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px4_fmu-v5 board spi cleanup

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This commit is contained in:
Daniel Agar
2019-02-08 20:52:15 -05:00
parent c6edf41a74
commit 06f5a782f4
10 changed files with 365 additions and 591 deletions
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boards/px4/fmu-v5/rtps.cmake
+1 -2
View File
@@ -27,11 +27,10 @@ px4_add_board(
#heater #heater
imu/adis16448 imu/adis16448
#imu # all available imu drivers #imu # all available imu drivers
imu/bma180
imu/bmi055 imu/bmi055
imu/bmi160
imu/mpu6000 imu/mpu6000
imu/mpu9250 imu/mpu9250
imu/icm20948
irlock irlock
lights/blinkm lights/blinkm
lights/oreoled lights/oreoled
boards/px4/fmu-v5/src/CMakeLists.txt
+3 -3
View File
@@ -31,13 +31,13 @@
# #
############################################################################ ############################################################################
px4_add_library(drivers_board add_library(drivers_board
#stm32_can.c # WIP can.c
init.c init.c
led.c led.c
manifest.c manifest.c
sdio.c sdio.c
spi.c spi.cpp
timer_config.c timer_config.c
usb.c usb.c
) )
boards/px4/fmu-v5/src/board_config.h
+5 -28
View File
@@ -121,6 +121,8 @@
#define GPIO_SPI1_CS2_ICM20602 /* PF3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTF|GPIO_PIN3) #define GPIO_SPI1_CS2_ICM20602 /* PF3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTF|GPIO_PIN3)
#define GPIO_SPI1_CS3_BMI055_GYRO /* PF4 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTF|GPIO_PIN4) #define GPIO_SPI1_CS3_BMI055_GYRO /* PF4 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTF|GPIO_PIN4)
#define GPIO_SPI1_CS4_BMI055_ACC /* PG10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN10) #define GPIO_SPI1_CS4_BMI055_ACC /* PG10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN10)
#define GPIO_SPI1_CS5_AUX_MEM /* PH5 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTH|GPIO_PIN5)
/* Define the SPI1 Data Ready interrupts */ /* Define the SPI1 Data Ready interrupts */
@@ -170,7 +172,6 @@
#define SPI6_CS1_EXTERNAL2 /* PI6 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN6) #define SPI6_CS1_EXTERNAL2 /* PI6 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN6)
#define SPI6_CS2_EXTERNAL2 /* PI7 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN7) #define SPI6_CS2_EXTERNAL2 /* PI7 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN7)
#define SPI6_CS3_EXTERNAL2 /* PI8 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN8) #define SPI6_CS3_EXTERNAL2 /* PI8 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN8)
#define SPIAUX_CS_MEM /* PH5 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTH|GPIO_PIN5)
/* /*
@@ -186,45 +187,31 @@
/* v BEGIN Legacy SPI defines TODO: fix this with enumeration */ /* v BEGIN Legacy SPI defines TODO: fix this with enumeration */
#define PX4_SPI_BUS_RAMTRON PX4_SPI_BUS_MEMORY #define PX4_SPI_BUS_RAMTRON PX4_SPI_BUS_MEMORY
#define PX4_SPIDEV_BMA 0
#define PX4_SPIDEV_BMI 0
/* ^ END Legacy SPI defines TODO: fix this with enumeration */ /* ^ END Legacy SPI defines TODO: fix this with enumeration */
#define PX4_SPIDEV_ICM_20689 PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS,0) #define PX4_SPIDEV_ICM_20689 PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS,0)
#define PX4_SPIDEV_ICM_20602 PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS,1) #define PX4_SPIDEV_ICM_20602 PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS,1)
#define PX4_SPIDEV_BMI055_GYR PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS,2) #define PX4_SPIDEV_BMI055_GYR PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS,2)
