||||
px4_arch_gpiowrite(GPIO_SPI_CS_BARO, 1);
|
||||
px4_arch_gpiowrite(GPIO_SPI_CS_MPU, !selected);
|
||||
break;
|
||||
|
||||
default:
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
__EXPORT uint8_t stm32_spi1status(FAR struct spi_dev_s *dev, uint32_t devid)
|
||||
{
|
||||
return SPI_STATUS_PRESENT;
|
||||
}
|
||||
|
||||
#ifdef CONFIG_STM32F7_SPI2
|
||||
__EXPORT void stm32_spi2select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
|
||||
{
|
||||
/* there can only be one device on this bus, so always select it */
|
||||
px4_arch_gpiowrite(GPIO_SPI_CS_FRAM, !selected);
|
||||
}
|
||||
|
||||
__EXPORT uint8_t stm32_spi2status(FAR struct spi_dev_s *dev, uint32_t devid)
|
||||
{
|
||||
/* FRAM is always present */
|
||||
return SPI_STATUS_PRESENT;
|
||||
}
|
||||
#endif /* CONFIG_STM32F7_SPI2 */
|
||||
|
||||
|
||||
__EXPORT void board_spi_reset(int ms)
|
||||
{
|
||||
/* disable SPI bus */
|
||||
px4_arch_configgpio(GPIO_SPI_CS_ICM_2060X_OFF);
|
||||
px4_arch_configgpio(GPIO_SPI_CS_BARO_OFF);
|
||||
px4_arch_configgpio(GPIO_SPI_CS_MPU_OFF);
|
||||
|
||||
px4_arch_gpiowrite(GPIO_SPI_CS_ICM_2060X_OFF, 0);
|
||||
px4_arch_gpiowrite(GPIO_SPI_CS_BARO_OFF, 0);
|
||||
px4_arch_gpiowrite(GPIO_SPI_CS_MPU_OFF, 0);
|
||||
|
||||
px4_arch_configgpio(GPIO_SPI1_SCK_OFF);
|
||||
px4_arch_configgpio(GPIO_SPI1_MISO_OFF);
|
||||
px4_arch_configgpio(GPIO_SPI1_MOSI_OFF);
|
||||
|
||||
px4_arch_gpiowrite(GPIO_SPI1_SCK_OFF, 0);
|
||||
px4_arch_gpiowrite(GPIO_SPI1_MISO_OFF, 0);
|
||||
px4_arch_gpiowrite(GPIO_SPI1_MOSI_OFF, 0);
|
||||
|
||||
px4_arch_configgpio(GPIO_EXTI_ICM_2060X_DRDY_OFF);
|
||||
px4_arch_configgpio(GPIO_EXTI_MPU_DRDY_OFF);
|
||||
|
||||
px4_arch_gpiowrite(GPIO_EXTI_ICM_2060X_DRDY_OFF, 0);
|
||||
px4_arch_gpiowrite(GPIO_EXTI_MPU_DRDY_OFF, 0);
|
||||
|
||||
/* set the sensor rail off */
|
||||
px4_arch_configgpio(GPIO_VDD_3V3_SENSORS_EN);
|
||||
px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, 0);
|
||||
|
||||
/* wait for the sensor rail to reach GND */
|
||||
usleep(ms * 1000);
|
||||
syslog(LOG_DEBUG, "reset done, %d ms\n", ms);
|
||||
|
||||
/* re-enable power */
|
||||
|
||||
/* switch the sensor rail back on */
|
||||
px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, 1);
|
||||
|
||||
/* wait a bit before starting SPI, different times didn't influence results */
|
||||
usleep(100);
|
||||
|
||||
/* reconfigure the SPI pins */
|
||||
#ifdef CONFIG_STM32F7_SPI1
|
||||
px4_arch_configgpio(GPIO_SPI_CS_ICM_2060X);
|
||||
px4_arch_configgpio(GPIO_SPI_CS_BARO);
|
||||
px4_arch_configgpio(GPIO_SPI_CS_MPU);
|
||||
|
||||
px4_arch_configgpio(GPIO_SPI1_SCK);
|
||||
px4_arch_configgpio(GPIO_SPI1_MISO);
|
||||
px4_arch_configgpio(GPIO_SPI1_MOSI);
|
||||
|
||||
// // XXX bring up the EXTI pins again
|
||||
