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Bring up BMI160 for px4fmu-v4 targets

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This commit is contained in:
Michael Schaeuble 2016-12-01 18:45:26 +01:00 committed by Lorenz Meier
parent 126172d70c
commit 10867131fa
3 changed files with 26 additions and 0 deletions
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5
ROMFS/px4fmu_common/init.d/rc.sensors
View File

@ -187,6 +187,11 @@ then
if mpu9250 -R 2 start
then
fi
# Internal SPI bus BMI160
if bmi160 start
then
fi
fi
if ver hwcmp PX4FMU_V1

2
src/drivers/boards/px4fmu-v4/board_config.h
View File

@ -84,6 +84,7 @@
#define GPIO_SPI_CS_LIS3MDL (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN15)
#define GPIO_SPI_CS_MS5611 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN7)
#define GPIO_SPI_CS_ICM_20608_G (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN15)
#define GPIO_SPI_CS_BMI160 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN2)
#define GPIO_SPI_CS_FRAM (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN10)
@ -106,6 +107,7 @@
#define GPIO_SPI_CS_OFF_LIS3MDL _PIN_OFF(GPIO_SPI_CS_LIS3MDL)
#define GPIO_SPI_CS_OFF_MS5611 _PIN_OFF(GPIO_SPI_CS_MS5611)
#define GPIO_SPI_CS_OFF_ICM_20608_G _PIN_OFF(GPIO_SPI_CS_ICM_20608_G)
#define GPIO_SPI_CS_OFF_BMI160 _PIN_OFF(GPIO_SPI_CS_BMI160)
#define GPIO_DRDY_OFF_MPU9250 _PIN_OFF(GPIO_DRDY_MPU9250)
#define GPIO_DRDY_OFF_HMC5983 _PIN_OFF(GPIO_DRDY_HMC5983)

19
src/drivers/boards/px4fmu-v4/px4fmu_spi.c
View File

@ -76,6 +76,7 @@ __EXPORT void stm32_spiinitialize(void)
px4_arch_configgpio(GPIO_SPI_CS_HMC5983);
px4_arch_configgpio(GPIO_SPI_CS_MS5611);
px4_arch_configgpio(GPIO_SPI_CS_ICM_20608_G);
px4_arch_configgpio(GPIO_SPI_CS_BMI160);
/* De-activate all peripherals,
* required for some peripheral
@ -85,6 +86,7 @@ __EXPORT void stm32_spiinitialize(void)
px4_arch_gpiowrite(GPIO_SPI_CS_HMC5983, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_MS5611, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_ICM_20608_G, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_BMI160, 1);
px4_arch_configgpio(GPIO_DRDY_MPU9250);
px4_arch_configgpio(GPIO_DRDY_HMC5983);
@ -105,6 +107,7 @@ __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid,
switch (devid) {
case PX4_SPIDEV_ICM:
/* Making sure the other peripherals are not selected */
px4_arch_gpiowrite(GPIO_SPI_CS_BMI160, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_MPU9250, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_HMC5983, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_MS5611, 1);
@ -117,6 +120,7 @@ __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid,
case PX4_SPIDEV_BARO:
/* Making sure the other peripherals are not selected */
px4_arch_gpiowrite(GPIO_SPI_CS_BMI160, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_MPU9250, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_HMC5983, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_MS5611, !selected);
@ -125,6 +129,7 @@ __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid,
case PX4_SPIDEV_HMC:
/* Making sure the other peripherals are not selected */
px4_arch_gpiowrite(GPIO_SPI_CS_BMI160, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_MPU9250, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_HMC5983, !selected);
px4_arch_gpiowrite(GPIO_SPI_CS_MS5611, 1);
@ -133,12 +138,22 @@ __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid,
case PX4_SPIDEV_MPU:
/* Making sure the other peripherals are not selected */
px4_arch_gpiowrite(GPIO_SPI_CS_BMI160, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_MPU9250, !selected);
px4_arch_gpiowrite(GPIO_SPI_CS_HMC5983, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_MS5611, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_ICM_20608_G, 1);
break;
case PX4_SPIDEV_BMI:
/* Making sure the other peripherals are not selected */
px4_arch_gpiowrite(GPIO_SPI_CS_MPU9250, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_HMC5983, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_MS5611, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_ICM_20608_G, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_BMI160, !selected);
break;
default:
break;
}
@ -187,11 +202,13 @@ __EXPORT void board_spi_reset(int ms)
px4_arch_configgpio(GPIO_SPI_CS_OFF_HMC5983);
px4_arch_configgpio(GPIO_SPI_CS_OFF_MS5611);
px4_arch_configgpio(GPIO_SPI_CS_OFF_ICM_20608_G);
px4_arch_configgpio(GPIO_SPI_CS_OFF_BMI160);
px4_arch_gpiowrite(GPIO_SPI_CS_OFF_MPU9250, 0);
px4_arch_gpiowrite(GPIO_SPI_CS_OFF_HMC5983, 0);
px4_arch_gpiowrite(GPIO_SPI_CS_OFF_MS5611, 0);
px4_arch_gpiowrite(GPIO_SPI_CS_OFF_ICM_20608_G, 0);
px4_arch_gpiowrite(GPIO_SPI_CS_OFF_BMI160, 0);
px4_arch_configgpio(GPIO_SPI1_SCK_OFF);
px4_arch_configgpio(GPIO_SPI1_MISO_OFF);
@ -231,6 +248,7 @@ __EXPORT void board_spi_reset(int ms)
px4_arch_configgpio(GPIO_SPI_CS_HMC5983);
px4_arch_configgpio(GPIO_SPI_CS_MS5611);
px4_arch_configgpio(GPIO_SPI_CS_ICM_20608_G);
px4_arch_configgpio(GPIO_SPI_CS_BMI160);
/* De-activate all peripherals,
* required for some peripheral
@ -240,6 +258,7 @@ __EXPORT void board_spi_reset(int ms)
px4_arch_gpiowrite(GPIO_SPI_CS_HMC5983, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_MS5611, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_ICM_20608_G, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_BMI160, 1);
px4_arch_configgpio(GPIO_SPI1_SCK);
px4_arch_configgpio(GPIO_SPI1_MISO);