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MindPX: Update spi bus and sensors io config.

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This commit is contained in:
Henry Zhang
2016-08-17 15:17:17 +08:00
committed by Lorenz Meier
parent cabcc39816
commit d6ed416d29
4 changed files with 32 additions and 113 deletions
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nuttx-configs/mindpx-v2/include/board.h
+1 -1
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@@ -258,7 +258,7 @@
* There are sensors on SPI1, and SPI2 is connected to the FRAM.
*/
#define GPIO_SPI1_MISO (GPIO_SPI1_MISO_1|GPIO_SPEED_50MHz)
#define GPIO_SPI1_MOSI (GPIO_SPI1_MOSI_1|GPIO_SPEED_50MHz)
#define GPIO_SPI1_MOSI (GPIO_SPI1_MOSI_2|GPIO_SPEED_50MHz)
#define GPIO_SPI1_SCK (GPIO_SPI1_SCK_1|GPIO_SPEED_50MHz)
#define GPIO_SPI2_MISO (GPIO_SPI2_MISO_1|GPIO_SPEED_50MHz)
src/drivers/boards/mindpx-v2/board_config.h
+24 -47
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@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2015, 2016 Airmind Development Team. All rights reserved.
* Copyright (c) 2015, 2016 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
@@ -12,7 +12,7 @@
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name Airmind nor the names of its contributors may be
* 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.
*
@@ -66,92 +66,70 @@
#define GPIO_EXTI_GYRO_DRDY (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTE|GPIO_PIN4)
#define GPIO_EXTI_MAG_DRDY (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTC|GPIO_PIN14)
#define GPIO_EXTI_ACCEL_DRDY (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTC|GPIO_PIN13)
#define GPIO_EXTI_MPU_DRDY (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTC|GPIO_PIN0)
#define GPIO_EXTI_MPU_DRDY (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTE|GPIO_PIN10)
/* Data ready pins off */
#define GPIO_GYRO_DRDY_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_25MHz|GPIO_PORTE|GPIO_PIN14)
#define GPIO_MAG_DRDY_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_25MHz|GPIO_PORTC|GPIO_PIN14)
#define GPIO_ACCEL_DRDY_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_25MHz|GPIO_PORTC|GPIO_PIN13)
#define GPIO_EXTI_MPU_DRDY_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_25MHz|GPIO_PORTC|GPIO_PIN0)
#define GPIO_EXTI_MPU_DRDY_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_25MHz|GPIO_PORTE|GPIO_PIN10)
/* SPI1 off */
#define GPIO_SPI1_SCK_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN5)
#define GPIO_SPI1_MISO_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN6)
#define GPIO_SPI1_MOSI_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN7)
#define GPIO_SPI1_MOSI_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTB|GPIO_PIN5)
/*SPI1 chip selects off */
#define GPIO_SPI_CS_FRAM_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_25MHz|GPIO_PORTC|GPIO_PIN2)
#define GPIO_SPI_CS_FRAM_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_25MHz|GPIO_PORTE|GPIO_PIN12)
/* SPI1 chip selects */
#define GPIO_SPI_CS_FRAM (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_25MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN2)
#define GPIO_SPI_CS_FRAM (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_25MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN12)
/* SPI4 off */
#define GPIO_SPI4_SCK_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTE|GPIO_PIN2)
#define GPIO_SPI4_MISO_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTE|GPIO_PIN5)
#define GPIO_SPI4_MOSI_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTE|GPIO_PIN6)
#define GPIO_SPI4_SCK_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTE|GPIO_PIN2)
