mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-05-21 04:33:10 +08:00
i2c+spi: extend hw_description for I2C + SPI
This commit is contained in:
Beat Küng
Daniel Agar
@@ -232,3 +232,159 @@ enum class Pad {
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}
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/*
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* GPIO
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*/
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namespace GPIO
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{
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enum Port {
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PortInvalid = 0,
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Port1,
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Port2,
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Port3,
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Port4,
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Port5,
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};
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enum Pin {
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Pin0 = 0,
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Pin1,
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Pin2,
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Pin3,
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Pin4,
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Pin5,
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Pin6,
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Pin7,
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Pin8,
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Pin9,
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Pin10,
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Pin11,
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Pin12,
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Pin13,
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Pin14,
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Pin15,
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Pin16,
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Pin17,
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Pin18,
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Pin19,
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Pin20,
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Pin21,
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Pin22,
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Pin23,
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Pin24,
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Pin25,
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Pin26,
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Pin27,
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Pin28,
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Pin29,
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Pin30,
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Pin31,
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};
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struct GPIOPin {
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Port port;
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Pin pin;
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};
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}
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static inline constexpr uint32_t getGPIOPort(GPIO::Port port)
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{
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switch (port) {
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case GPIO::Port1: return GPIO_PORT1;
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case GPIO::Port2: return GPIO_PORT2;
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case GPIO::Port3: return GPIO_PORT3;
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case GPIO::Port4: return GPIO_PORT4;
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case GPIO::Port5: return GPIO_PORT5;
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default: break;
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}
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return 0;
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}
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static inline constexpr uint32_t getGPIOPin(GPIO::Pin pin)
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{
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switch (pin) {
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case GPIO::Pin0: return GPIO_PIN0;
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case GPIO::Pin1: return GPIO_PIN1;
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case GPIO::Pin2: return GPIO_PIN2;
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case GPIO::Pin3: return GPIO_PIN3;
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case GPIO::Pin4: return GPIO_PIN4;
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case GPIO::Pin5: return GPIO_PIN5;
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case GPIO::Pin6: return GPIO_PIN6;
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case GPIO::Pin7: return GPIO_PIN7;
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case GPIO::Pin8: return GPIO_PIN8;
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case GPIO::Pin9: return GPIO_PIN9;
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case GPIO::Pin10: return GPIO_PIN10;
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case GPIO::Pin11: return GPIO_PIN11;
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case GPIO::Pin12: return GPIO_PIN12;
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case GPIO::Pin13: return GPIO_PIN13;
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case GPIO::Pin14: return GPIO_PIN14;
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case GPIO::Pin15: return GPIO_PIN15;
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case GPIO::Pin16: return GPIO_PIN16;
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case GPIO::Pin17: return GPIO_PIN17;
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case GPIO::Pin18: return GPIO_PIN18;
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case GPIO::Pin19: return GPIO_PIN19;
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case GPIO::Pin20: return GPIO_PIN20;
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case GPIO::Pin21: return GPIO_PIN21;
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case GPIO::Pin22: return GPIO_PIN22;
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case GPIO::Pin23: return GPIO_PIN23;
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case GPIO::Pin24: return GPIO_PIN24;
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case GPIO::Pin25: return GPIO_PIN25;
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case GPIO::Pin26: return GPIO_PIN26;
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case GPIO::Pin27: return GPIO_PIN27;
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case GPIO::Pin28: return GPIO_PIN28;
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case GPIO::Pin29: return GPIO_PIN29;
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case GPIO::Pin30: return GPIO_PIN30;
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case GPIO::Pin31: return GPIO_PIN31;
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}
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return 0;
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}
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namespace SPI
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{
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using CS = GPIO::GPIOPin; ///< chip-select pin
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using DRDY = GPIO::GPIOPin; ///< data ready pin
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struct bus_device_external_cfg_t {
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CS cs_gpio;
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DRDY drdy_gpio;
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};
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} // namespace SPI
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@@ -0,0 +1,55 @@
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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
|
||||
* notice, this list of conditions and the following disclaimer.
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||||
* 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.
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* 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.
|
||||
*
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||||
* 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
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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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#pragma once
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#include <px4_arch/hw_description.h>
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#include <px4_platform_common/i2c.h>
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static inline constexpr px4_i2c_bus_t initI2CBusInternal(int bus)
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{
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px4_i2c_bus_t ret{};
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ret.bus = bus;
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ret.is_external = false;
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return ret;
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}
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static inline constexpr px4_i2c_bus_t initI2CBusExternal(int bus)
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{
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px4_i2c_bus_t ret{};
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ret.bus = bus;
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ret.is_external = true;
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return ret;
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}
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@@ -0,0 +1,133 @@
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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
|
||||
* are met:
|
||||
*
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||||
* 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.
