i2c+spi: extend hw_description for I2C + SPI

platforms/nuttx/src/px4/nxp/imxrt/include/px4_arch/hw_description.h

@@ -232,3 +232,159 @@ enum class Pad {
 
 }
 
+/*
+ * GPIO
+ */
+
+namespace GPIO
+{
+enum Port {
+	PortInvalid = 0,
+	Port1,
+	Port2,
+	Port3,
+	Port4,
+	Port5,
+};
+enum Pin {
+	Pin0 = 0,
+	Pin1,
+	Pin2,
+	Pin3,
+	Pin4,
+	Pin5,
+	Pin6,
+	Pin7,
+	Pin8,
+	Pin9,
+	Pin10,
+	Pin11,
+	Pin12,
+	Pin13,
+	Pin14,
+	Pin15,
+	Pin16,
+	Pin17,
+	Pin18,
+	Pin19,
+	Pin20,
+	Pin21,
+	Pin22,
+	Pin23,
+	Pin24,
+	Pin25,
+	Pin26,
+	Pin27,
+	Pin28,
+	Pin29,
+	Pin30,
+	Pin31,
+};
+struct GPIOPin {
+	Port port;
+	Pin pin;
+};
+}
+
+static inline constexpr uint32_t getGPIOPort(GPIO::Port port)
+{
+	switch (port) {
+	case GPIO::Port1: return GPIO_PORT1;
+
+	case GPIO::Port2: return GPIO_PORT2;
+
+	case GPIO::Port3: return GPIO_PORT3;
+
+	case GPIO::Port4: return GPIO_PORT4;
+
+	case GPIO::Port5: return GPIO_PORT5;
+
+	default: break;
+	}
+
+	return 0;
+}
+
+static inline constexpr uint32_t getGPIOPin(GPIO::Pin pin)
+{
+	switch (pin) {
+	case GPIO::Pin0: return GPIO_PIN0;
+
+	case GPIO::Pin1: return GPIO_PIN1;
+
+	case GPIO::Pin2: return GPIO_PIN2;
+
+	case GPIO::Pin3: return GPIO_PIN3;
+
+	case GPIO::Pin4: return GPIO_PIN4;
+
+	case GPIO::Pin5: return GPIO_PIN5;
+
+	case GPIO::Pin6: return GPIO_PIN6;
+
+	case GPIO::Pin7: return GPIO_PIN7;
+
+	case GPIO::Pin8: return GPIO_PIN8;
+
+	case GPIO::Pin9: return GPIO_PIN9;
+
+	case GPIO::Pin10: return GPIO_PIN10;
+
+	case GPIO::Pin11: return GPIO_PIN11;
+
+	case GPIO::Pin12: return GPIO_PIN12;
+
+	case GPIO::Pin13: return GPIO_PIN13;
+
+	case GPIO::Pin14: return GPIO_PIN14;
+
+	case GPIO::Pin15: return GPIO_PIN15;
+
+	case GPIO::Pin16: return GPIO_PIN16;
+
+	case GPIO::Pin17: return GPIO_PIN17;
+
+	case GPIO::Pin18: return GPIO_PIN18;
+
+	case GPIO::Pin19: return GPIO_PIN19;
+
+	case GPIO::Pin20: return GPIO_PIN20;
+
+	case GPIO::Pin21: return GPIO_PIN21;
+
+	case GPIO::Pin22: return GPIO_PIN22;
+
+	case GPIO::Pin23: return GPIO_PIN23;
+
+	case GPIO::Pin24: return GPIO_PIN24;
+
+	case GPIO::Pin25: return GPIO_PIN25;
+
+	case GPIO::Pin26: return GPIO_PIN26;
+
+	case GPIO::Pin27: return GPIO_PIN27;
+
+	case GPIO::Pin28: return GPIO_PIN28;
+
+	case GPIO::Pin29: return GPIO_PIN29;
+
+	case GPIO::Pin30: return GPIO_PIN30;
+
+	case GPIO::Pin31: return GPIO_PIN31;
+	}
+
+	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

