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Improve SPI bus implementation

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Make possible to define chip-select pin for internal SPI.
By defining chip-select pin, it's possible to start specific SPI device only.
This allows to have several same type of sensors on the same bus with different orientation.
This commit is contained in:
Jani Paalijarvi
2021-11-19 07:47:18 +01:00
committed by Beat Küng
parent 35d4986ea7
commit 02336acd61
6 changed files with 21 additions and 11 deletions
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platforms/common/spi.cpp
+10 -3
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@@ -37,6 +37,10 @@
#include <px4_platform_common/spi.h>
#ifndef GPIO_PIN_MASK
#define GPIO_PIN_MASK 0
#endif
#if BOARD_NUM_SPI_CFG_HW_VERSIONS > 1
void px4_set_spi_buses_from_hw_version()
{
@@ -124,10 +128,12 @@ bool SPIBusIterator::next()
case FilterType::InternalBus:
if (!bus_data.is_external) {
if (_bus == bus_data.bus || _bus == -1) {
// find device id
// Note: if chipselect < 0, it's not defined and used in filter
// find device
for (int i = _bus_device_index + 1; i < SPI_BUS_MAX_DEVICES; ++i) {
if (PX4_SPI_DEVICE_ID == PX4_SPIDEVID_TYPE(bus_data.devices[i].devid) &&
_devid_driver_index == bus_data.devices[i].devtype_driver) {
_devid_driver_index == bus_data.devices[i].devtype_driver &&
(_chipselect < 0 || _chipselect == (int16_t)(bus_data.devices[i].cs_gpio & GPIO_PIN_MASK))) {
_bus_device_index = i;
return true;
}
@@ -139,7 +145,8 @@ bool SPIBusIterator::next()
case FilterType::ExternalBus:
if (bus_data.is_external) {
uint16_t cs_index = _devid_driver_index - 1;
// Note: chip-select index is starting from 1 in CLI, -1 means not defined
uint16_t cs_index = _chipselect < 1 ? 0 : _chipselect - 1;
if (_bus == _external_bus_counter && cs_index < SPI_BUS_MAX_DEVICES &&
bus_data.devices[cs_index].cs_gpio != 0 && cs_index != _bus_device_index) {