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*
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****************************************************************************/
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#pragma once
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#include <px4_arch/hw_description.h>
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#include <px4_platform_common/spi.h>
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#include <imxrt_gpio.h>
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#define CS_IOMUX (IOMUX_CMOS_OUTPUT | IOMUX_PULL_UP_100K | IOMUX_DRIVE_33OHM | IOMUX_SPEED_LOW | IOMUX_SLEW_FAST)
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#define DRDY_IOMUX (IOMUX_SCHMITT_TRIGGER | IOMUX_PULL_UP_47K | IOMUX_DRIVE_HIZ)
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#define GENERAL_OUTPUT_IOMUX (IOMUX_CMOS_OUTPUT | IOMUX_PULL_KEEP | IOMUX_DRIVE_33OHM | IOMUX_SPEED_MEDIUM | IOMUX_SLEW_FAST)
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static inline constexpr px4_spi_bus_device_t initSPIDevice(uint32_t devid, SPI::CS cs_gpio, SPI::DRDY drdy_gpio = {})
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{
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px4_spi_bus_device_t ret{};
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ret.cs_gpio = getGPIOPort(cs_gpio.port) | getGPIOPin(cs_gpio.pin) | (GPIO_OUTPUT | GPIO_OUTPUT_ONE | CS_IOMUX);
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if (drdy_gpio.port != GPIO::PortInvalid) {
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ret.drdy_gpio = getGPIOPort(drdy_gpio.port) | getGPIOPin(drdy_gpio.pin) | (GPIO_INPUT | DRDY_IOMUX);
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}
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if (PX4_SPIDEVID_TYPE(devid) == 0) { // it's a PX4 device (internal or external)
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ret.devid = PX4_SPIDEV_ID(PX4_SPI_DEVICE_ID, devid);
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} else { // it's a NuttX device (e.g. SPIDEV_FLASH(0))
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ret.devid = devid;
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}
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ret.devtype_driver = PX4_SPI_DEV_ID(devid);
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return ret;
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}
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static inline constexpr px4_spi_bus_t initSPIBus(int bus, const px4_spi_bus_devices_t &devices,
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GPIO::GPIOPin power_enable = {})
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{
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px4_spi_bus_t ret{};
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ret.requires_locking = true; // TODO: set this to false once all drivers are converted to use the I2CSPIDriver class
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for (int i = 0; i < SPI_BUS_MAX_DEVICES; ++i) {
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ret.devices[i] = devices.devices[i];
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// check that the same device is configured only once (the chip-select code depends on that)
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for (int j = i + 1; j < SPI_BUS_MAX_DEVICES; ++j) {
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if (ret.devices[j].cs_gpio != 0) {
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constexpr_assert(ret.devices[i].devid != ret.devices[j].devid, "Same device configured multiple times");
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}
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}
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if (ret.devices[i].cs_gpio != 0) {
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// A bus potentially requires locking if it is accessed by non-PX4 devices (i.e. NuttX drivers)
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if (PX4_SPI_DEVICE_ID != PX4_SPIDEVID_TYPE(ret.devices[i].devid)) {
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ret.requires_locking = true;
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}
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}