#define PX4_SPIDEV_BMI055_ACC PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS,3) #define PX4_SPIDEV_BMI055_ACC PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS,3)
#define PX4_SPIDEV_AUX_MEM PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS,4)
#define PX4_SENSOR_BUS_CS_GPIO {GPIO_SPI1_CS1_ICM20689, GPIO_SPI1_CS2_ICM20602, GPIO_SPI1_CS3_BMI055_GYRO, GPIO_SPI1_CS4_BMI055_ACC} #define PX4_SENSOR_BUS_CS_GPIO {GPIO_SPI1_CS1_ICM20689, GPIO_SPI1_CS2_ICM20602, GPIO_SPI1_CS3_BMI055_GYRO, GPIO_SPI1_CS4_BMI055_ACC, GPIO_SPI1_CS5_AUX_MEM}
#define PX4_SENSORS_BUS_FIRST_CS PX4_SPIDEV_ICM_20689
#define PX4_SENSORS_BUS_LAST_CS PX4_SPIDEV_BMI055_ACC
#define PX4_SPIDEV_MEMORY PX4_MK_SPI_SEL(PX4_SPI_BUS_MEMORY,0) #define PX4_SPIDEV_MEMORY PX4_MK_SPI_SEL(PX4_SPI_BUS_MEMORY,0)
#define PX4_MEMORY_BUS_CS_GPIO {GPIO_SPI2_CS_FRAM} #define PX4_MEMORY_BUS_CS_GPIO {GPIO_SPI2_CS_FRAM}
#define PX4_MEMORY_BUS_FIRST_CS PX4_SPIDEV_MEMORY
#define PX4_MEMORY_BUS_LAST_CS PX4_SPIDEV_MEMORY
#define PX4_SPIDEV_BARO PX4_MK_SPI_SEL(PX4_SPI_BUS_BARO,0) #define PX4_SPIDEV_BARO PX4_MK_SPI_SEL(PX4_SPI_BUS_BARO,0)
#define PX4_SPIDEV_SPI4_CS2 PX4_MK_SPI_SEL(PX4_SPI_BUS_BARO,1) #define PX4_SPIDEV_SPI4_CS2 PX4_MK_SPI_SEL(PX4_SPI_BUS_BARO,1)
#define PX4_BARO_BUS_CS_GPIO {GPIO_SPI4_CS1_MS5611, GPIO_SPI4_CS2} #define PX4_BARO_BUS_CS_GPIO {GPIO_SPI4_CS1_MS5611, GPIO_SPI4_CS2}
#define PX4_BARO_BUS_FIRST_CS PX4_SPIDEV_BARO
#define PX4_BARO_BUS_LAST_CS PX4_SPIDEV_SPI4_CS2
#define PX4_SPIDEV_EXTERNAL1_1 PX4_MK_SPI_SEL(PX4_SPI_BUS_EXTERNAL1,0) #define PX4_SPIDEV_EXTERNAL1_1 PX4_MK_SPI_SEL(PX4_SPI_BUS_EXTERNAL1,0)
#define PX4_SPIDEV_EXTERNAL1_2 PX4_MK_SPI_SEL(PX4_SPI_BUS_EXTERNAL1,1) #define PX4_SPIDEV_EXTERNAL1_2 PX4_MK_SPI_SEL(PX4_SPI_BUS_EXTERNAL1,1)
#define PX4_SPIDEV_EXTERNAL1_3 PX4_MK_SPI_SEL(PX4_SPI_BUS_EXTERNAL1,2) #define PX4_SPIDEV_EXTERNAL1_3 PX4_MK_SPI_SEL(PX4_SPI_BUS_EXTERNAL1,2)
#define PX4_EXTERNAL1_BUS_CS_GPIO {SPI5_CS1_EXTERNAL1, SPI5_CS2_EXTERNAL1, SPI5_CS3_EXTERNAL1} #define PX4_EXTERNAL1_BUS_CS_GPIO {SPI5_CS1_EXTERNAL1, SPI5_CS2_EXTERNAL1, SPI5_CS3_EXTERNAL1}
#define PX4_EXTERNAL1_BUS_FIRST_CS PX4_SPIDEV_EXTERNAL1_1
#define PX4_EXTERNAL1_BUS_LAST_CS PX4_SPIDEV_EXTERNAL1_3
#define PX4_SPIDEV_EXTERNAL2_1 PX4_MK_SPI_SEL(PX4_SPI_BUS_EXTERNAL2,0) #define PX4_SPIDEV_EXTERNAL2_1 PX4_MK_SPI_SEL(PX4_SPI_BUS_EXTERNAL2,0)
#define PX4_SPIDEV_EXTERNAL2_2 PX4_MK_SPI_SEL(PX4_SPI_BUS_EXTERNAL2,1) #define PX4_SPIDEV_EXTERNAL2_2 PX4_MK_SPI_SEL(PX4_SPI_BUS_EXTERNAL2,1)
#define PX4_SPIDEV_EXTERNAL2_3 PX4_MK_SPI_SEL(PX4_SPI_BUS_EXTERNAL2,2) #define PX4_SPIDEV_EXTERNAL2_3 PX4_MK_SPI_SEL(PX4_SPI_BUS_EXTERNAL2,2)
#define PX4_SPIDEV_AUX_MEM PX4_MK_SPI_SEL(PX4_SPI_BUS_EXTERNAL2,3) #define PX4_EXTERNAL2_BUS_CS_GPIO {SPI6_CS1_EXTERNAL2, SPI6_CS2_EXTERNAL2, SPI6_CS3_EXTERNAL2}
#define PX4_EXTERNAL2_BUS_CS_GPIO {SPI6_CS1_EXTERNAL2, SPI6_CS2_EXTERNAL2, SPI6_CS3_EXTERNAL2, SPIAUX_CS_MEM}
#define PX4_EXTERNAL2_BUS_FIRST_CS PX4_SPIDEV_EXTERNAL2_1
#define PX4_EXTERNAL2_BUS_LAST_CS PX4_SPIDEV_AUX_MEM
/* I2C busses */ /* I2C busses */
@@ -734,16 +721,6 @@ int stm32_sdio_initialize(void);
extern void stm32_spiinitialize(void); extern void stm32_spiinitialize(void);
/************************************************************************************
* Name: stm32_spi_bus_initialize
*
* Description:
* Called to configure SPI Buses.
*
************************************************************************************/
extern int stm32_spi_bus_initialize(void);
void board_spi_reset(int ms); void board_spi_reset(int ms);
extern void stm32_usbinitialize(void); extern void stm32_usbinitialize(void);
boards/px4/fmu-v5/src/can.c
+5 -6
View File
@@ -37,16 +37,12 @@
* Board-specific CAN functions. * Board-specific CAN functions.