// px4_arch_configgpio(GPIO_EXTI_MPU_DRDY);
|
||||
// px4_arch_configgpio(GPIO_EXTI_ICM_2060X_DRDY);
|
||||
|
||||
#endif /* CONFIG_STM32F7_SPI1 */
|
||||
}
|
||||
|
||||
@@ -33,14 +33,16 @@
|
||||
|
||||
add_library(drivers_board
|
||||
can.c
|
||||
i2c.cpp
|
||||
init.c
|
||||
led.c
|
||||
spi.c
|
||||
spi.cpp
|
||||
timer_config.cpp
|
||||
usb.c
|
||||
)
|
||||
target_link_libraries(drivers_board
|
||||
PRIVATE
|
||||
arch_spi
|
||||
drivers__led # drv_led_start
|
||||
nuttx_arch # sdio
|
||||
nuttx_drivers # sdio
|
||||
|
||||
@@ -105,10 +105,11 @@
|
||||
#define PX4_SPI_BUS_BARO PX4_SPI_BUS_SENSORS
|
||||
|
||||
/* Use these in place of the uint32_t enumeration to select a specific SPI device on SPI1 */
|
||||
#define PX4_SPIDEV_ICM_20602 PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 1)
|
||||
#define PX4_SPIDEV_ICM_20608 PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 2)
|
||||
#define PX4_SPIDEV_BARO PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 3)
|
||||
#define PX4_SPIDEV_MPU PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 4)
|
||||
#include <drivers/drv_sensor.h>
|
||||
#define PX4_SPIDEV_ICM_20602 PX4_MK_SPI_SEL(0, DRV_IMU_DEVTYPE_ICM20602)
|
||||
#define PX4_SPIDEV_ICM_20608 PX4_MK_SPI_SEL(0, DRV_IMU_DEVTYPE_ICM20608)
|
||||
#define PX4_SPIDEV_BARO PX4_MK_SPI_SEL(0, DRV_BARO_DEVTYPE_MS5611)
|
||||
#define PX4_SPIDEV_MPU PX4_MK_SPI_SEL(0, DRV_IMU_DEVTYPE_MPU9250)
|
||||
|
||||
/* I2C busses */
|
||||
|
||||
@@ -198,15 +199,7 @@ __BEGIN_DECLS
|
||||
/****************************************************************************************************
|
||||
* Public Functions
|
||||
****************************************************************************************************/
|
||||
/****************************************************************************************************
|
||||
* Name: board_spi_reset board_peripheral_reset
|
||||
*
|
||||
* Description:
|
||||
* Called to reset SPI and the perferal bus
|
||||
*
|
||||
****************************************************************************************************/
|
||||
|
||||
extern void board_spi_reset(int ms);
|
||||
extern void board_peripheral_reset(int ms);
|
||||
|
||||
/****************************************************************************************************
|
||||
|
||||
@@ -0,0 +1,39 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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/i2c_hw_description.h>
|
||||
|
||||
constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
|
||||
initI2CBusExternal(1),
|
||||
};
|
||||
|
||||
@@ -1,203 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2012 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file spi.c
|
||||
*
|
||||
* Board-specific SPI functions.
