Mirrors_Framework/PX4-Autopilot
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Chip Slect fixes for the ICM_20608_G

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The mapping of PX4_SPIDEV_ACCEL_MAG to PX4_SPIDEV_ICM is not
   a clean approach and the PX4_SPIDEV_MPU is already used by the
   mpu9250 leaving the only (and the correct) option to the use
   PX4_SPIDEV_ICM and make it map to the reused ACCEL_MAG_CS PC15
   as 206080D_CS
This commit is contained in:
David Sidrane
2016-11-28 06:34:33 -10:00
committed by Lorenz Meier
parent 0109f6f549
commit abc79faf3b
3 changed files with 19 additions and 18 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/boards/auav-x21/auav_init.c
+1 -1
View File
@@ -244,7 +244,7 @@ __EXPORT int nsh_archinitialize(void)
SPI_SETFREQUENCY(spi1, 10000000);
SPI_SETBITS(spi1, 8);
SPI_SETMODE(spi1, SPIDEV_MODE3);
SPI_SELECT(spi1, PX4_SPIDEV_ACCEL_MAG, false);
SPI_SELECT(spi1, PX4_SPIDEV_ICM, false);
SPI_SELECT(spi1, PX4_SPIDEV_BARO, false);
SPI_SELECT(spi1, PX4_SPIDEV_MPU, false);
up_udelay(20);
src/drivers/boards/auav-x21/auav_spi.c
+10 -10
View File
@@ -73,7 +73,7 @@ __EXPORT void stm32_spiinitialize(void)
{
#ifdef CONFIG_STM32_SPI1
px4_arch_configgpio(GPIO_SPI_CS_ACCEL_MAG);
px4_arch_configgpio(GPIO_SPI_CS_ICM_20608_G);
px4_arch_configgpio(GPIO_SPI_CS_BARO);
px4_arch_configgpio(GPIO_SPI_CS_MPU);
@@ -81,7 +81,7 @@ __EXPORT void stm32_spiinitialize(void)
* required for some peripheral
* state machines
*/
px4_arch_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_ICM_20608_G, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_BARO, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_MPU, 1);
@@ -102,23 +102,23 @@ __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid,
switch (devid) {
case PX4_SPIDEV_ACCEL_MAG:
case PX4_SPIDEV_ICM:
/* Making sure the other peripherals are not selected */
px4_arch_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, !selected);
px4_arch_gpiowrite(GPIO_SPI_CS_ICM_20608_G, !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_ACCEL_MAG, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_ICM_20608_G, 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_ACCEL_MAG, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_ICM_20608_G, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_BARO, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_MPU, !selected);
break;
@@ -152,11 +152,11 @@ __EXPORT uint8_t stm32_spi2status(FAR struct spi_dev_s *dev, enum spi_dev_e devi
__EXPORT void board_spi_reset(int ms)
{
/* disable SPI bus */
px4_arch_configgpio(GPIO_SPI_CS_ACCEL_MAG_OFF);
px4_arch_configgpio(GPIO_SPI_CS_ICM_20608_G_OFF);
px4_arch_configgpio(GPIO_SPI_CS_BARO_OFF);
px4_arch_configgpio(GPIO_SPI_CS_MPU_OFF);
px4_arch_gpiowrite(GPIO_SPI_CS_ACCEL_MAG_OFF, 0);
px4_arch_gpiowrite(GPIO_SPI_CS_ICM_20608_G_OFF, 0);
px4_arch_gpiowrite(GPIO_SPI_CS_BARO_OFF, 0);
px4_arch_gpiowrite(GPIO_SPI_CS_MPU_OFF, 0);
@@ -192,7 +192,7 @@ __EXPORT void board_spi_reset(int ms)
/* reconfigure the SPI pins */
#ifdef CONFIG_STM32_SPI1
px4_arch_configgpio(GPIO_SPI_CS_ACCEL_MAG);
px4_arch_configgpio(GPIO_SPI_CS_ICM_20608_G);
px4_arch_configgpio(GPIO_SPI_CS_BARO);
px4_arch_configgpio(GPIO_SPI_CS_MPU);
@@ -200,7 +200,7 @@ __EXPORT void board_spi_reset(int ms)
* required for some peripheral
* state machines
*/
px4_arch_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_ICM_20608_G, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_BARO, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_MPU, 1);
src/drivers/boards/auav-x21/board_config.h
+8 -7
View File
@@ -90,27 +90,28 @@
#define GPIO_SPI1_MOSI_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN7)
/* SPI1 chip selects off */
#define GPIO_SPI_CS_ACCEL_MAG_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN15)
#define GPIO_SPI_CS_ICM_20608_G_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN15)
#define GPIO_SPI_CS_BARO_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTD|GPIO_PIN7)
#define GPIO_SPI_CS_MPU_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN2)
/* SPI chip selects */
#define GPIO_SPI_CS_ACCEL_MAG (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN15)
#define GPIO_SPI_CS_BARO (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN7)
#define GPIO_SPI_CS_FRAM (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN10)
#define GPIO_SPI_CS_MPU (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN2)
#define GPIO_SPI_CS_ICM_20608_G (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN15)
#define GPIO_SPI_CS_BARO (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN7)
#define GPIO_SPI_CS_FRAM (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN10)
#define GPIO_SPI_CS_MPU (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN2)
#define PX4_SPI_BUS_SENSORS 1
#define PX4_SPI_BUS_RAMTRON 2
#define PX4_SPI_BUS_BARO PX4_SPI_BUS_SENSORS
/* Use these in place of the spi_dev_e enumeration to select a specific SPI device on SPI1 */
#define PX4_SPIDEV_ACCEL_MAG 1
#define PX4_SPIDEV_ICM 1
#define PX4_SPIDEV_BARO 2
#define PX4_SPIDEV_MPU 3
/* I2C busses */
/* Ther is no I2C2 so there is not notion of internal / external*/
/* There is no I2C2 so there is not notion of internal / external*/
#define PX4_I2C_BUS_EXPANSION 1
#define PX4_I2C_BUS_ONBOARD 1
#define PX4_I2C_BUS_LED PX4_I2C_BUS_EXPANSION