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}
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ret.bus = bus;
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ret.is_external = false;
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if (power_enable.port != GPIO::PortInvalid) {
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ret.power_enable_gpio = getGPIOPort(power_enable.port) | getGPIOPin(power_enable.pin) |
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(GPIO_OUTPUT | GPIO_OUTPUT_ZERO | GENERAL_OUTPUT_IOMUX);
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}
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return ret;
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}
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// just a wrapper since we cannot pass brace-enclosed initialized arrays directly as arguments
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struct bus_device_external_cfg_array_t {
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SPI::bus_device_external_cfg_t devices[SPI_BUS_MAX_DEVICES];
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};
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static inline constexpr px4_spi_bus_t initSPIBusExternal(int bus, const bus_device_external_cfg_array_t &devices)
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{
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px4_spi_bus_t ret{};
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for (int i = 0; i < SPI_BUS_MAX_DEVICES; ++i) {
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if (devices.devices[i].cs_gpio.port == GPIO::PortInvalid) {
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break;
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}
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ret.devices[i] = initSPIDevice(i, devices.devices[i].cs_gpio, devices.devices[i].drdy_gpio);
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}
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ret.bus = bus;
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ret.is_external = true;
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// TODO: set requires_locking to false once all drivers are converted to use the I2CSPIDriver class
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ret.requires_locking = true; // external buses are never accessed by NuttX drivers
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return ret;
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}
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static inline constexpr SPI::bus_device_external_cfg_t initSPIConfigExternal(SPI::CS cs_gpio, SPI::DRDY drdy_gpio = {})
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{
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SPI::bus_device_external_cfg_t ret{};
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ret.cs_gpio = cs_gpio;
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ret.drdy_gpio = drdy_gpio;
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return ret;
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}
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@@ -0,0 +1,36 @@
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/****************************************************************************
|
||||
*
|
||||
* 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
#pragma once
|
||||
|
||||
#include "../../../kinetis/include/px4_arch/i2c_hw_description.h"
|
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|
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@@ -0,0 +1,41 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
#pragma once
|
||||
|
||||
#include "../../../kinetis/include/px4_arch/spi_hw_description.h"
|
||||
|
||||
constexpr bool validateSPIConfig(const px4_spi_bus_t spi_busses_conf[SPI_BUS_MAX_BUS_ITEMS])
|
||||
{
|
||||
return true;
|
||||
}
|
||||
|
||||
@@ -92,7 +92,8 @@ static inline constexpr uint32_t timerBaseRegister(Timer::Timer timer)
|
||||
namespace GPIO
|
||||
{
|
||||
enum Port {
|
||||
PortA = 0,
|
||||
PortInvalid = 0,
|
||||
PortA,
|
||||
PortB,
|
||||
PortC,
|
||||
PortD,
|
||||
@@ -150,6 +151,8 @@ static inline constexpr uint32_t getGPIOPort(GPIO::Port port)
|
||||
case GPIO::PortD: return PIN_PORTD;
|
||||
|
||||
case GPIO::PortE: return PIN_PORTE;
|
||||
|
||||
default: break;