|
||||
*/
|
||||
|
||||
/************************************************************************************
|
||||
* Included Files
|
||||
************************************************************************************/
|
||||
|
||||
#include <px4_platform_common/px4_config.h>
|
||||
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
#include <debug.h>
|
||||
#include <unistd.h>
|
||||
|
||||
#include <nuttx/spi/spi.h>
|
||||
#include <arch/board/board.h>
|
||||
|
||||
#include <up_arch.h>
|
||||
#include <chip.h>
|
||||
#include <stm32.h>
|
||||
#include "board_config.h"
|
||||
|
||||
|
||||
/************************************************************************************
|
||||
* Public Functions
|
||||
************************************************************************************/
|
||||
|
||||
/************************************************************************************
|
||||
* Name: stm32_spiinitialize
|
||||
*
|
||||
* Description:
|
||||
* Called to configure SPI chip select GPIO pins for the PX4FMU board.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
__EXPORT void stm32_spiinitialize(void)
|
||||
{
|
||||
#ifdef CONFIG_STM32_SPI1
|
||||
|
||||
px4_arch_configgpio(GPIO_SPI_CS_ICM_2060X);
|
||||
px4_arch_configgpio(GPIO_SPI_CS_BARO);
|
||||
px4_arch_configgpio(GPIO_SPI_CS_MPU);
|
||||
|
||||
px4_arch_configgpio(GPIO_EXTI_MPU_DRDY);
|
||||
px4_arch_configgpio(GPIO_EXTI_ICM_2060X_DRDY);
|
||||
#endif
|
||||
|
||||
#ifdef CONFIG_STM32_SPI2
|
||||
px4_arch_configgpio(GPIO_SPI_CS_FRAM);
|
||||
#endif
|
||||
|
||||
}
|
||||
|
||||
__EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
|
||||
{
|
||||
/* SPI select is active low, so write !selected to select the device */
|
||||
|
||||
switch (devid) {
|
||||
|
||||
/* intended fallthrough */
|
||||
case PX4_SPIDEV_ICM_20602:
|
||||
|
||||
/* intended fallthrough */
|
||||
case PX4_SPIDEV_ICM_20608:
|
||||
/* Making sure the other peripherals are not selected */
|
||||
px4_arch_gpiowrite(GPIO_SPI_CS_ICM_2060X, !selected);
|
||||
px4_arch_gpiowrite(GPIO_SPI_CS_BARO, 1);
|
||||
px4_arch_gpiowrite(GPIO_SPI_CS_MPU, 1);
|
||||
break;
|
||||
|
||||
case PX4_SPIDEV_BARO:
|
||||
/* Making sure the other peripherals are not selected */
|
||||
px4_arch_gpiowrite(GPIO_SPI_CS_ICM_2060X, 1);
|
||||
px4_arch_gpiowrite(GPIO_SPI_CS_BARO, !selected);
|
||||
px4_arch_gpiowrite(GPIO_SPI_CS_MPU, 1);
|
||||
break;
|
||||
|
||||
case PX4_SPIDEV_MPU:
|
||||
/* Making sure the other peripherals are not selected */
|
||||
px4_arch_gpiowrite(GPIO_SPI_CS_ICM_2060X, 1);
|
||||
px4_arch_gpiowrite(GPIO_SPI_CS_BARO, 1);
|
||||
px4_arch_gpiowrite(GPIO_SPI_CS_MPU, !selected);
|
||||
break;
|
||||
|
||||
default:
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
__EXPORT uint8_t stm32_spi1status(FAR struct spi_dev_s *dev, uint32_t devid)
|
||||
{
|
||||
return SPI_STATUS_PRESENT;
|
||||
}
|
||||
|
||||
|
||||
#ifdef CONFIG_STM32_SPI2
|
||||
__EXPORT void stm32_spi2select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
|
||||
{
|
||||
/* there can only be one device on this bus, so always select it */