#define GPIO_SPI4_MISO_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTE|GPIO_PIN5)
#define GPIO_SPI4_MOSI_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTE|GPIO_PIN6)
/* SPI4 chip selects off */
#define GPIO_SPI_CS_GYRO_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_25MHz|GPIO_PORTD|GPIO_PIN12)
#define GPIO_SPI_CS_GYRO_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_25MHz|GPIO_PORTB|GPIO_PIN2)
#define GPIO_SPI_CS_ACCEL_MAG_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_25MHz|GPIO_PORTD|GPIO_PIN11)
#define GPIO_SPI_CS_BARO_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_25MHz|GPIO_PORTC|GPIO_PIN15)
#define GPIO_SPI_CS_MPU_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_25MHz|GPIO_PORTE|GPIO_PIN3)
#define GPIO_SPI_CS_MPU_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_25MHz|GPIO_PORTE|GPIO_PIN3)
/* SPI4 chip selects */
#define GPIO_SPI_CS_GYRO (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_25MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN12)
#define GPIO_SPI_CS_ACCEL_MAG (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_25MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN11)
#define GPIO_SPI_CS_BARO (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_25MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN15)
#define GPIO_SPI_CS_MPU (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_25MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN3)
#define GPIO_SPI_CS_GYRO (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_25MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN2)
#define GPIO_SPI_CS_ACCEL_MAG (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_25MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN11)
#define GPIO_SPI_CS_BARO (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_25MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN15)
#define GPIO_SPI_CS_MPU (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_25MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN3)
/* SPI2 off */
#define GPIO_SPI2_SCK_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTB|GPIO_PIN13)
#define GPIO_SPI2_MISO_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTB|GPIO_PIN14)
#define GPIO_SPI2_MOSI_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTB|GPIO_PIN15)
#define GPIO_SPI2_SCK_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTB|GPIO_PIN13)
#define GPIO_SPI2_MISO_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTB|GPIO_PIN14)
#define GPIO_SPI2_MOSI_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTB|GPIO_PIN15)
/* SPI2 chip selects off */
#define GPIO_SPI_CS_EXT0_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_25MHz|GPIO_PORTB|GPIO_PIN7)
#define GPIO_SPI_CS_EXT1_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_25MHz|GPIO_PORTB|GPIO_PIN5)
#define GPIO_SPI_CS_EXT2_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_25MHz|GPIO_PORTB|GPIO_PIN3)
#define GPIO_SPI_CS_EXT3_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_25MHz|GPIO_PORTD|GPIO_PIN7)
#define GPIO_SPI_CS_EXT0_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_25MHz|GPIO_PORTD|GPIO_PIN7)
/* SPI2 chip selects */
#define GPIO_SPI_CS_EXT0 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_25MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN7)
#define GPIO_SPI_CS_EXT1 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_25MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN5)
#define GPIO_SPI_CS_EXT2 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_25MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN3)
