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boards: add new spi+i2c config

Browse Source 
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
2020-02-18 17:14:10 +01:00
committed by Daniel Agar
parent 06712450a7
commit 1851665fab
142 changed files with 2607 additions and 5655 deletions
Download Patch File Download Diff File Expand all files Collapse all files
boards/mro/x21-777/src/CMakeLists.txt
+2
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@@ -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
boards/mro/x21-777/src/board_config.h
+6 -5
View File
@@ -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);
boards/mro/x21-777/src/i2c.cpp
+39
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@@ -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),
};
boards/mro/x21-777/src/spi.cpp
+15 -161
View File
@@ -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 */
}