*/ */
/************************************************************************************ #ifdef CONFIG_CAN
* Included Files
************************************************************************************/
#include <px4_config.h>
#include <errno.h> #include <errno.h>
#include <debug.h> #include <debug.h>
#include <nuttx/can.h> #include <nuttx/can/can.h>
#include <arch/board/board.h> #include <arch/board/board.h>
#include "chip.h" #include "chip.h"
@@ -81,6 +77,7 @@
/************************************************************************************ /************************************************************************************
* Public Functions * Public Functions
************************************************************************************/ ************************************************************************************/
int can_devinit(void);
/************************************************************************************ /************************************************************************************
* Name: can_devinit * Name: can_devinit
@@ -127,3 +124,5 @@ int can_devinit(void)
} }
#endif #endif
#endif /* CONFIG_CAN */
boards/px4/fmu-v5/src/init.c
+9 -26
View File
@@ -45,9 +45,7 @@
* Included Files * Included Files
****************************************************************************/ ****************************************************************************/
#include <px4_config.h> #include "board_config.h"
#include <px4_tasks.h>
#include <px4_log.h>
#include <stdbool.h> #include <stdbool.h>
#include <stdio.h> #include <stdio.h>
@@ -55,6 +53,7 @@
#include <debug.h> #include <debug.h>
#include <errno.h> #include <errno.h>
#include <nuttx/config.h>
#include <nuttx/board.h> #include <nuttx/board.h>
#include <nuttx/spi/spi.h> #include <nuttx/spi/spi.h>
#include <nuttx/i2c/i2c_master.h> #include <nuttx/i2c/i2c_master.h>
@@ -62,22 +61,16 @@
#include <nuttx/mmcsd.h> #include <nuttx/mmcsd.h>
#include <nuttx/analog/adc.h> #include <nuttx/analog/adc.h>
#include <nuttx/mm/gran.h> #include <nuttx/mm/gran.h>
#include <chip.h> #include <chip.h>
#include "board_config.h"
#include <stm32_uart.h> #include <stm32_uart.h>
#include <arch/board/board.h> #include <arch/board/board.h>
#include "up_internal.h"
#include <drivers/drv_hrt.h> #include <drivers/drv_hrt.h>
#include <drivers/drv_board_led.h> #include <drivers/drv_board_led.h>
#include <systemlib/px4_macros.h> #include <systemlib/px4_macros.h>
#include <px4_init.h> #include <px4_init.h>
#include "up_internal.h"
/**************************************************************************** /****************************************************************************
* Pre-Processor Definitions * Pre-Processor Definitions
****************************************************************************/ ****************************************************************************/
@@ -295,10 +288,11 @@ __EXPORT int board_app_initialize(uintptr_t arg)
if (OK == board_determine_hw_info()) { if (OK == board_determine_hw_info()) {
PX4_INFO("Rev 0x%1x : Ver 0x%1x %s", board_get_hw_revision(), board_get_hw_version(), board_get_hw_type_name()); syslog(LOG_INFO, "[boot] Rev 0x%1x : Ver 0x%1x %s\n", board_get_hw_revision(), board_get_hw_version(),
board_get_hw_type_name());
} else { } else {
PX4_ERR("Failed to read HW revision and version"); syslog(LOG_ERR, "[boot] Failed to read HW revision and version\n");
} }
px4_platform_init(); px4_platform_init();
@@ -306,7 +300,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
/* configure the DMA allocator */ /* configure the DMA allocator */
if (board_dma_alloc_init() < 0) { if (board_dma_alloc_init() < 0) {
PX4_ERR("DMA alloc FAILED"); syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
} }
/* set up the serial DMA polling */ /* set up the serial DMA polling */
@@ -337,26 +331,15 @@ __EXPORT int board_app_initialize(uintptr_t arg)
led_on(LED_RED); led_on(LED_RED);
} }
#ifdef CONFIG_SPI
int ret = stm32_spi_bus_initialize();
if (ret != OK) {
led_on(LED_RED);
return ret;
}
#endif
#ifdef CONFIG_MMCSD #ifdef CONFIG_MMCSD
int ret = stm32_sdio_initialize();
ret = stm32_sdio_initialize();
if (ret != OK) { if (ret != OK) {
led_on(LED_RED); led_on(LED_RED);
return ret; return ret;
} }
#endif #endif /* CONFIG_MMCSD */
return OK; return OK;
} }
boards/px4/fmu-v5/src/manifest.c
+5 -3
View File
@@ -46,10 +46,12 @@
* Included Files * Included Files
****************************************************************************/ ****************************************************************************/
#include <px4_config.h> #include <nuttx/config.h>
#include <board_config.h>
#include <stdbool.h> #include <stdbool.h>
#include "systemlib/px4_macros.h" #include "systemlib/px4_macros.h"
#include "px4_log.h"
/**************************************************************************** /****************************************************************************
* Pre-Processor Definitions * Pre-Processor Definitions
@@ -137,7 +139,7 @@ __EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
} }
if (boards_manifest == px4_hw_mft_list_uninitialized) { if (boards_manifest == px4_hw_mft_list_uninitialized) {
PX4_ERR("Board %4x is not supported!", ver_rev); syslog(LOG_ERR, "[boot] Board %4x is not supported!\n", ver_rev);
} }
} }
boards/px4/fmu-v5/src/sdio.c
+4 -4
View File
@@ -36,8 +36,8 @@
* Included Files * Included Files
****************************************************************************/ ****************************************************************************/
#include <px4_config.h> #include <nuttx/config.h>
#include <px4_log.h> #include <board_config.h>
#include <stdbool.h> #include <stdbool.h>
#include <stdio.h> #include <stdio.h>
@@ -141,7 +141,7 @@ int stm32_sdio_initialize(void)
sdio_dev = sdio_initialize(SDIO_SLOTNO); sdio_dev = sdio_initialize(SDIO_SLOTNO);
if (!sdio_dev) { if (!sdio_dev) {
PX4_ERR("[boot] Failed to initialize SDIO slot %d\n", SDIO_SLOTNO); syslog(LOG_ERR, "[boot] Failed to initialize SDIO slot %d\n", SDIO_SLOTNO);
return -ENODEV; return -ENODEV;
} }
@@ -152,7 +152,7 @@ int stm32_sdio_initialize(void)
ret = mmcsd_slotinitialize(SDIO_MINOR, sdio_dev); ret = mmcsd_slotinitialize(SDIO_MINOR, sdio_dev);
if (ret != OK) { if (ret != OK) {
PX4_ERR("[boot] Failed to bind SDIO to the MMC/SD driver: %d\n", ret); syslog(LOG_ERR, "[boot] Failed to bind SDIO to the MMC/SD driver: %d\n", ret);
return ret; return ret;
} }
boards/px4/fmu-v5/src/spi.c
-508
View File
@@ -1,508 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2012 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.