#define GPIO_SPI_CS_EXT3 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_25MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN7)
#define GPIO_SPI_CS_EXT0 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_25MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN7)
#define PX4_SPI_BUS_SENSORS 4
#define PX4_SPI_BUS_RAMTRON 1
#define PX4_SPI_BUS_EXT 2
#define PX4_SPI_BUS_BARO PX4_SPI_BUS_SENSORS
/* Use these in place of the spi_dev_e enumeration to select a specific SPI device on SPI1 */
/* Use these in place of the spi_dev_e enumeration to select a specific SPI device on SPI4 */
#define PX4_SPIDEV_GYRO 1
#define PX4_SPIDEV_ACCEL_MAG 2
#define PX4_SPIDEV_BARO 3
#define PX4_SPIDEV_MPU 4
#define PX4_SPIDEV_FLASH 5
/* External bus */
#define PX4_SPIDEV_EXT0 1
#define PX4_SPIDEV_EXT1 2
#define PX4_SPIDEV_EXT2 3
#define PX4_SPIDEV_EXT3 4
/* FMUv3 SPI on external bus */
//#define PX4_SPIDEV_EXT_MPU PX4_SPIDEV_EXT0
//#define PX4_SPIDEV_EXT_BARO PX4_SPIDEV_EXT1
//#define PX4_SPIDEV_EXT_ACCEL_MAG PX4_SPIDEV_EXT2
//#define PX4_SPIDEV_EXT_GYRO PX4_SPIDEV_EXT3
/* I2C busses */
#define PX4_I2C_BUS_ONBOARD 1
@@ -286,8 +264,7 @@
*
* PA9 OTG_FS_VBUS VBUS sensing
*/
//#define GPIO_OTGFS_VBUS (GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_100MHz|GPIO_OPENDRAIN|GPIO_PORTA|GPIO_PIN9)
#define GPIO_OTGFS_VBUS (GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_100MHz|GPIO_PORTA|GPIO_PIN9)
#define GPIO_OTGFS_VBUS (GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_100MHz|GPIO_OPENDRAIN|GPIO_PORTA|GPIO_PIN9)
src/drivers/boards/mindpx-v2/mindpx2_init.c
+1 -3
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@@ -281,9 +281,7 @@ __EXPORT int nsh_archinitialize(void)
SPI_SETBITS(spi2, 8);
SPI_SETMODE(spi2, SPIDEV_MODE3);
SPI_SELECT(spi2, PX4_SPIDEV_EXT0, false);
SPI_SELECT(spi2, PX4_SPIDEV_EXT1, false);
SPI_SELECT(spi2, PX4_SPIDEV_EXT2, false);
SPI_SELECT(spi2, PX4_SPIDEV_EXT3, false);
#ifdef CONFIG_MMCSD
/* First, get an instance of the SDIO interface */
src/drivers/boards/mindpx-v2/mindpx_spi.c
+6 -62
View File
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2015, 2016 Airmind Development Team. All rights reserved.
* Copyright (c) 2015, 2016 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
@@ -12,7 +12,7 @@
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name Airmind nor the names of its contributors may be
* 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.
*
@@ -74,7 +74,6 @@ __EXPORT void weak_function stm32_spiinitialize(void)
px4_arch_configgpio(GPIO_SPI_CS_GYRO);
px4_arch_configgpio(GPIO_SPI_CS_ACCEL_MAG);
px4_arch_configgpio(GPIO_SPI_CS_BARO);
// px4_arch_configgpio(GPIO_SPI_CS_FRAM);
px4_arch_configgpio(GPIO_SPI_CS_MPU);
/* De-activate all peripherals,
@@ -84,7 +83,6 @@ __EXPORT void weak_function stm32_spiinitialize(void)
px4_arch_gpiowrite(GPIO_SPI_CS_GYRO, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_BARO, 1);
// px4_arch_gpiowrite(GPIO_SPI_CS_FRAM,1);
px4_arch_gpiowrite(GPIO_SPI_CS_MPU, 1);
px4_arch_configgpio(GPIO_EXTI_GYRO_DRDY);
@@ -100,13 +98,7 @@ __EXPORT void weak_function stm32_spiinitialize(void)
#ifdef CONFIG_STM32_SPI2
px4_arch_configgpio(GPIO_SPI_CS_EXT0);
px4_arch_configgpio(GPIO_SPI_CS_EXT1);
px4_arch_configgpio(GPIO_SPI_CS_EXT2);
px4_arch_configgpio(GPIO_SPI_CS_EXT3);
px4_arch_gpiowrite(GPIO_SPI_CS_EXT0, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_EXT1, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_EXT2, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_EXT3, 1);
#endif
}
@@ -136,15 +128,9 @@ __EXPORT void stm32_spi4select(FAR struct spi_dev_s *dev, enum spi_dev_e devid,
px4_arch_gpiowrite(GPIO_SPI_CS_GYRO, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_BARO, !selected);
