mirror of
https://github.com/PX4/PX4-Autopilot.git
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px4dev
137 lines
4.5 KiB
C
137 lines
4.5 KiB
C
/****************************************************************************
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*
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* Copyright (C) 2012 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
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* 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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/**
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* @file px4fmu_spi.c
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*
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* Board-specific SPI functions.
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*/
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/************************************************************************************
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* Included Files
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************************************************************************************/
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#include <nuttx/config.h>
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#include <stdint.h>
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#include <stdbool.h>
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#include <debug.h>
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#include <nuttx/spi.h>
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#include <arch/board/board.h>
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#include "up_arch.h"
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#include "chip.h"
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#include "stm32_internal.h"
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#include "px4fmu_internal.h"
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/************************************************************************************
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* Public Functions
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************************************************************************************/
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/************************************************************************************
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* Name: stm32_spiinitialize
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*
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* Description:
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* Called to configure SPI chip select GPIO pins for the PX4FMU board.
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*
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************************************************************************************/
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__EXPORT void weak_function stm32_spiinitialize(void)
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{
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stm32_configgpio(GPIO_SPI_CS_GYRO);
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stm32_configgpio(GPIO_SPI_CS_ACCEL);
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stm32_configgpio(GPIO_SPI_CS_MPU);
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stm32_configgpio(GPIO_SPI_CS_SDCARD);
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/* De-activate all peripherals,
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* required for some peripheral
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* state machines
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*/
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stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
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stm32_gpiowrite(GPIO_SPI_CS_ACCEL, 1);
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stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
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stm32_gpiowrite(GPIO_SPI_CS_SDCARD, 1);
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}
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__EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected)
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{
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/* SPI select is active low, so write !selected to select the device */
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switch (devid) {
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case PX4_SPIDEV_GYRO:
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/* Making sure the other peripherals are not selected */
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stm32_gpiowrite(GPIO_SPI_CS_GYRO, !selected);
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stm32_gpiowrite(GPIO_SPI_CS_MPU, selected);
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stm32_gpiowrite(GPIO_SPI_CS_ACCEL, selected);
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break;
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case PX4_SPIDEV_ACCEL:
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/* Making sure the other peripherals are not selected */
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stm32_gpiowrite(GPIO_SPI_CS_ACCEL, !selected);
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stm32_gpiowrite(GPIO_SPI_CS_MPU, selected);
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stm32_gpiowrite(GPIO_SPI_CS_GYRO, selected);
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break;
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case PX4_SPIDEV_MPU:
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/* Making sure the other peripherals are not selected */
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stm32_gpiowrite(GPIO_SPI_CS_ACCEL, selected);
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stm32_gpiowrite(GPIO_SPI_CS_GYRO, selected);
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stm32_gpiowrite(GPIO_SPI_CS_MPU, !selected);
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break;
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default:
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break;
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}
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}
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__EXPORT uint8_t stm32_spi1status(FAR struct spi_dev_s *dev, enum spi_dev_e devid)
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{
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return SPI_STATUS_PRESENT;
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}
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__EXPORT void stm32_spi3select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected)
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{
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/* there can only be one device on this bus, so always select it */
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stm32_gpiowrite(GPIO_SPI_CS_SDCARD, 0);
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}
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__EXPORT uint8_t stm32_spi3status(FAR struct spi_dev_s *dev, enum spi_dev_e devid)
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{
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/* this is actually bogus, but PX4 has no way to sense the presence of an SD card */
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return SPI_STATUS_PRESENT;
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}
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