mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-11-01 02:21:35 +08:00
boards: add new spi+i2c config
Chip-select and SPI initialization uses the new config, whereas the drivers still use the existing defines. The configuration in board_config.h can be removed after all drivers are updated.
This commit is contained in:
Beat Küng
@@ -16,6 +16,7 @@ ms4525_airspeed -T 4515 -b 3 start
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if ! param greater SENS_EN_PMW3901 0
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then
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# try to start adis16497 only if pmw3901 isn't enabled, or parameter doesn't exists
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# TODO: this one is external SPI
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adis16497 start
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fi
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@@ -32,6 +32,7 @@
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############################################################################
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add_library(drivers_board
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i2c.cpp
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init.c
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sdio.c
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spi.cpp
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@@ -40,6 +41,7 @@ add_library(drivers_board
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target_link_libraries(drivers_board
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PRIVATE
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arch_spi
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drivers__led # drv_led_start
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nuttx_arch # sdio
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nuttx_drivers # sdio
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@@ -123,21 +123,22 @@
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#define _PIN_OFF(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz))
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#include <drivers/drv_sensor.h>
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/* SPI1 */
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#define PX4_SPIDEV_ADIS16477 PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSOR1,0)
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#define PX4_SPIDEV_ADIS16477 PX4_MK_SPI_SEL(0,DRV_GYR_DEVTYPE_ADIS16477)
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#define PX4_SENSOR1_BUS_CS_GPIO {GPIO_SPI1_CS1_ADIS16477}
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/* SPI2 */
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#define PX4_SPIDEV_EXTERNAL1_1 PX4_MK_SPI_SEL(PX4_SPI_BUS_EXTERNAL1,0)
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#define PX4_SPIDEV_EXTERNAL1_1 PX4_MK_SPI_SEL(0,0)
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#define PX4_EXTERNAL1_BUS_CS_GPIO {SPI2_CS1_EXTERNAL1}
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/* SPI4 */
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#define PX4_SPIDEV_LPS22HB PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSOR4,0)
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#define PX4_SPIDEV_LPS22HB PX4_MK_SPI_SEL(0,DRV_BARO_DEVTYPE_LPS22HB)
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#define PX4_SENSOR4_BUS_CS_GPIO {GPIO_SPI4_CS1_LPS22HB}
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/* SPI5 */
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#define PX4_SPIDEV_LSM303A_M PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSOR5,0)
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#define PX4_SPIDEV_LSM303A_X PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSOR5,1)
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#define PX4_SPIDEV_LSM303A_M PX4_MK_SPI_SEL(0,DRV_MAG_DEVTYPE_LSM303AGR)
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#define PX4_SPIDEV_LSM303A_X PX4_MK_SPI_SEL(0,DRV_ACC_DEVTYPE_LSM303AGR)
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#define PX4_SENSOR5_BUS_CS_GPIO {GPIO_SPI5_CS1_LSM303A_M, GPIO_SPI5_CS1_LSM303A_X}
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/* I2C busses */
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@@ -287,7 +288,6 @@ int stm32_sdio_initialize(void);
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extern void stm32_spiinitialize(void);
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void board_spi_reset(int ms);
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#define board_peripheral_reset(ms)
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@@ -0,0 +1,41 @@
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/****************************************************************************
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*
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* Copyright (C) 2020 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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#include <px4_arch/i2c_hw_description.h>
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constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
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initI2CBusExternal(2),
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initI2CBusInternal(3),
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initI2CBusExternal(4),
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};
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+18
-299
@@ -31,306 +31,25 @@
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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 <board_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 <unistd.h>
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#include <px4_arch/spi_hw_description.h>
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#include <drivers/drv_sensor.h>
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#include <nuttx/spi/spi.h>
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#include <arch/board/board.h>
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#include <systemlib/px4_macros.h>
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#include <up_arch.h>
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#include <chip.h>
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#include <stm32_gpio.h>
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constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
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initSPIBus(1, {
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initSPIDevice(DRV_GYR_DEVTYPE_ADIS16477, SPI::CS{GPIO::PortG, GPIO::Pin10}, SPI::DRDY{GPIO::PortJ, GPIO::Pin0}),
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}),
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initSPIBusExternal(2, {
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initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin0}),
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}),
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initSPIBus(4, {
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initSPIDevice(DRV_BARO_DEVTYPE_LPS22HB, SPI::CS{GPIO::PortE, GPIO::Pin4}, SPI::DRDY{GPIO::PortK, GPIO::Pin1}),
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}),
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initSPIBus(5, {