*
****************************************************************************/
/**
* @file px4fmu_spi.c
*
* Board-specific SPI functions.
*/
/************************************************************************************
* Included Files
************************************************************************************/
#include <px4_config.h>
#include <px4_log.h>
#include <stdint.h>
#include <stdbool.h>
#include <debug.h>
#include <unistd.h>
#include <nuttx/spi/spi.h>
#include <arch/board/board.h>
#include <systemlib/px4_macros.h>
#include <up_arch.h>
#include <chip.h>
#include <stm32_gpio.h>
#include "board_config.h"
/****************************************************************************
* Pre-Processor Definitions
****************************************************************************/
/* Configuration ************************************************************/
/* Debug ********************************************************************/
/* Define CS GPIO array */
static const uint32_t spi1selects_gpio[] = PX4_SENSOR_BUS_CS_GPIO;
static const uint32_t spi2selects_gpio[] = PX4_MEMORY_BUS_CS_GPIO;
#ifdef CONFIG_STM32F7_SPI3
static const uint32_t spi3selects_gpio[] = {FIXME};
#error Need to define SPI3 Usage
#endif
static const uint32_t spi4selects_gpio[] = PX4_BARO_BUS_CS_GPIO;
#ifdef CONFIG_STM32F7_SPI5
static const uint32_t spi5selects_gpio[] = PX4_EXTERNAL1_BUS_CS_GPIO;
#endif
static const uint32_t spi6selects_gpio[] = PX4_EXTERNAL2_BUS_CS_GPIO;
/************************************************************************************
* Public Functions
************************************************************************************/
/************************************************************************************
* Name: stm32_spiinitialize
*
* Description:
* Called to configure SPI chip select GPIO pins for the PX4FMU board.
*
************************************************************************************/
__EXPORT void stm32_spiinitialize(void)
{
#ifdef CONFIG_STM32F7_SPI1
board_gpio_init(spi1selects_gpio, arraySize(spi1selects_gpio));
#endif
#ifdef CONFIG_STM32F7_SPI2
board_gpio_init(spi2selects_gpio, arraySize(spi2selects_gpio));
#endif
#ifdef CONFIG_STM32F7_SPI3
board_gpio_init(spi3selects_gpio, arraySize(spi3selects_gpio));
#endif
#ifdef CONFIG_STM32F7_SPI4
board_gpio_init(spi4selects_gpio, arraySize(spi4selects_gpio));
#endif
#ifdef CONFIG_STM32F7_SPI5
board_gpio_init(spi5selects_gpio, arraySize(spi5selects_gpio));
#endif
#ifdef CONFIG_STM32F7_SPI6
board_gpio_init(spi6selects_gpio, arraySize(spi6selects_gpio));
#endif
}
/************************************************************************************
* Name: stm32_spi_bus_initialize
*
* Description:
* Called to configure SPI buses on PX4FMU board.
*
************************************************************************************/
static struct spi_dev_s *spi_sensors;
static struct spi_dev_s *spi_memory;
static struct spi_dev_s *spi_baro;
static struct spi_dev_s *spi_ext;
__EXPORT int stm32_spi_bus_initialize(void)
{
/* Configure SPI-based devices */
/* Get the SPI port for the Sensors */
spi_sensors = stm32_spibus_initialize(PX4_SPI_BUS_SENSORS);
if (!spi_sensors) {
PX4_ERR("[boot] FAILED to initialize SPI port %d\n", PX4_SPI_BUS_SENSORS);
return -ENODEV;
}
/* Default PX4_SPI_BUS_SENSORS to 1MHz and de-assert the known chip selects. */
SPI_SETFREQUENCY(spi_sensors, 10000000);
SPI_SETBITS(spi_sensors, 8);
SPI_SETMODE(spi_sensors, SPIDEV_MODE3);
for (int cs = PX4_SENSORS_BUS_FIRST_CS; cs <= PX4_SENSORS_BUS_LAST_CS; cs++) {
SPI_SELECT(spi_sensors, cs, false);
}
/* Get the SPI port for the Memory */
spi_memory = stm32_spibus_initialize(PX4_SPI_BUS_MEMORY);
if (!spi_memory) {
PX4_ERR("[boot] FAILED to initialize SPI port %d\n", PX4_SPI_BUS_MEMORY);
return -ENODEV;
}
/* Default PX4_SPI_BUS_MEMORY to 12MHz and de-assert the known chip selects.
