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px4_fmu-v4: deprecate boscch pixracer variant and cleanup SPI devs

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This commit is contained in:
Daniel Agar
2019-11-11 16:04:10 -05:00
parent 00a7ac013c
commit 9183f44243
8 changed files with 33 additions and 82 deletions
Download Patch File Download Diff File Expand all files Collapse all files
boards/px4/fmu-v4/default.cmake
+3 -1
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@@ -26,7 +26,9 @@ px4_add_board(
dshot dshot
gps gps
heater heater
imu # all available imu drivers #imu # all available imu drivers
imu/mpu6000
imu/mpu9250
irlock irlock
lights/blinkm lights/blinkm
lights/rgbled lights/rgbled
boards/px4/fmu-v4/init/rc.board_sensors
+5 -27
View File
@@ -18,11 +18,8 @@ fmu sensor_reset 50
hmc5883 -C -T -X start hmc5883 -C -T -X start
lis3mdl -X start lis3mdl -X start
ist8310 start ist8310 start
bmp280 -X start
qmc5883 -X start qmc5883 -X start
rm3100 start
# expansion i2c used for BMM150 rotated by 90deg
bmm150 -X -R 2 start
# Internal SPI # Internal SPI
ms5611 -s start ms5611 -s start
@@ -38,14 +35,10 @@ fi
if ! hmc5883 -C -T -S -R 2 start if ! hmc5883 -C -T -S -R 2 start
then then
# lis3mdl internal SPI bus is rotated 90 deg yaw # lis3mdl internal SPI bus is rotated 90 deg yaw
if ! lis3mdl start lis3mdl start
then
# BMI055 gyro internal SPI bus
bmi055 -G start
fi
fi fi
# Start either ICM2060X or BMI055. They are both connected to the same SPI bus and use the same # Start either ICM2060X. They are both connected to the same SPI bus and use the same
# chip select pin. There are different boards with either one of them and the WHO_AM_I register # chip select pin. There are different boards with either one of them and the WHO_AM_I register
# will prevent the incorrect driver from a successful initialization. # will prevent the incorrect driver from a successful initialization.
@@ -53,23 +46,8 @@ fi
if ! mpu6000 -R 2 -T 20602 start if ! mpu6000 -R 2 -T 20602 start
then then
# ICM20608 internal SPI bus ICM-20602-G is rotated 90 deg yaw # ICM20608 internal SPI bus ICM-20602-G is rotated 90 deg yaw
if ! mpu6000 -R 2 -T 20608 start mpu6000 -R 2 -T 20608 start
then
# BMI055 accel internal SPI bus
bmi055 -A start
fi
fi fi
# Start either MPU9250 or BMI160. They are both connected to the same SPI bus and use the same
# chip select pin. There are different boards with either one of them and the WHO_AM_I register
# will prevent the incorrect driver from a successful initialization.
# mpu9250 internal SPI bus mpu9250 is rotated 90 deg yaw # mpu9250 internal SPI bus mpu9250 is rotated 90 deg yaw
if ! mpu9250 -R 2 start mpu9250 -R 2 start
then
# BMI160 internal SPI bus
bmi160 start
fi
# External RM3100 (I2C or SPI)
rm3100 start
boards/px4/fmu-v4/rtps.cmake
+8 -6
View File
@@ -23,17 +23,19 @@ px4_add_board(
camera_trigger camera_trigger
differential_pressure # all available differential pressure drivers differential_pressure # all available differential pressure drivers
distance_sensor # all available distance sensor drivers distance_sensor # all available distance sensor drivers
dshot
gps gps
heater heater
imu # all available imu drivers #imu # all available imu drivers
imu/mpu6000
imu/mpu9250
irlock irlock
lights/blinkm lights/blinkm
lights/rgbled lights/rgbled
lights/rgbled_ncp5623c lights/rgbled_ncp5623c
magnetometer # all available magnetometer drivers magnetometer # all available magnetometer drivers
mkblctrl mkblctrl
#optical_flow # all available optical flow drivers optical_flow # all available optical flow drivers
optical_flow/px4flow
pca9685 pca9685
protocol_splitter protocol_splitter
pwm_input pwm_input
@@ -48,7 +50,9 @@ px4_add_board(
uavcan uavcan
MODULES MODULES
airspeed_selector
attitude_estimator_q attitude_estimator_q
battery_status
camera_feedback camera_feedback
commander commander
dataman dataman
@@ -56,7 +60,6 @@ px4_add_board(
events events
fw_att_control fw_att_control
fw_pos_control_l1 fw_pos_control_l1
rover_pos_control
land_detector land_detector
landing_target_estimator landing_target_estimator
load_mon load_mon
@@ -67,12 +70,11 @@ px4_add_board(
mc_pos_control mc_pos_control
micrortps_bridge micrortps_bridge
navigator navigator
battery_status rover_pos_control
sensors sensors
sih sih
vmount vmount
vtol_att_control vtol_att_control
airspeed_selector
SYSTEMCMDS SYSTEMCMDS
bl_update bl_update
boards/px4/fmu-v4/src/board_config.h
+9 -36
View File
@@ -71,28 +71,14 @@
* Define the Chip Selects for SPI1 * Define the Chip Selects for SPI1
* CS Devices DRDY * CS Devices DRDY
* ---- ----------------------------------------------- ----- * ---- ----------------------------------------------- -----
* PC2 MPU9250 BMI160 PD15 * PC2 MPU9250 PD15
* PC15 ICM, ICM_20602, ICM_20608 BMI055_ACCEL PC14 * PC15 ICM, ICM_20602, ICM_20608 PC14
* PE15 HMC5983 BMI055_GYRO PE12 * PE15 HMC5983 PE12
* ---- ----------------------------------------------- ----- * ---- ----------------------------------------------- -----
*/ */
/**
* The BMI160 sensor replaces the MPU9250 on some boards. Only one is actually present and connected
* to the second GPIO pin on port C. The wrong driver will fail during start because of an incorrect WHO_AM_I register.