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initSPIDevice(DRV_MAG_DEVTYPE_LSM303AGR, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortK, GPIO::Pin7}),
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initSPIDevice(DRV_ACC_DEVTYPE_LSM303AGR, SPI::CS{GPIO::PortB, GPIO::Pin0}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}),
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}),
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};
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/* Define CS GPIO array */
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static constexpr uint32_t spi1selects_gpio[] = PX4_SENSOR1_BUS_CS_GPIO;
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static constexpr uint32_t spi2selects_gpio[] = PX4_EXTERNAL1_BUS_CS_GPIO;
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static constexpr uint32_t spi4selects_gpio[] = PX4_SENSOR4_BUS_CS_GPIO;
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static constexpr uint32_t spi5selects_gpio[] = PX4_SENSOR5_BUS_CS_GPIO;
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static constexpr bool unused = validateSPIConfig(px4_spi_buses);
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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 stm32_spiinitialize()
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{
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#ifdef CONFIG_STM32F7_SPI1
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for (auto gpio : spi1selects_gpio) {
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px4_arch_configgpio(gpio);
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}
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#endif // CONFIG_STM32F7_SPI1
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#if defined(CONFIG_STM32F7_SPI2)
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for (auto gpio : spi2selects_gpio) {
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px4_arch_configgpio(gpio);
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}
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#endif // CONFIG_STM32F7_SPI2
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#ifdef CONFIG_STM32F7_SPI4
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for (auto gpio : spi4selects_gpio) {
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px4_arch_configgpio(gpio);
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}
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#endif // CONFIG_STM32F7_SPI4
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#ifdef CONFIG_STM32F7_SPI5
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for (auto gpio : spi5selects_gpio) {
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px4_arch_configgpio(gpio);
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}
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#endif // CONFIG_STM32F7_SPI5
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}
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/************************************************************************************
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* Name: stm32_spi1select and stm32_spi1status
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*
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* Description:
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* Called by stm32 spi driver on bus 1.
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*
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************************************************************************************/
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#ifdef CONFIG_STM32F7_SPI1
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__EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
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{
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ASSERT(PX4_SPI_BUS_ID(devid) == PX4_SPI_BUS_SENSOR1);
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// Making sure the other peripherals are not selected
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for (auto cs : spi1selects_gpio) {
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stm32_gpiowrite(cs, 1);
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}
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// SPI select is active low, so write !selected to select the device
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stm32_gpiowrite(spi1selects_gpio[PX4_SPI_DEV_ID(devid)], !selected);
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}
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__EXPORT uint8_t stm32_spi1status(FAR struct spi_dev_s *dev, uint32_t devid)
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{
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return SPI_STATUS_PRESENT;
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}
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#endif // CONFIG_STM32F7_SPI1
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/************************************************************************************
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* Name: stm32_spi2select and stm32_spi2status
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*
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* Description:
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* Called by stm32 spi driver on bus 2.
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*
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************************************************************************************/
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#if defined(CONFIG_STM32F7_SPI2)
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__EXPORT void stm32_spi2select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
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{
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ASSERT(PX4_SPI_BUS_ID(devid) == PX4_SPI_BUS_EXTERNAL1);
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// Making sure the other peripherals are not selected
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for (auto cs : spi2selects_gpio) {
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stm32_gpiowrite(cs, 1);
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}
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// SPI select is active low, so write !selected to select the device
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stm32_gpiowrite(spi2selects_gpio[PX4_SPI_DEV_ID(devid)], !selected);
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}
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__EXPORT uint8_t stm32_spi2status(FAR struct spi_dev_s *dev, uint32_t devid)
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{
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return SPI_STATUS_PRESENT;
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}
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#endif // CONFIG_STM32F7_SPI2
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/************************************************************************************
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* Name: stm32_spi4select and stm32_spi4status
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*
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* Description:
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* Called by stm32 spi driver on bus 4.