*/
SPI_SETFREQUENCY(spi_memory, 12 * 1000 * 1000);
SPI_SETBITS(spi_memory, 8);
SPI_SETMODE(spi_memory, SPIDEV_MODE3);
for (int cs = PX4_MEMORY_BUS_FIRST_CS; cs <= PX4_MEMORY_BUS_LAST_CS; cs++) {
SPI_SELECT(spi_memory, cs, false);
}
/* Get the SPI port for the BARO */
spi_baro = stm32_spibus_initialize(PX4_SPI_BUS_BARO);
if (!spi_baro) {
PX4_ERR("[boot] FAILED to initialize SPI port %d\n", PX4_SPI_BUS_BARO);
return -ENODEV;
}
/* MS5611 has max SPI clock speed of 20MHz
*/
SPI_SETFREQUENCY(spi_baro, 20 * 1000 * 1000);
SPI_SETBITS(spi_baro, 8);
SPI_SETMODE(spi_baro, SPIDEV_MODE3);
for (int cs = PX4_BARO_BUS_FIRST_CS; cs <= PX4_BARO_BUS_LAST_CS; cs++) {
SPI_SELECT(spi_baro, cs, false);
}
/* Get the SPI port for the PX4_SPI_EXTERNAL1 */
spi_ext = stm32_spibus_initialize(PX4_SPI_BUS_EXTERNAL1);
if (!spi_ext) {
PX4_ERR("[boot] FAILED to initialize SPI port %d\n", PX4_SPI_BUS_EXTERNAL1);
return -ENODEV;
}
SPI_SETFREQUENCY(spi_ext, 8 * 1000 * 1000);
SPI_SETBITS(spi_ext, 8);
SPI_SETMODE(spi_ext, SPIDEV_MODE3);
for (int cs = PX4_EXTERNAL1_BUS_FIRST_CS; cs <= PX4_EXTERNAL1_BUS_LAST_CS; cs++) {
SPI_SELECT(spi_ext, cs, false);
}
/* Get the SPI port for the PX4_SPI_EXTERNAL2 */
spi_ext = stm32_spibus_initialize(PX4_SPI_BUS_EXTERNAL2);
if (!spi_ext) {
PX4_ERR("[boot] FAILED to initialize SPI port %d\n", PX4_SPI_BUS_EXTERNAL2);
return -ENODEV;
}
SPI_SETFREQUENCY(spi_ext, 8 * 1000 * 1000);
SPI_SETBITS(spi_ext, 8);
SPI_SETMODE(spi_ext, SPIDEV_MODE3);
for (int cs = PX4_EXTERNAL2_BUS_FIRST_CS; cs <= PX4_EXTERNAL2_BUS_LAST_CS; cs++) {
SPI_SELECT(spi_ext, cs, false);
}
return OK;
}
/************************************************************************************
* Name: stm32_spi1select and stm32_spi1status
*
* Description:
* Called by stm32 spi driver on bus 1.
*
************************************************************************************/
__EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
{
/* SPI select is active low, so write !selected to select the device */
int sel = (int) devid;
ASSERT(PX4_SPI_BUS_ID(sel) == PX4_SPI_BUS_SENSORS);
/* Making sure the other peripherals are not selected */
for (size_t cs = 0; arraySize(spi1selects_gpio) > 1 && cs < arraySize(spi1selects_gpio); cs++) {
if (spi1selects_gpio[cs] != 0) {
stm32_gpiowrite(spi1selects_gpio[cs], 1);
}
}
uint32_t gpio = spi1selects_gpio[PX4_SPI_DEV_ID(sel)];
if (gpio) {
stm32_gpiowrite(gpio, !selected);
}
}
__EXPORT uint8_t stm32_spi1status(FAR struct spi_dev_s *dev, uint32_t devid)
{
return SPI_STATUS_PRESENT;
}
/************************************************************************************
* Name: stm32_spi2select and stm32_spi2status
*
* Description:
* Called by stm32 spi driver on bus 2.
*
************************************************************************************/
__EXPORT void stm32_spi2select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
{
/* SPI select is active low, so write !selected to select the device */
int sel = (int) devid;
if (devid == SPIDEV_FLASH(0)) {
sel = PX4_SPIDEV_MEMORY;
}
ASSERT(PX4_SPI_BUS_ID(sel) == PX4_SPI_BUS_MEMORY);
/* Making sure the other peripherals are not selected */
for (int cs = 0; arraySize(spi2selects_gpio) > 1 && cs < arraySize(spi2selects_gpio); cs++) {
if (spi2selects_gpio[cs] != 0) {
stm32_gpiowrite(spi2selects_gpio[cs], 1);
}
}
uint32_t gpio = spi2selects_gpio[PX4_SPI_DEV_ID(sel)];
if (gpio) {
stm32_gpiowrite(gpio, !selected);
}
}
__EXPORT uint8_t stm32_spi2status(FAR struct spi_dev_s *dev, uint32_t devid)
{
return SPI_STATUS_PRESENT;
}
/************************************************************************************
* Name: stm32_spi3select and stm32_spi2status
*
* Description:
* Called by stm32 spi driver on bus 3.
*
************************************************************************************/
#ifdef CONFIG_STM32F7_SPI3
__EXPORT void stm32_spi3select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
{
/* SPI select is active low, so write !selected to select the device */
int sel = (int) devid;
ASSERT(PX4_SPI_BUS_ID(sel) == FIXME);
/* Making sure the other peripherals are not selected */
for (int cs = 0; arraySize(spi3selects_gpio) > 1 && cs < arraySize(spi3selects_gpio); cs++) {
if (spi3selects_gpio[cs] != 0) {
stm32_gpiowrite(spi3selects_gpio[cs], 1);
}
}
uint32_t gpio = spi3selects_gpio[PX4_SPI_DEV_ID(sel)];
if (gpio) {
stm32_gpiowrite(gpio, !selected);
}
}
__EXPORT uint8_t stm32_spi3status(FAR struct spi_dev_s *dev, uint32_t devid)
{
return SPI_STATUS_PRESENT;
}
#endif
/************************************************************************************
* Name: stm32_spi4select and stm32_spi4status
*
* Description:
* Called by stm32 spi driver on bus 4.
*
************************************************************************************/
__EXPORT void stm32_spi4select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
{
int sel = (int) devid;
ASSERT(PX4_SPI_BUS_ID(sel) == PX4_SPI_BUS_BARO);
/* Making sure the other peripherals are not selected */
for (size_t cs = 0; arraySize(spi4selects_gpio) > 1 && cs < arraySize(spi4selects_gpio); cs++) {
stm32_gpiowrite(spi4selects_gpio[cs], 1);
}
uint32_t gpio = spi4selects_gpio[PX4_SPI_DEV_ID(sel)];
if (gpio) {
stm32_gpiowrite(gpio, !selected);
}
}
__EXPORT uint8_t stm32_spi4status(FAR struct spi_dev_s *dev, uint32_t devid)
{
return SPI_STATUS_PRESENT;
}
/************************************************************************************
* Name: stm32_spi5select and stm32_spi5status
*
* Description:
* Called by stm32 spi driver on bus 5.