*/
#define GPIO_SPI1_CS_PORTC_PIN2 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN2) #define GPIO_SPI1_CS_PORTC_PIN2 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN2)
/**
* The BMI055 acceleration sensor replaces the ICM20608G on some boards. Only one is actually present and connected
* to the second GPIO pin on port C. The wrong driver will fail during start because of an incorrect WHO_AM_I register.
*/
#define GPIO_SPI1_CS_PORTC_PIN15 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN15) #define GPIO_SPI1_CS_PORTC_PIN15 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN15)
/**
* The BMI055 gyroscope sensor replaces the LIS3MDL, HMC5983 on some boards. Only one is actually present and connected
* to the second GPIO pin on port E. The wrong driver will fail during start because of an incorrect WHO_AM_I register.
*/
#define GPIO_SPI1_CS_PORTE_PIN15 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN15) #define GPIO_SPI1_CS_PORTE_PIN15 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN15)
/* Define the Data Ready interrupts On SPI 1. */ /* Define the Data Ready interrupts On SPI 1. */
@@ -161,19 +147,12 @@
#define SPI_BUS_INIT_MASK (PX4_SPI_BUS_RAMTRON | PX4_SPI_BUS_SENSORS) #define SPI_BUS_INIT_MASK (PX4_SPI_BUS_RAMTRON | PX4_SPI_BUS_SENSORS)
/* Use these in place of the uint32_t enumeration to select a specific SPI device on SPI1 */ /* Use these in place of the uint32_t enumeration to select a specific SPI device on SPI1 */
#define PX4_SPIDEV_GYRO PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 1) #define PX4_SPIDEV_MPU PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 1)
#define PX4_SPIDEV_ACCEL_MAG PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 2) #define PX4_SPIDEV_HMC PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 2)
#define PX4_SPIDEV_MPU PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 4) #define PX4_SPIDEV_LIS PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 3)
#define PX4_SPIDEV_HMC PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 5) #define PX4_SPIDEV_ICM_20608 PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 4)
#define PX4_SPIDEV_ICM PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 6) #define PX4_SPIDEV_ICM_20602 PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 5)
#define PX4_SPIDEV_LIS PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 7) #define PX4_SPIDEV_MPU2 PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 6)
#define PX4_SPIDEV_BMI PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 8)
#define PX4_SPIDEV_BMA PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 9)
#define PX4_SPIDEV_ICM_20608 PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 10)
#define PX4_SPIDEV_ICM_20602 PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 11)
#define PX4_SPIDEV_BMI055_ACC PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 12)
#define PX4_SPIDEV_BMI055_GYR PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 13)
#define PX4_SPIDEV_MPU2 PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 14)
/** /**
* Onboard MS5611 and FRAM are both on bus SPI2. * Onboard MS5611 and FRAM are both on bus SPI2.
@@ -190,12 +169,6 @@
#define PX4_I2C_BUS_EXPANSION 1 #define PX4_I2C_BUS_EXPANSION 1
#define PX4_I2C_BUS_LED PX4_I2C_BUS_EXPANSION #define PX4_I2C_BUS_LED PX4_I2C_BUS_EXPANSION
/**
* Devices on the external bus.
* Note that these are unshifted addresses.