|
||||
}
|
||||
|
||||
return 0;
|
||||
@@ -226,3 +229,15 @@ static inline constexpr uint32_t getGPIOPin(GPIO::Pin pin)
|
||||
return 0;
|
||||
}
|
||||
|
||||
namespace SPI
|
||||
{
|
||||
|
||||
using CS = GPIO::GPIOPin; ///< chip-select pin
|
||||
using DRDY = GPIO::GPIOPin; ///< data ready pin
|
||||
|
||||
struct bus_device_external_cfg_t {
|
||||
CS cs_gpio;
|
||||
DRDY drdy_gpio;
|
||||
};
|
||||
|
||||
} // namespace SPI
|
||||
|
||||
@@ -0,0 +1,55 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <px4_arch/hw_description.h>
|
||||
#include <px4_platform_common/i2c.h>
|
||||
|
||||
|
||||
static inline constexpr px4_i2c_bus_t initI2CBusInternal(int bus)
|
||||
{
|
||||
px4_i2c_bus_t ret{};
|
||||
ret.bus = bus;
|
||||
ret.is_external = false;
|
||||
return ret;
|
||||
}
|
||||
|
||||
static inline constexpr px4_i2c_bus_t initI2CBusExternal(int bus)
|
||||
{
|
||||
px4_i2c_bus_t ret{};
|
||||
ret.bus = bus;
|
||||
ret.is_external = true;
|
||||
return ret;
|
||||
}
|
||||
|
||||
@@ -85,6 +85,8 @@ static inline constexpr timer_io_channels_t initIOTimerChannel(const io_timers_t
|
||||
case GPIO::PortE:
|
||||
gpio_af = PIN_ALT6;
|
||||
break;
|
||||
|
||||
default: break;
|
||||
}
|
||||
|
||||
uint32_t gpio_pin_port = getGPIOPort(pin.port) | getGPIOPin(pin.pin);
|
||||
|
||||
@@ -0,0 +1,127 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <px4_arch/hw_description.h>
|
||||
#include <px4_platform_common/spi.h>
|
||||
|
||||
#include <kinetis.h>
|
||||
|
||||
static inline constexpr px4_spi_bus_device_t initSPIDevice(uint32_t devid, SPI::CS cs_gpio, SPI::DRDY drdy_gpio = {})
|
||||
{
|
||||
px4_spi_bus_device_t ret{};
|
||||
ret.cs_gpio = getGPIOPort(cs_gpio.port) | getGPIOPin(cs_gpio.pin) | (GPIO_LOWDRIVE | GPIO_OUTPUT_ONE);
|
||||
|
||||
if (drdy_gpio.port != GPIO::PortInvalid) {
|
||||
ret.drdy_gpio = getGPIOPort(drdy_gpio.port) | getGPIOPin(drdy_gpio.pin) | (GPIO_PULLUP | PIN_INT_BOTH);
|
||||
}
|
||||
|
||||
if (PX4_SPIDEVID_TYPE(devid) == 0) { // it's a PX4 device (internal or external)
|
||||
ret.devid = PX4_SPIDEV_ID(PX4_SPI_DEVICE_ID, devid);
|
||||
|
||||
} else { // it's a NuttX device (e.g. SPIDEV_FLASH(0))
|
||||
ret.devid = devid;
|
||||
}
|
||||
|
||||
ret.devtype_driver = PX4_SPI_DEV_ID(devid);
|
||||
return ret;
|
||||
}
|
||||
|
||||
static inline constexpr px4_spi_bus_t initSPIBus(int bus, const px4_spi_bus_devices_t &devices,
|
||||
GPIO::GPIOPin power_enable = {})
|
||||
{
|
||||
px4_spi_bus_t ret{};
|
||||
ret.requires_locking = true; // TODO: set this to false once all drivers are converted to use the I2CSPIDriver class
|
||||
|
||||
for (int i = 0; i < SPI_BUS_MAX_DEVICES; ++i) {
|
||||
ret.devices[i] = devices.devices[i];
|
||||
|
||||
// check that the same device is configured only once (the chip-select code depends on that)
|
||||
for (int j = i + 1; j < SPI_BUS_MAX_DEVICES; ++j) {
|
||||
if (ret.devices[j].cs_gpio != 0) {
|
||||
constexpr_assert(ret.devices[i].devid != ret.devices[j].devid, "Same device configured multiple times");
|
||||
}
|
||||
}
|
||||
|
||||
if (ret.devices[i].cs_gpio != 0) {
|
||||
// A bus potentially requires locking if it is accessed by non-PX4 devices (i.e. NuttX drivers)
|
||||
if (PX4_SPI_DEVICE_ID != PX4_SPIDEVID_TYPE(ret.devices[i].devid)) {
|
||||
ret.requires_locking = true;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
ret.bus = bus;
|
||||
ret.is_external = false;
|
||||
|
||||
if (power_enable.port != GPIO::PortInvalid) {
|
||||
ret.power_enable_gpio = getGPIOPort(power_enable.port) | getGPIOPin(power_enable.pin) |
|
||||
(GPIO_HIGHDRIVE | GPIO_OUTPUT_ONE);
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
// just a wrapper since we cannot pass brace-enclosed initialized arrays directly as arguments
|
||||
struct bus_device_external_cfg_array_t {
|
||||
SPI::bus_device_external_cfg_t devices[SPI_BUS_MAX_DEVICES];
|
||||
};
|
||||
|
||||
static inline constexpr px4_spi_bus_t initSPIBusExternal(int bus, const bus_device_external_cfg_array_t &devices)
|
||||
{
|
||||
px4_spi_bus_t ret{};
|
||||
|
||||
for (int i = 0; i < SPI_BUS_MAX_DEVICES; ++i) {
|
||||
if (devices.devices[i].cs_gpio.port == GPIO::PortInvalid) {
|
||||
break;
|
||||
}
|
||||
|
||||
ret.devices[i] = initSPIDevice(i, devices.devices[i].cs_gpio, devices.devices[i].drdy_gpio);
|
||||
}
|
||||
|
||||
ret.bus = bus;
|