// px4_arch_gpiowrite(GPIO_SPI_CS_FRAM,1);
px4_arch_gpiowrite(GPIO_SPI_CS_MPU, 1);
break;
// case PX4_SPIDEV_FLASH:
// px4_arch_gpiowrite(GPIO_SPI_CS_BARO,1);
// px4_arch_gpiowrite(GPIO_SPI_CS_FRAM,!selected);
// break;
case PX4_SPIDEV_MPU:
/* Making sure the other peripherals are not selected */
px4_arch_gpiowrite(GPIO_SPI_CS_GYRO, 1);
@@ -163,8 +149,6 @@ __EXPORT uint8_t stm32_spi4status(FAR struct spi_dev_s *dev, enum spi_dev_e devi
return SPI_STATUS_PRESENT;
}
#ifdef CONFIG_STM32_SPI1
__EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected)
{
/* there can only be one device on this bus, so always select it */
@@ -176,55 +160,18 @@ __EXPORT uint8_t stm32_spi1status(FAR struct spi_dev_s *dev, enum spi_dev_e devi
/* FRAM is always present */
return SPI_STATUS_PRESENT;
}
#endif
#ifdef CONFIG_STM32_SPI2
__EXPORT void stm32_spi2select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected)
{
/* SPI select is active low, so write !selected to select the device */
switch (devid) {
case PX4_SPIDEV_EXT0:
/* Making sure the other peripherals are not selected */
px4_arch_gpiowrite(GPIO_SPI_CS_EXT0, !selected);
px4_arch_gpiowrite(GPIO_SPI_CS_EXT1, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_EXT2, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_EXT3, 1);
break;
case PX4_SPIDEV_EXT1:
/* Making sure the other peripherals are not selected */
px4_arch_gpiowrite(GPIO_SPI_CS_EXT0, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_EXT1, !selected);
px4_arch_gpiowrite(GPIO_SPI_CS_EXT2, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_EXT3, 1);
break;
case PX4_SPIDEV_EXT2:
/* Making sure the other peripherals are not selected */
px4_arch_gpiowrite(GPIO_SPI_CS_EXT0, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_EXT1, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_EXT2, !selected);
px4_arch_gpiowrite(GPIO_SPI_CS_EXT3, 1);
break;
case PX4_SPIDEV_EXT3:
/* Making sure the other peripherals are not selected */
px4_arch_gpiowrite(GPIO_SPI_CS_EXT0, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_EXT1, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_EXT2, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_EXT3, !selected);
break;
default:
break;
}
px4_arch_gpiowrite(GPIO_SPI_CS_EXT0, !selected);
}
__EXPORT uint8_t stm32_spi2status(FAR struct spi_dev_s *dev, enum spi_dev_e devid)
{
return SPI_STATUS_PRESENT;
}
#endif
__EXPORT void board_spi_reset(int ms)
{
@@ -232,13 +179,11 @@ __EXPORT void board_spi_reset(int ms)
px4_arch_configgpio(GPIO_SPI_CS_GYRO_OFF);
px4_arch_configgpio(GPIO_SPI_CS_ACCEL_MAG_OFF);
px4_arch_configgpio(GPIO_SPI_CS_BARO_OFF);
// px4_arch_configgpio(GPIO_SPI_CS_FRAM_OFF);
px4_arch_configgpio(GPIO_SPI_CS_MPU_OFF);
px4_arch_gpiowrite(GPIO_SPI_CS_GYRO_OFF, 0);
px4_arch_gpiowrite(GPIO_SPI_CS_ACCEL_MAG_OFF, 0);
px4_arch_gpiowrite(GPIO_SPI_CS_BARO_OFF, 0);
// px4_arch_gpiowrite(GPIO_SPI_CS_FRAM_OFF,0);
px4_arch_gpiowrite(GPIO_SPI_CS_MPU_OFF, 0);
px4_arch_configgpio(GPIO_SPI4_SCK_OFF);
@@ -280,7 +225,6 @@ __EXPORT void board_spi_reset(int ms)
px4_arch_configgpio(GPIO_SPI_CS_GYRO);
px4_arch_configgpio(GPIO_SPI_CS_ACCEL_MAG);
px4_arch_configgpio(GPIO_SPI_CS_BARO);
// px4_arch_configgpio(GPIO_SPI_CS_FRAM);
px4_arch_configgpio(GPIO_SPI_CS_MPU);
/* De-activate all peripherals,
@@ -297,7 +241,7 @@ __EXPORT void board_spi_reset(int ms)
px4_arch_configgpio(GPIO_SPI4_MISO);
px4_arch_configgpio(GPIO_SPI4_MOSI);
// // XXX bring up the EXTI pins again
// XXX bring up the EXTI pins again
// px4_arch_configgpio(GPIO_GYRO_DRDY);
// px4_arch_configgpio(GPIO_MAG_DRDY);
// px4_arch_configgpio(GPIO_ACCEL_DRDY);