*
************************************************************************************/
#ifdef CONFIG_STM32F7_SPI5
__EXPORT void stm32_spi5select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
{
/* SPI select is active low, so write !selected to select the device */
int sel = (int) devid;
ASSERT(PX4_SPI_BUS_ID(sel) == PX4_SPI_BUS_EXTERNAL1);
/* Making sure the other peripherals are not selected */
for (size_t cs = 0; arraySize(spi5selects_gpio) > 1 && cs < arraySize(spi5selects_gpio); cs++) {
stm32_gpiowrite(spi5selects_gpio[cs], 1);
}
uint32_t gpio = spi5selects_gpio[PX4_SPI_DEV_ID(sel)];
if (gpio) {
stm32_gpiowrite(gpio, !selected);
}
}
__EXPORT uint8_t stm32_spi5status(FAR struct spi_dev_s *dev, uint32_t devid)
{
return SPI_STATUS_PRESENT;
}
#endif
/************************************************************************************
* Name: stm32_spi6select and stm32_spi6status
*
* Description:
* Called by stm32 spi driver on bus 6.
*
************************************************************************************/
__EXPORT void stm32_spi6select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
{
/* SPI select is active low, so write !selected to select the device */
int sel = (int) devid;
ASSERT(PX4_SPI_BUS_ID(sel) == PX4_SPI_BUS_EXTERNAL2);
/* Making sure the other peripherals are not selected */
for (size_t cs = 0; arraySize(spi6selects_gpio) > 1 && cs < arraySize(spi6selects_gpio); cs++) {
stm32_gpiowrite(spi6selects_gpio[cs], 1);
}
uint32_t gpio = spi6selects_gpio[PX4_SPI_DEV_ID(sel)];
if (gpio) {
stm32_gpiowrite(gpio, !selected);
}
}
__EXPORT uint8_t stm32_spi6status(FAR struct spi_dev_s *dev, uint32_t devid)
{
return SPI_STATUS_PRESENT;
}
/************************************************************************************
* Name: board_spi_reset
*
* Description:
*
*
************************************************************************************/
__EXPORT void board_spi_reset(int ms)
{
/* disable SPI bus */
for (size_t cs = 0; arraySize(spi1selects_gpio) > 1 && cs < arraySize(spi1selects_gpio); cs++) {
if (spi1selects_gpio[cs] != 0) {
stm32_configgpio(_PIN_OFF(spi1selects_gpio[cs]));
}
}
stm32_configgpio(GPIO_SPI1_SCK_OFF);
stm32_configgpio(GPIO_SPI1_MISO_OFF);
stm32_configgpio(GPIO_SPI1_MOSI_OFF);
#if BOARD_USE_DRDY
stm32_configgpio(GPIO_DRDY_OFF_SPI1_DRDY1_ICM20689);
stm32_configgpio(GPIO_DRDY_OFF_SPI1_DRDY2_BMI055_GYRO);
stm32_configgpio(GPIO_DRDY_OFF_SPI1_DRDY3_BMI055_ACC);
stm32_configgpio(GPIO_DRDY_OFF_SPI1_DRDY4_ICM20602);
stm32_configgpio(GPIO_DRDY_OFF_SPI1_DRDY5_BMI055_GYRO);
stm32_configgpio(GPIO_DRDY_OFF_SPI1_DRDY6_BMI055_ACC);
#endif
/* set the sensor rail off */
stm32_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, 0);
/* wait for the sensor rail to reach GND */
usleep(ms * 1000);
syslog(LOG_DEBUG, "reset done, %d ms\n", ms);
/* re-enable power */
/* switch the sensor rail back on */
stm32_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, 1);
/* wait a bit before starting SPI, different times didn't influence results */
usleep(100);
/* reconfigure the SPI pins */
for (size_t cs = 0; arraySize(spi1selects_gpio) > 1 && cs < arraySize(spi1selects_gpio); cs++) {
if (spi1selects_gpio[cs] != 0) {
stm32_configgpio(spi1selects_gpio[cs]);
}
}
stm32_configgpio(GPIO_SPI1_SCK);
stm32_configgpio(GPIO_SPI1_MISO);
stm32_configgpio(GPIO_SPI1_MOSI);
#if BOARD_USE_DRDY
stm32_configgpio(GPIO_SPI1_DRDY1_ICM20689);
stm32_configgpio(GPIO_SPI1_DRDY2_BMI055_GYRO);
stm32_configgpio(GPIO_SPI1_DRDY3_BMI055_ACC);
stm32_configgpio(GPIO_SPI1_DRDY4_ICM20602);
stm32_configgpio(GPIO_SPI1_DRDY5_BMI055_GYRO);
stm32_configgpio(GPIO_SPI1_DRDY6_BMI055_ACC);
#endif
}
boards/px4/fmu-v5/src/spi.cpp
+321
View File
@@ -0,0 +1,321 @@
/****************************************************************************
*
* Copyright (C) 2012 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.
*
****************************************************************************/
/**
* @file px4fmu_spi.c
*
* Board-specific SPI functions.