platforms/nuttx/src/px4/nxp/imxrt/include/px4_arch/i2c_hw_description.h

@@ -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;
+}
+

platforms/nuttx/src/px4/nxp/imxrt/include/px4_arch/spi_hw_description.h

@@ -0,0 +1,133 @@
+/****************************************************************************
+ *
+ *   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 <imxrt_gpio.h>
+
+#define CS_IOMUX  (IOMUX_CMOS_OUTPUT | IOMUX_PULL_UP_100K | IOMUX_DRIVE_33OHM | IOMUX_SPEED_LOW | IOMUX_SLEW_FAST)
+
+#define DRDY_IOMUX (IOMUX_SCHMITT_TRIGGER | IOMUX_PULL_UP_47K | IOMUX_DRIVE_HIZ)
+
+#define GENERAL_OUTPUT_IOMUX (IOMUX_CMOS_OUTPUT | IOMUX_PULL_KEEP | IOMUX_DRIVE_33OHM  | IOMUX_SPEED_MEDIUM | IOMUX_SLEW_FAST)
+
+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_OUTPUT_ONE | CS_IOMUX);
+
+	if (drdy_gpio.port != GPIO::PortInvalid) {
+		ret.drdy_gpio = getGPIOPort(drdy_gpio.port) | getGPIOPin(drdy_gpio.pin) | (GPIO_INPUT | DRDY_IOMUX);
+	}
+
+	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_OUTPUT_ZERO | GENERAL_OUTPUT_IOMUX);
+	}
+
+	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;
+}
+

platforms/nuttx/src/px4/nxp/k66/include/px4_arch/i2c_hw_description.h

@@ -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 "../../../kinetis/include/px4_arch/i2c_hw_description.h"
+

platforms/nuttx/src/px4/nxp/k66/include/px4_arch/spi_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 "../../../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;
+}
+

platforms/nuttx/src/px4/nxp/kinetis/include/px4_arch/hw_description.h

@@ -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

platforms/nuttx/src/px4/nxp/kinetis/include/px4_arch/i2c_hw_description.h

@@ -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;
+}
+

platforms/nuttx/src/px4/nxp/kinetis/include/px4_arch/io_timer_hw_description.h

@@ -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);

platforms/nuttx/src/px4/nxp/kinetis/include/px4_arch/spi_hw_description.h

@@ -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;
+}
+

platforms/nuttx/src/px4/nxp/rt106x/include/px4_arch/i2c_hw_description.h

@@ -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"
+

platforms/nuttx/src/px4/nxp/rt106x/include/px4_arch/spi_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;
+}
+

platforms/nuttx/src/px4/stm/stm32_common/include/px4_arch/hw_description.h

@@ -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
+

platforms/nuttx/src/px4/stm/stm32_common/include/px4_arch/i2c_hw_description.h

@@ -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;
+}
+

platforms/nuttx/src/px4/stm/stm32_common/include/px4_arch/spi_hw_description.h

@@ -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;
+}

platforms/nuttx/src/px4/stm/stm32_common/spi/CMakeLists.txt

@@ -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
+)

platforms/nuttx/src/px4/stm/stm32f4/CMakeLists.txt

@@ -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)
 

platforms/nuttx/src/px4/stm/stm32f4/include/px4_arch/i2c_hw_description.h

@@ -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"
+

platforms/nuttx/src/px4/stm/stm32f4/include/px4_arch/spi_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;
+}
+

platforms/nuttx/src/px4/stm/stm32f7/CMakeLists.txt

@@ -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)
 

platforms/nuttx/src/px4/stm/stm32f7/include/px4_arch/i2c_hw_description.h

@@ -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"
+

platforms/nuttx/src/px4/stm/stm32f7/include/px4_arch/spi_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;
+}
+

platforms/nuttx/src/px4/stm/stm32h7/CMakeLists.txt

@@ -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)
 

platforms/nuttx/src/px4/stm/stm32h7/include/px4_arch/i2c_hw_description.h

@@ -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"
+

platforms/nuttx/src/px4/stm/stm32h7/include/px4_arch/spi_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;
+}
+

platforms/posix/src/px4/generic/generic/include/px4_arch/i2c_hw_description.h

@@ -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;
+}
+

platforms/posix/src/px4/generic/generic/include/px4_arch/spi_hw_description.h

@@ -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;
+}

platforms/qurt/src/px4/generic/generic/include/px4_arch/i2c_hw_description.h

@@ -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;
+}
+

platforms/qurt/src/px4/generic/generic/include/px4_arch/spi_hw_description.h

@@ -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;
+}