||||
ret.is_external = true;
|
||||
// TODO: set requires_locking to false once all drivers are converted to use the I2CSPIDriver class
|
||||
ret.requires_locking = true; // external buses are never accessed by NuttX drivers
|
||||
return ret;
|
||||
}
|
||||
|
||||
static inline constexpr SPI::bus_device_external_cfg_t initSPIConfigExternal(SPI::CS cs_gpio, SPI::DRDY drdy_gpio = {})
|
||||
{
|
||||
SPI::bus_device_external_cfg_t ret{};
|
||||
ret.cs_gpio = cs_gpio;
|
||||
ret.drdy_gpio = drdy_gpio;
|
||||
return ret;
|
||||
}
|
||||
|
||||
@@ -0,0 +1,36 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
#pragma once
|
||||
|
||||
#include "../../../imxrt/include/px4_arch/i2c_hw_description.h"
|
||||
|
||||
@@ -0,0 +1,41 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
#pragma once
|
||||
|
||||
#include "../../../imxrt/include/px4_arch/spi_hw_description.h"
|
||||
|
||||
constexpr bool validateSPIConfig(const px4_spi_bus_t spi_busses_conf[SPI_BUS_MAX_BUS_ITEMS])
|
||||
{
|
||||
return true;
|
||||
}
|
||||
|
||||
@@ -167,7 +167,8 @@ static inline constexpr uint32_t timerBaseRegister(Timer::Timer timer)
|
||||
namespace GPIO
|
||||
{
|
||||
enum Port {
|
||||
PortA = 0,
|
||||
PortInvalid = 0,
|
||||
PortA,
|
||||
PortB,
|
||||
PortC,
|
||||
PortD,
|
||||
@@ -176,6 +177,8 @@ enum Port {
|
||||
PortG,
|
||||
PortH,
|
||||
PortI,
|
||||
PortJ,
|
||||
PortK,
|
||||
};
|
||||
enum Pin {
|
||||
Pin0 = 0,
|
||||
@@ -229,6 +232,14 @@ static inline constexpr uint32_t getGPIOPort(GPIO::Port port)
|
||||
|
||||
case GPIO::PortI: return GPIO_PORTI;
|
||||
#endif
|
||||
#ifdef GPIO_PORTJ
|
||||
|
||||
case GPIO::PortJ: return GPIO_PORTJ;
|
||||
#endif
|
||||
#ifdef GPIO_PORTK
|
||||
|
||||
case GPIO::PortK: return GPIO_PORTK;
|
||||
#endif
|
||||
|
||||
default: break;
|
||||
}
|
||||
@@ -275,3 +286,16 @@ static inline constexpr uint32_t getGPIOPin(GPIO::Pin pin)
|
||||
return 0;
|
||||
}
|
||||
|
||||
namespace SPI
|
||||
{
|
||||
|
||||
using CS = GPIO::GPIOPin; ///< chip-select pin
|
||||
using DRDY = GPIO::GPIOPin; ///< data ready pin
|
||||
|
||||
struct bus_device_external_cfg_t {
|
||||
CS cs_gpio;
|
||||
DRDY drdy_gpio;
|
||||
};
|
||||
|
||||
} // namespace SPI
|
||||
|
||||
|
||||
@@ -0,0 +1,55 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <px4_arch/hw_description.h>
|
||||
#include <px4_platform_common/i2c.h>
|
||||
|
||||
|
||||
static inline constexpr px4_i2c_bus_t initI2CBusInternal(int bus)
|
||||
{
|
||||
px4_i2c_bus_t ret{};
|
||||
ret.bus = bus;
|
||||
ret.is_external = false;
|
||||
return ret;
|
||||
}
|
||||
|
||||
static inline constexpr px4_i2c_bus_t initI2CBusExternal(int bus)
|
||||
{
|
||||
px4_i2c_bus_t ret{};
|
||||
ret.bus = bus;
|
||||
ret.is_external = true;
|
||||
return ret;
|
||||
}
|
||||
|
||||
@@ -0,0 +1,164 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <px4_arch/hw_description.h>
|
||||
#include <px4_platform_common/spi.h>
|
||||
|
||||
|
||||
#include <stm32_gpio.h>
|
||||
|
||||
static inline constexpr px4_spi_bus_device_t initSPIDevice(uint32_t devid, SPI::CS cs_gpio, SPI::DRDY drdy_gpio = {})
|
||||
{
|
||||
px4_spi_bus_device_t ret{};
|
||||
ret.cs_gpio = getGPIOPort(cs_gpio.port) | getGPIOPin(cs_gpio.pin) | (GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_SPEED_2MHz |
|
||||
GPIO_OUTPUT_SET);
|
||||
|
||||
if (drdy_gpio.port != GPIO::PortInvalid) {
|
||||
ret.drdy_gpio = getGPIOPort(drdy_gpio.port) | getGPIOPin(drdy_gpio.pin) | (GPIO_INPUT | GPIO_FLOAT | GPIO_EXTI);
|
||||
}
|
||||
|
||||
if (PX4_SPIDEVID_TYPE(devid) == 0) { // it's a PX4 device (internal or external)
|
||||
ret.devid = PX4_SPIDEV_ID(PX4_SPI_DEVICE_ID, devid);
|
||||
|
||||
} else { // it's a NuttX device (e.g. SPIDEV_FLASH(0))
|
||||
ret.devid = devid;
|
||||
}
|
||||
|
||||
ret.devtype_driver = PX4_SPI_DEV_ID(devid);
|
||||
return ret;
|
||||
}
|
||||
|
||||
static inline constexpr px4_spi_bus_t initSPIBus(int bus, const px4_spi_bus_devices_t &devices,
|
||||
GPIO::GPIOPin power_enable = {})
|
||||
{
|
||||
px4_spi_bus_t ret{};
|
||||
ret.requires_locking = true; // TODO: set this to false once all drivers are converted to use the I2CSPIDriver class
|
||||
|
||||
for (int i = 0; i < SPI_BUS_MAX_DEVICES; ++i) {
|
||||
ret.devices[i] = devices.devices[i];
|
||||
|
||||
// check that the same device is configured only once (the chip-select code depends on that)