*/
/************************************************************************************
* Included Files
************************************************************************************/
#include <board_config.h>
#include <stdint.h>
#include <stdbool.h>
#include <debug.h>
#include <unistd.h>
#include <nuttx/spi/spi.h>
#include <arch/board/board.h>
#include <systemlib/px4_macros.h>
#include <up_arch.h>
#include <chip.h>
#include <stm32_gpio.h>
#include "board_config.h"
/* Define CS GPIO array */
static constexpr uint32_t spi1selects_gpio[] = PX4_SENSOR_BUS_CS_GPIO;
static constexpr uint32_t spi2selects_gpio[] = PX4_MEMORY_BUS_CS_GPIO;
static constexpr uint32_t spi4selects_gpio[] = PX4_BARO_BUS_CS_GPIO;
static constexpr uint32_t spi5selects_gpio[] = PX4_EXTERNAL1_BUS_CS_GPIO;
static constexpr uint32_t spi6selects_gpio[] = PX4_EXTERNAL2_BUS_CS_GPIO;
/************************************************************************************
* Name: stm32_spiinitialize
*
* Description:
* Called to configure SPI chip select GPIO pins for the PX4FMU board.
*
************************************************************************************/
__EXPORT void stm32_spiinitialize()
{
#ifdef CONFIG_STM32F7_SPI1
for (auto gpio : spi1selects_gpio) {
px4_arch_configgpio(gpio);
}
#endif // CONFIG_STM32F7_SPI1
#if defined(CONFIG_STM32F7_SPI2)
for (auto gpio : spi2selects_gpio) {
px4_arch_configgpio(gpio);
}
#endif // CONFIG_STM32F7_SPI2
#ifdef CONFIG_STM32F7_SPI4
for (auto gpio : spi4selects_gpio) {
px4_arch_configgpio(gpio);
}
#endif // CONFIG_STM32F7_SPI4
#ifdef CONFIG_STM32F7_SPI5
for (auto gpio : spi5selects_gpio) {
px4_arch_configgpio(gpio);
}
#endif // CONFIG_STM32F7_SPI5
#ifdef CONFIG_STM32F7_SPI6
for (auto gpio : spi6selects_gpio) {
px4_arch_configgpio(gpio);
}
#endif // CONFIG_STM32F7_SPI6
}
/************************************************************************************
* Name: stm32_spi1select and stm32_spi1status
*
* Description:
* Called by stm32 spi driver on bus 1.
*
************************************************************************************/
#ifdef CONFIG_STM32F7_SPI1
__EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
{
ASSERT(PX4_SPI_BUS_ID(devid) == PX4_SPI_BUS_SENSORS);
// Making sure the other peripherals are not selected
for (auto cs : spi1selects_gpio) {
stm32_gpiowrite(cs, 1);
}
// SPI select is active low, so write !selected to select the device
stm32_gpiowrite(spi1selects_gpio[PX4_SPI_DEV_ID(devid)], !selected);
}
__EXPORT uint8_t stm32_spi1status(FAR struct spi_dev_s *dev, uint32_t devid)
{
return SPI_STATUS_PRESENT;
}
#endif // CONFIG_STM32F7_SPI1
/************************************************************************************
* Name: stm32_spi2select and stm32_spi2status
*
* Description:
* Called by stm32 spi driver on bus 2.
*
************************************************************************************/
#if defined(CONFIG_STM32F7_SPI2)
__EXPORT void stm32_spi2select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
{
if (devid == SPIDEV_FLASH(0)) {
devid = PX4_SPIDEV_MEMORY;
}
ASSERT(PX4_SPI_BUS_ID(devid) == PX4_SPI_BUS_MEMORY);
// Making sure the other peripherals are not selected
for (auto cs : spi2selects_gpio) {
stm32_gpiowrite(cs, 1);
}
// SPI select is active low, so write !selected to select the device
stm32_gpiowrite(spi2selects_gpio[PX4_SPI_DEV_ID(devid)], !selected);
}
__EXPORT uint8_t stm32_spi2status(FAR struct spi_dev_s *dev, uint32_t devid)
{
return SPI_STATUS_PRESENT;
}
#endif // CONFIG_STM32F7_SPI2 && GPIO_SPI2_CS_FRAM
/************************************************************************************
* Name: stm32_spi4select and stm32_spi4status
*
* Description:
* Called by stm32 spi driver on bus 4.
*
************************************************************************************/
#ifdef CONFIG_STM32F7_SPI4
__EXPORT void stm32_spi4select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
{
ASSERT(PX4_SPI_BUS_ID(devid) == PX4_SPI_BUS_BARO);
// Making sure the other peripherals are not selected
for (auto cs : spi4selects_gpio) {
stm32_gpiowrite(cs, 1);
}
// SPI select is active low, so write !selected to select the device
stm32_gpiowrite(spi4selects_gpio[PX4_SPI_DEV_ID(devid)], !selected);
}
__EXPORT uint8_t stm32_spi4status(FAR struct spi_dev_s *dev, uint32_t devid)
{
return SPI_STATUS_PRESENT;
}
#endif // CONFIG_STM32F7_SPI4
/************************************************************************************
* Name: stm32_spi5select and stm32_spi5status
*
* Description:
* Called by stm32 spi driver on bus 5.
*
************************************************************************************/
#ifdef CONFIG_STM32F7_SPI5
__EXPORT void stm32_spi5select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
{
ASSERT(PX4_SPI_BUS_ID(devid) == PX4_SPI_BUS_EXTERNAL1);
// Making sure the other peripherals are not selected
for (auto cs : spi5selects_gpio) {
stm32_gpiowrite(cs, 1);
}
// SPI select is active low, so write !selected to select the device
stm32_gpiowrite(spi5selects_gpio[PX4_SPI_DEV_ID(devid)], !selected);
}
__EXPORT uint8_t stm32_spi5status(FAR struct spi_dev_s *dev, uint32_t devid)
{
return SPI_STATUS_PRESENT;
}
#endif // CONFIG_STM32F7_SPI5
/************************************************************************************
* Name: stm32_spi6select and stm32_spi6status
*
* Description:
* Called by stm32 spi driver on bus 6.