|
||||
px4_arch_gpiowrite(GPIO_SPI_CS_FRAM, !selected);
|
||||
}
|
||||
|
||||
__EXPORT uint8_t stm32_spi2status(FAR struct spi_dev_s *dev, uint32_t devid)
|
||||
{
|
||||
/* FRAM is always present */
|
||||
return SPI_STATUS_PRESENT;
|
||||
}
|
||||
#endif
|
||||
|
||||
|
||||
__EXPORT void board_spi_reset(int ms)
|
||||
{
|
||||
/* disable SPI bus */
|
||||
px4_arch_configgpio(GPIO_SPI_CS_ICM_2060X_OFF);
|
||||
px4_arch_configgpio(GPIO_SPI_CS_BARO_OFF);
|
||||
px4_arch_configgpio(GPIO_SPI_CS_MPU_OFF);
|
||||
|
||||
px4_arch_gpiowrite(GPIO_SPI_CS_ICM_2060X_OFF, 0);
|
||||
px4_arch_gpiowrite(GPIO_SPI_CS_BARO_OFF, 0);
|
||||
px4_arch_gpiowrite(GPIO_SPI_CS_MPU_OFF, 0);
|
||||
|
||||
px4_arch_configgpio(GPIO_SPI1_SCK_OFF);
|
||||
px4_arch_configgpio(GPIO_SPI1_MISO_OFF);
|
||||
px4_arch_configgpio(GPIO_SPI1_MOSI_OFF);
|
||||
|
||||
px4_arch_gpiowrite(GPIO_SPI1_SCK_OFF, 0);
|
||||
px4_arch_gpiowrite(GPIO_SPI1_MISO_OFF, 0);
|
||||
px4_arch_gpiowrite(GPIO_SPI1_MOSI_OFF, 0);
|
||||
|
||||
px4_arch_configgpio(GPIO_EXTI_ICM_2060X_DRDY_OFF);
|
||||
px4_arch_configgpio(GPIO_EXTI_MPU_DRDY_OFF);
|
||||
|
||||
px4_arch_gpiowrite(GPIO_EXTI_ICM_2060X_DRDY_OFF, 0);
|
||||
px4_arch_gpiowrite(GPIO_EXTI_MPU_DRDY_OFF, 0);
|
||||
|
||||
/* set the sensor rail off */
|
||||
px4_arch_configgpio(GPIO_VDD_3V3_SENSORS_EN);
|
||||
px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, 0);
|
||||
|
||||
/* wait for the sensor rail to reach GND */
|
||||
usleep(ms * 1000);
|
||||
syslog(LOG_DEBUG, "reset done, %d ms\n", ms);
|
||||
|
||||
/* re-enable power */
|
||||
|
||||
/* switch the sensor rail back on */
|
||||
px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, 1);
|
||||
|
||||
/* wait a bit before starting SPI, different times didn't influence results */
|
||||
usleep(100);
|
||||
|
||||
/* reconfigure the SPI pins */
|
||||
#ifdef CONFIG_STM32_SPI1
|
||||
px4_arch_configgpio(GPIO_SPI_CS_ICM_2060X);
|
||||
px4_arch_configgpio(GPIO_SPI_CS_BARO);
|
||||
px4_arch_configgpio(GPIO_SPI_CS_MPU);
|
||||
|
||||
px4_arch_configgpio(GPIO_SPI1_SCK);
|
||||
px4_arch_configgpio(GPIO_SPI1_MISO);
|
||||
px4_arch_configgpio(GPIO_SPI1_MOSI);
|
||||
|
||||
// // XXX bring up the EXTI pins again
|
||||
// px4_arch_configgpio(GPIO_EXTI_MPU_DRDY);
|
||||
// px4_arch_configgpio(GPIO_EXTI_ICM_2060X_DRDY);
|
||||
|
||||
#endif
|
||||
}
|
||||
@@ -0,0 +1,51 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortC, GPIO::Pin15}, SPI::DRDY{GPIO::PortC, GPIO::Pin14}),
|
||||
initSPIDevice(DRV_IMU_DEVTYPE_ICM20608, SPI::CS{GPIO::PortC, GPIO::Pin15}, SPI::DRDY{GPIO::PortC, GPIO::Pin14}),
|
||||
initSPIDevice(DRV_BARO_DEVTYPE_MS5611, SPI::CS{GPIO::PortD, GPIO::Pin7}),
|
||||
initSPIDevice(DRV_IMU_DEVTYPE_MPU9250, SPI::CS{GPIO::PortC, GPIO::Pin2}, SPI::DRDY{GPIO::PortD, GPIO::Pin15}),
|
||||
}),
|
||||
initSPIBus(2, {
|
||||
initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortD, GPIO::Pin10}),
|
||||
}),
|
||||
};
|
||||
|
||||
static constexpr bool unused = validateSPIConfig(px4_spi_buses);
|
||||
|
||||
Reference in New Issue
Block a user