|
||||
for (int j = i + 1; j < SPI_BUS_MAX_DEVICES; ++j) {
|
||||
if (ret.devices[j].cs_gpio != 0) {
|
||||
constexpr_assert(ret.devices[i].devid != ret.devices[j].devid, "Same device configured multiple times");
|
||||
}
|
||||
}
|
||||
|
||||
if (ret.devices[i].cs_gpio != 0) {
|
||||
// A bus potentially requires locking if it is accessed by non-PX4 devices (i.e. NuttX drivers)
|
||||
if (PX4_SPI_DEVICE_ID != PX4_SPIDEVID_TYPE(ret.devices[i].devid)) {
|
||||
ret.requires_locking = true;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
ret.bus = bus;
|
||||
ret.is_external = false;
|
||||
|
||||
if (power_enable.port != GPIO::PortInvalid) {
|
||||
ret.power_enable_gpio = getGPIOPort(power_enable.port) | getGPIOPin(power_enable.pin) |
|
||||
(GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_SPEED_2MHz | GPIO_OUTPUT_CLEAR);
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
// just a wrapper since we cannot pass brace-enclosed initialized arrays directly as arguments
|
||||
struct bus_device_external_cfg_array_t {
|
||||
SPI::bus_device_external_cfg_t devices[SPI_BUS_MAX_DEVICES];
|
||||
};
|
||||
|
||||
static inline constexpr px4_spi_bus_t initSPIBusExternal(int bus, const bus_device_external_cfg_array_t &devices)
|
||||
{
|
||||
px4_spi_bus_t ret{};
|
||||
|
||||
for (int i = 0; i < SPI_BUS_MAX_DEVICES; ++i) {
|
||||
if (devices.devices[i].cs_gpio.port == GPIO::PortInvalid) {
|
||||
break;
|
||||
}
|
||||
|
||||
ret.devices[i] = initSPIDevice(i, devices.devices[i].cs_gpio, devices.devices[i].drdy_gpio);
|
||||
}
|
||||
|
||||
ret.bus = bus;
|
||||
ret.is_external = true;
|
||||
// TODO: set requires_locking to false once all drivers are converted to use the I2CSPIDriver class
|
||||
ret.requires_locking = true; // external buses are never accessed by NuttX drivers
|
||||
return ret;
|
||||
}
|
||||
|
||||
static inline constexpr SPI::bus_device_external_cfg_t initSPIConfigExternal(SPI::CS cs_gpio, SPI::DRDY drdy_gpio = {})
|
||||
{
|
||||
SPI::bus_device_external_cfg_t ret{};
|
||||
ret.cs_gpio = cs_gpio;
|
||||
ret.drdy_gpio = drdy_gpio;
|
||||
return ret;
|
||||
}
|
||||
|
||||
struct px4_spi_bus_array_t {
|
||||
px4_spi_bus_t item[SPI_BUS_MAX_BUS_ITEMS];
|
||||
};
|
||||
static inline constexpr px4_spi_bus_all_hw_t initSPIHWVersion(int hw_version, const px4_spi_bus_array_t &bus_items)
|
||||
{
|
||||
px4_spi_bus_all_hw_t ret{};
|
||||
|
||||
for (int i = 0; i < SPI_BUS_MAX_BUS_ITEMS; ++i) {
|
||||
ret.buses[i] = bus_items.item[i];
|
||||
}
|
||||
|
||||
ret.board_hw_version = hw_version;
|
||||
return ret;
|
||||
}
|
||||
constexpr bool validateSPIConfig(const px4_spi_bus_t spi_buses_conf[SPI_BUS_MAX_BUS_ITEMS]);
|
||||
|
||||
constexpr bool validateSPIConfig(const px4_spi_bus_all_hw_t spi_buses_conf[BOARD_NUM_SPI_CFG_HW_VERSIONS])
|
||||
{
|
||||
for (int ver = 0; ver < BOARD_NUM_SPI_CFG_HW_VERSIONS; ++ver) {
|
||||
validateSPIConfig(spi_buses_conf[ver].buses);
|
||||
}
|
||||
|
||||
for (int ver = 1; ver < BOARD_NUM_SPI_CFG_HW_VERSIONS; ++ver) {
|
||||
for (int i = 0; i < SPI_BUS_MAX_BUS_ITEMS; ++i) {
|
||||
const bool equal_power_enable_gpio = spi_buses_conf[ver].buses[i].power_enable_gpio == spi_buses_conf[ver -
|
||||
1].buses[i].power_enable_gpio;
|
||||
// currently board_control_spi_sensors_power_configgpio() depends on that - this restriction can be removed
|
||||
// by ensuring board_control_spi_sensors_power_configgpio() is called after the hw version is determined
|
||||
// and SPI config is initialized.
|
||||
constexpr_assert(equal_power_enable_gpio, "All HW versions must define the same power enable GPIO");
|
||||
}
|
||||
}
|
||||
|
||||
return false;
|
||||
}
|
||||
@@ -0,0 +1,36 @@
|
||||
############################################################################
|
||||
#
|
||||
# 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.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
px4_add_library(arch_spi
|
||||
spi.cpp
|
||||
)
|
||||
File diff suppressed because it is too large
Load Diff
@@ -39,6 +39,7 @@ add_subdirectory(../stm32_common/dshot dshot)
|
||||
add_subdirectory(../stm32_common/hrt hrt)
|
||||
add_subdirectory(../stm32_common/led_pwm led_pwm)
|
||||
add_subdirectory(../stm32_common/io_pins io_pins)
|
||||
add_subdirectory(../stm32_common/spi spi)
|
||||
add_subdirectory(../stm32_common/tone_alarm tone_alarm)