*/
#define PX4_I2C_OBDEV_BMP280 0x76
/** /**
* ADC channels: * ADC channels:
* These are the channel numbers of the ADCs of the microcontroller that can be used by the Px4 Firmware in the adc driver. * These are the channel numbers of the ADCs of the microcontroller that can be used by the Px4 Firmware in the adc driver.
boards/px4/fmu-v4/src/init.c
-1
View File
@@ -324,7 +324,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
SPI_SETFREQUENCY(spi1, 10000000); SPI_SETFREQUENCY(spi1, 10000000);
SPI_SETBITS(spi1, 8); SPI_SETBITS(spi1, 8);
SPI_SETMODE(spi1, SPIDEV_MODE3); SPI_SETMODE(spi1, SPIDEV_MODE3);
SPI_SELECT(spi1, PX4_SPIDEV_GYRO, false);
SPI_SELECT(spi1, PX4_SPIDEV_HMC, false); SPI_SELECT(spi1, PX4_SPIDEV_HMC, false);
SPI_SELECT(spi1, PX4_SPIDEV_MPU, false); SPI_SELECT(spi1, PX4_SPIDEV_MPU, false);
up_udelay(20); up_udelay(20);
boards/px4/fmu-v4/src/spi.c
-4
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@@ -131,7 +131,6 @@ __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, uint32_t devid, bool s
/* Shared PC2 CS devices */ /* Shared PC2 CS devices */
case PX4_SPIDEV_BMI:
case PX4_SPIDEV_MPU: case PX4_SPIDEV_MPU:
/* Making sure the other peripherals are not selected */ /* Making sure the other peripherals are not selected */
px4_arch_gpiowrite(GPIO_SPI1_CS_PORTC_PIN2, !selected); px4_arch_gpiowrite(GPIO_SPI1_CS_PORTC_PIN2, !selected);
@@ -141,10 +140,8 @@ __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, uint32_t devid, bool s
/* Shared PC15 CS devices */ /* Shared PC15 CS devices */
case PX4_SPIDEV_ICM:
case PX4_SPIDEV_ICM_20602: case PX4_SPIDEV_ICM_20602:
case PX4_SPIDEV_ICM_20608: case PX4_SPIDEV_ICM_20608:
case PX4_SPIDEV_BMI055_ACC:
case PX4_SPIDEV_MPU2: case PX4_SPIDEV_MPU2:
/* Making sure the other peripherals are not selected */ /* Making sure the other peripherals are not selected */
px4_arch_gpiowrite(GPIO_SPI1_CS_PORTC_PIN2, 1); px4_arch_gpiowrite(GPIO_SPI1_CS_PORTC_PIN2, 1);
@@ -156,7 +153,6 @@ __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, uint32_t devid, bool s
case PX4_SPIDEV_HMC: case PX4_SPIDEV_HMC:
case PX4_SPIDEV_LIS: case PX4_SPIDEV_LIS:
case PX4_SPIDEV_BMI055_GYR:
/* Making sure the other peripherals are not selected */ /* Making sure the other peripherals are not selected */
px4_arch_gpiowrite(GPIO_SPI1_CS_PORTC_PIN2, 1); px4_arch_gpiowrite(GPIO_SPI1_CS_PORTC_PIN2, 1);
px4_arch_gpiowrite(GPIO_SPI1_CS_PORTC_PIN15, 1); px4_arch_gpiowrite(GPIO_SPI1_CS_PORTC_PIN15, 1);
boards/px4/fmu-v4/stackcheck.cmake
+7 -4
View File
@@ -23,9 +23,12 @@ px4_add_board(
camera_trigger camera_trigger
differential_pressure # all available differential pressure drivers differential_pressure # all available differential pressure drivers
distance_sensor # all available distance sensor drivers distance_sensor # all available distance sensor drivers
dshot
gps gps
heater heater
imu # all available imu drivers #imu # all available imu drivers
imu/mpu6000
imu/mpu9250
irlock irlock
lights/blinkm lights/blinkm
lights/rgbled lights/rgbled
@@ -46,7 +49,9 @@ px4_add_board(
#uavcan #uavcan
MODULES MODULES
airspeed_selector
attitude_estimator_q attitude_estimator_q
battery_status
camera_feedback camera_feedback
commander commander
dataman dataman
@@ -54,7 +59,6 @@ px4_add_board(
events events
fw_att_control fw_att_control
fw_pos_control_l1 fw_pos_control_l1
rover_pos_control
land_detector land_detector
landing_target_estimator landing_target_estimator
load_mon load_mon
@@ -64,12 +68,11 @@ px4_add_board(
mc_att_control mc_att_control
mc_pos_control mc_pos_control
navigator navigator
battery_status rover_pos_control
sensors sensors
sih sih
vmount vmount
vtol_att_control vtol_att_control
airspeed_selector
SYSTEMCMDS SYSTEMCMDS
bl_update bl_update
src/drivers/imu/mpu6000/MPU6000_SPI.cpp
+1 -3
View File
@@ -158,9 +158,7 @@ MPU6000_SPI_interface(int bus, int device_type, bool external_bus)
break; break;
case MPU_DEVICE_TYPE_ICM20608: case MPU_DEVICE_TYPE_ICM20608:
#if defined(PX4_SPIDEV_ICM) #if defined(PX4_SPIDEV_ICM_20608)
cs = PX4_SPIDEV_ICM;
#elif defined(PX4_SPIDEV_ICM_20608)
cs = PX4_SPIDEV_ICM_20608; cs = PX4_SPIDEV_ICM_20608;
#endif #endif
break; break;