*
************************************************************************************/
#ifdef CONFIG_STM32F7_SPI6
__EXPORT void stm32_spi6select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
{
ASSERT(PX4_SPI_BUS_ID(devid) == PX4_SPI_BUS_EXTERNAL2);
// Making sure the other peripherals are not selected
for (auto cs : spi6selects_gpio) {
stm32_gpiowrite(cs, 1);
}
// SPI select is active low, so write !selected to select the device
stm32_gpiowrite(spi6selects_gpio[PX4_SPI_DEV_ID(devid)], !selected);
}
__EXPORT uint8_t stm32_spi6status(FAR struct spi_dev_s *dev, uint32_t devid)
{
return SPI_STATUS_PRESENT;
}
#endif // CONFIG_STM32F7_SPI6
/************************************************************************************
* Name: board_spi_reset
*
* Description:
*
*
************************************************************************************/
__EXPORT void board_spi_reset(int ms)
{
// disable SPI bus
for (auto cs : spi1selects_gpio) {
stm32_configgpio(_PIN_OFF(cs));
}
stm32_configgpio(GPIO_SPI1_SCK_OFF);
stm32_configgpio(GPIO_SPI1_MISO_OFF);
stm32_configgpio(GPIO_SPI1_MOSI_OFF);
#if BOARD_USE_DRDY
stm32_configgpio(GPIO_DRDY_OFF_SPI1_DRDY1_ICM20689);
stm32_configgpio(GPIO_DRDY_OFF_SPI1_DRDY2_BMI055_GYRO);
stm32_configgpio(GPIO_DRDY_OFF_SPI1_DRDY3_BMI055_ACC);
stm32_configgpio(GPIO_DRDY_OFF_SPI1_DRDY4_ICM20602);
stm32_configgpio(GPIO_DRDY_OFF_SPI1_DRDY5_BMI055_GYRO);
stm32_configgpio(GPIO_DRDY_OFF_SPI1_DRDY6_BMI055_ACC);
#endif
/* set the sensor rail off */
stm32_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, 0);
/* wait for the sensor rail to reach GND */
usleep(ms * 1000);
syslog(LOG_DEBUG, "reset done, %d ms\n", ms);
/* re-enable power */
/* switch the sensor rail back on */
stm32_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, 1);
/* wait a bit before starting SPI, different times didn't influence results */
usleep(100);
/* reconfigure the SPI pins */
for (auto cs : spi1selects_gpio) {
stm32_configgpio(cs);
}
stm32_configgpio(GPIO_SPI1_SCK);
stm32_configgpio(GPIO_SPI1_MISO);
stm32_configgpio(GPIO_SPI1_MOSI);
#if BOARD_USE_DRDY
stm32_configgpio(GPIO_SPI1_DRDY1_ICM20689);
stm32_configgpio(GPIO_SPI1_DRDY2_BMI055_GYRO);
stm32_configgpio(GPIO_SPI1_DRDY3_BMI055_ACC);
stm32_configgpio(GPIO_SPI1_DRDY4_ICM20602);
stm32_configgpio(GPIO_SPI1_DRDY5_BMI055_GYRO);
stm32_configgpio(GPIO_SPI1_DRDY6_BMI055_ACC);
#endif
}
boards/px4/fmu-v5/stackcheck.cmake
+12 -11
View File
@@ -20,37 +20,36 @@ px4_add_board(
DRIVERS DRIVERS
barometer # all available barometer drivers barometer # all available barometer drivers
batt_smbus batt_smbus
lights/blinkm
camera_trigger camera_trigger
differential_pressure # all available differential pressure drivers differential_pressure # all available differential pressure drivers
distance_sensor # all available distance sensor drivers distance_sensor # all available distance sensor drivers
gps gps
#heater #heater
#imu # all available imu drivers
imu/adis16448 imu/adis16448
#imu # all available imu drivers
imu/bmi055 imu/bmi055
#imu/bmi160
#imu/bma180
imu/mpu6000 imu/mpu6000
#imu/mpu9250 imu/mpu9250
irlock imu/icm20948
#irlock
#lights/blinkm
#lights/oreoled
lights/rgbled
#lights/rgbled_ncp5623c
lights/rgbled_pwm
magnetometer # all available magnetometer drivers magnetometer # all available magnetometer drivers
#md25 #md25
mkblctrl mkblctrl
lights/oreoled
lights/pca8574 lights/pca8574
pca9685 pca9685
pmw3901 pmw3901
protocol_splitter #protocol_splitter
pwm_input pwm_input
pwm_out_sim pwm_out_sim
px4flow px4flow
px4fmu px4fmu
px4io px4io
rc_input rc_input
lights/rgbled
lights/rgbled_ncp5623c
lights/rgbled_pwm
roboclaw roboclaw
stm32 stm32
stm32/adc stm32/adc
@@ -80,6 +79,7 @@ px4_add_board(
mavlink mavlink
mc_att_control mc_att_control
mc_pos_control mc_pos_control
#micrortps_bridge
navigator navigator
sensors sensors
vmount vmount
@@ -118,6 +118,7 @@ px4_add_board(
#hello #hello
#hwtest # Hardware test #hwtest # Hardware test
#matlab_csv_serial #matlab_csv_serial
#position_estimator_inav
#px4_mavlink_debug # Tutorial code from https://px4.io/dev/debug_values #px4_mavlink_debug # Tutorial code from https://px4.io/dev/debug_values
#px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app #px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
#rover_steering_control # Rover example app #rover_steering_control # Rover example app