|
||||
add_subdirectory(../stm32_common/version version)
|
||||
|
||||
|
||||
@@ -0,0 +1,36 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
#pragma once
|
||||
|
||||
#include "../../../stm32_common/include/px4_arch/i2c_hw_description.h"
|
||||
|
||||
@@ -0,0 +1,87 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
#pragma once
|
||||
|
||||
#include "../../../stm32_common/include/px4_arch/spi_hw_description.h"
|
||||
|
||||
constexpr bool validateSPIConfig(const px4_spi_bus_t spi_busses_conf[SPI_BUS_MAX_BUS_ITEMS])
|
||||
{
|
||||
const bool nuttx_enabled_spi_buses[] = {
|
||||
#ifdef CONFIG_STM32_SPI1
|
||||
true,
|
||||
#else
|
||||
false,
|
||||
#endif
|
||||
#ifdef CONFIG_STM32_SPI2
|
||||
true,
|
||||
#else
|
||||
false,
|
||||
#endif
|
||||
#ifdef CONFIG_STM32_SPI3
|
||||
true,
|
||||
#else
|
||||
false,
|
||||
#endif
|
||||
#ifdef CONFIG_STM32_SPI4
|
||||
true,
|
||||
#else
|
||||
false,
|
||||
#endif
|
||||
#ifdef CONFIG_STM32_SPI5
|
||||
true,
|
||||
#else
|
||||
false,
|
||||
#endif
|
||||
#ifdef CONFIG_STM32_SPI6
|
||||
true,
|
||||
#else
|
||||
false,
|
||||
#endif
|
||||
};
|
||||
|
||||
for (unsigned i = 0; i < sizeof(nuttx_enabled_spi_buses) / sizeof(nuttx_enabled_spi_buses[0]); ++i) {
|
||||
bool found_bus = false;
|
||||
|
||||
for (int j = 0; j < SPI_BUS_MAX_BUS_ITEMS; ++j) {
|
||||
if (spi_busses_conf[j].bus == (int)i + 1) {
|
||||
found_bus = true;
|
||||
}
|
||||
}
|
||||
|
||||
// Either the bus is enabled in NuttX and configured in spi_busses_conf, or disabled and not configured
|
||||
constexpr_assert(found_bus == nuttx_enabled_spi_buses[i], "SPI bus config mismatch (CONFIG_STM32_SPIx)");
|
||||
}
|
||||
|
||||
return false;
|
||||
}
|
||||
|
||||
@@ -40,6 +40,7 @@ add_subdirectory(../stm32_common/dshot dshot)
|
||||
add_subdirectory(../stm32_common/hrt hrt)
|
||||
add_subdirectory(../stm32_common/led_pwm led_pwm)
|
||||
add_subdirectory(../stm32_common/io_pins io_pins)
|
||||
add_subdirectory(../stm32_common/spi spi)
|
||||
add_subdirectory(../stm32_common/tone_alarm tone_alarm)
|
||||
add_subdirectory(../stm32_common/version version)
|
||||
|
||||
|
||||
@@ -0,0 +1,36 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
#pragma once
|
||||
|
||||
#include "../../../stm32_common/include/px4_arch/i2c_hw_description.h"
|
||||
|
||||
@@ -0,0 +1,87 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
#pragma once
|
||||
|
||||
#include "../../../stm32_common/include/px4_arch/spi_hw_description.h"
|
||||
|
||||
constexpr bool validateSPIConfig(const px4_spi_bus_t spi_busses_conf[SPI_BUS_MAX_BUS_ITEMS])
|
||||
{
|
||||
const bool nuttx_enabled_spi_buses[] = {
|
||||
#ifdef CONFIG_STM32F7_SPI1
|
||||
true,
|
||||
#else
|
||||
false,
|
||||
#endif
|
||||
#ifdef CONFIG_STM32F7_SPI2
|
||||
true,
|
||||
#else
|
||||
false,
|
||||
#endif
|
||||
#ifdef CONFIG_STM32F7_SPI3
|
||||
true,
|
||||
#else
|
||||
false,
|
||||
#endif
|
||||
#ifdef CONFIG_STM32F7_SPI4
|
||||
true,
|
||||
#else
|
||||
false,
|
||||
#endif
|
||||
#ifdef CONFIG_STM32F7_SPI5
|
||||
true,
|
||||
#else
|
||||
false,
|
||||
#endif
|
||||
#ifdef CONFIG_STM32F7_SPI6
|
||||
true,
|
||||
#else
|
||||
false,
|
||||
#endif
|
||||
};
|
||||
|
||||
for (unsigned i = 0; i < sizeof(nuttx_enabled_spi_buses) / sizeof(nuttx_enabled_spi_buses[0]); ++i) {
|
||||
bool found_bus = false;
|
||||
|
||||
for (int j = 0; j < SPI_BUS_MAX_BUS_ITEMS; ++j) {
|
||||
if (spi_busses_conf[j].bus == (int)i + 1) {
|
||||
found_bus = true;
|
||||
}
|
||||
}
|
||||
|
||||
// Either the bus is enabled in NuttX and configured in spi_busses_conf, or disabled and not configured
|
||||
constexpr_assert(found_bus == nuttx_enabled_spi_buses[i], "SPI bus config mismatch (CONFIG_STM32F7_SPIx)");
|
||||
}
|
||||
|
||||
return false;
|
||||
}
|
||||
|
||||
@@ -39,6 +39,7 @@ add_subdirectory(../stm32_common/board_reset board_reset)
|
||||
add_subdirectory(../stm32_common/dshot dshot)
|
||||
add_subdirectory(../stm32_common/hrt hrt)
|
||||
add_subdirectory(../stm32_common/io_pins io_pins)
|
||||
add_subdirectory(../stm32_common/spi spi)
|
||||
add_subdirectory(../stm32_common/tone_alarm tone_alarm)
|
||||
add_subdirectory(../stm32_common/version version)
|
||||
|
||||
|
||||
@@ -0,0 +1,36 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
#pragma once
|
||||
|
||||
#include "../../../stm32_common/include/px4_arch/i2c_hw_description.h"
|
||||
|
||||
@@ -0,0 +1,87 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
#pragma once
|
||||
|
||||
#include "../../../stm32_common/include/px4_arch/spi_hw_description.h"
|
||||
|
||||
constexpr bool validateSPIConfig(const px4_spi_bus_t spi_busses_conf[SPI_BUS_MAX_BUS_ITEMS])
|
||||
{
|
||||
const bool nuttx_enabled_spi_buses[] = {
|
||||
#ifdef CONFIG_STM32H7_SPI1
|
||||
true,
|
||||
#else
|
||||
false,
|
||||
#endif
|
||||
#ifdef CONFIG_STM32H7_SPI2
|
||||
true,
|
||||
#else
|
||||
false,
|
||||
#endif
|
||||
#ifdef CONFIG_STM32H7_SPI3
|
||||
true,
|
||||
#else
|
||||
false,
|
||||
#endif
|
||||
#ifdef CONFIG_STM32H7_SPI4
|
||||
true,
|
||||
#else
|
||||
false,
|
||||
#endif
|
||||
#ifdef CONFIG_STM32H7_SPI5
|
||||
true,
|
||||
#else
|
||||
false,
|
||||
#endif
|
||||
#ifdef CONFIG_STM32H7_SPI6
|
||||
true,
|
||||
#else
|
||||
false,
|
||||
#endif
|
||||
};
|
||||
|
||||
for (unsigned i = 0; i < sizeof(nuttx_enabled_spi_buses) / sizeof(nuttx_enabled_spi_buses[0]); ++i) {
|
||||
bool found_bus = false;
|
||||
|
||||
for (int j = 0; j < SPI_BUS_MAX_BUS_ITEMS; ++j) {
|
||||
if (spi_busses_conf[j].bus == (int)i + 1) {
|
||||
found_bus = true;
|
||||
}
|
||||
}
|
||||
|
||||
// Either the bus is enabled in NuttX and configured in spi_busses_conf, or disabled and not configured
|
||||
constexpr_assert(found_bus == nuttx_enabled_spi_buses[i], "SPI bus config mismatch (CONFIG_STM32H7_SPIx)");
|
||||
}
|
||||
|
||||
return false;
|
||||
}
|
||||
|
||||
@@ -0,0 +1,54 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <px4_platform_common/i2c.h>
|
||||
|
||||
|
||||
static inline constexpr px4_i2c_bus_t initI2CBusInternal(int bus)
|
||||
{
|
||||
px4_i2c_bus_t ret{};
|
||||
ret.bus = bus;
|
||||
ret.is_external = false;
|
||||
return ret;
|
||||
}
|
||||
|
||||
static inline constexpr px4_i2c_bus_t initI2CBusExternal(int bus)
|
||||
{
|
||||
px4_i2c_bus_t ret{};
|
||||
ret.bus = bus;
|
||||
ret.is_external = true;
|
||||
return ret;
|
||||
}
|
||||
|
||||
@@ -0,0 +1,59 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <px4_platform_common/spi.h>
|
||||
|
||||
static inline constexpr px4_spi_bus_device_t initSPIDevice(uint8_t devid_driver, uint8_t cs_index)
|
||||
{
|
||||
px4_spi_bus_device_t ret{};
|
||||
ret.cs_gpio = 1; // set to some non-zero value to indicate this is used
|
||||
ret.devid = PX4_SPIDEV_ID(PX4_SPI_DEVICE_ID, cs_index);
|
||||
ret.devtype_driver = devid_driver;
|
||||
return ret;
|
||||
}
|
||||
|
||||
static inline constexpr px4_spi_bus_t initSPIBus(int bus, const px4_spi_bus_devices_t &devices)
|
||||
{
|
||||
px4_spi_bus_t ret{};
|
||||
|
||||
for (int i = 0; i < SPI_BUS_MAX_DEVICES; ++i) {
|
||||
ret.devices[i] = devices.devices[i];
|
||||
}
|
||||
|
||||
ret.bus = bus;
|
||||
ret.is_external = false; // all buses are marked internal on Linux
|
||||
ret.requires_locking = false;
|
||||
return ret;
|
||||
}
|
||||
@@ -0,0 +1,54 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <px4_platform_common/i2c.h>
|
||||
|
||||
|
||||
static inline constexpr px4_i2c_bus_t initI2CBusInternal(int bus)
|
||||
{
|
||||
px4_i2c_bus_t ret{};
|
||||
ret.bus = bus;
|
||||
ret.is_external = false;
|
||||
return ret;
|
||||
}
|
||||
|
||||
static inline constexpr px4_i2c_bus_t initI2CBusExternal(int bus)
|
||||
{
|
||||
px4_i2c_bus_t ret{};
|
||||
ret.bus = bus;
|
||||
ret.is_external = true;
|
||||
return ret;
|
||||
}
|
||||
|
||||
@@ -0,0 +1,59 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <px4_platform_common/spi.h>
|
||||
|
||||
static inline constexpr px4_spi_bus_device_t initSPIDevice(uint8_t devid_driver)
|
||||
{
|
||||
px4_spi_bus_device_t ret{};
|
||||
ret.cs_gpio = 1; // set to some non-zero value to indicate this is used
|
||||
ret.devid = PX4_SPIDEV_ID(PX4_SPI_DEVICE_ID, 0);
|
||||
ret.devtype_driver = devid_driver;
|
||||
return ret;
|
||||
}
|
||||
|
||||
static inline constexpr px4_spi_bus_t initSPIBus(int bus, const px4_spi_bus_devices_t &devices)
|
||||
{
|
||||
px4_spi_bus_t ret{};
|
||||
|
||||
for (int i = 0; i < SPI_BUS_MAX_DEVICES; ++i) {
|
||||
ret.devices[i] = devices.devices[i];
|
||||
}
|
||||
|
||||
ret.bus = bus;
|
||||
ret.is_external = false; // all buses are marked internal on QuRT
|
||||
ret.requires_locking = false;
|
||||
return ret;
|
||||
}
|
||||
Reference in New Issue
Block a user