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*
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************************************************************************************/
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#ifdef CONFIG_STM32F7_SPI4
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__EXPORT void stm32_spi4select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
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{
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ASSERT(PX4_SPI_BUS_ID(devid) == PX4_SPI_BUS_SENSOR4);
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// Making sure the other peripherals are not selected
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for (auto cs : spi4selects_gpio) {
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stm32_gpiowrite(cs, 1);
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}
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// SPI select is active low, so write !selected to select the device
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stm32_gpiowrite(spi4selects_gpio[PX4_SPI_DEV_ID(devid)], !selected);
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}
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__EXPORT uint8_t stm32_spi4status(FAR struct spi_dev_s *dev, uint32_t devid)
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{
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return SPI_STATUS_PRESENT;
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}
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#endif // CONFIG_STM32F7_SPI4
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/************************************************************************************
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* Name: stm32_spi5select and stm32_spi5status
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*
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* Description:
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* Called by stm32 spi driver on bus 5.
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*
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************************************************************************************/
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#ifdef CONFIG_STM32F7_SPI5
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__EXPORT void stm32_spi5select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
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{
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ASSERT(PX4_SPI_BUS_ID(devid) == PX4_SPI_BUS_SENSOR5);
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// Making sure the other peripherals are not selected
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for (auto cs : spi5selects_gpio) {
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stm32_gpiowrite(cs, 1);
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}
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// SPI select is active low, so write !selected to select the device
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stm32_gpiowrite(spi5selects_gpio[PX4_SPI_DEV_ID(devid)], !selected);
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}
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__EXPORT uint8_t stm32_spi5status(FAR struct spi_dev_s *dev, uint32_t devid)
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{
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return SPI_STATUS_PRESENT;
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}
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#endif // CONFIG_STM32F7_SPI5
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/************************************************************************************
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* Name: board_spi_reset
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*
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* Description:
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*
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*
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************************************************************************************/
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__EXPORT void board_spi_reset(int ms)
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{
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#ifdef CONFIG_STM32F7_SPI1
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// disable SPI1
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for (auto cs : spi1selects_gpio) {
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stm32_configgpio(_PIN_OFF(cs));
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}
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stm32_configgpio(GPIO_SPI1_SCK_OFF);
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stm32_configgpio(GPIO_SPI1_MISO_OFF);
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stm32_configgpio(GPIO_SPI1_MOSI_OFF);
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#endif // CONFIG_STM32F7_SPI1
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#ifdef CONFIG_STM32F7_SPI2
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// disable SPI2
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for (auto cs : spi2selects_gpio) {
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stm32_configgpio(_PIN_OFF(cs));
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}
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stm32_configgpio(GPIO_SPI2_SCK_OFF);
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stm32_configgpio(GPIO_SPI2_MISO_OFF);
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stm32_configgpio(GPIO_SPI2_MOSI_OFF);
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#endif // CONFIG_STM32F7_SPI2
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#ifdef CONFIG_STM32F7_SPI4
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// disable SPI4
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for (auto cs : spi4selects_gpio) {
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stm32_configgpio(_PIN_OFF(cs));
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}
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stm32_configgpio(GPIO_SPI4_SCK_OFF);
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stm32_configgpio(GPIO_SPI4_MISO_OFF);
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stm32_configgpio(GPIO_SPI4_MOSI_OFF);
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#endif // CONFIG_STM32F7_SPI4
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#ifdef CONFIG_STM32F7_SPI5
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// disable SPI5
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for (auto cs : spi5selects_gpio) {
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stm32_configgpio(_PIN_OFF(cs));
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}
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stm32_configgpio(GPIO_SPI5_SCK_OFF);
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stm32_configgpio(GPIO_SPI5_MISO_OFF);
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stm32_configgpio(GPIO_SPI5_MOSI_OFF);
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#endif // CONFIG_STM32F7_SPI5
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/* wait for the sensor rail to reach GND */
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usleep(ms * 1000);
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syslog(LOG_DEBUG, "reset done, %d ms\n", ms);
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/* re-enable power */
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/* wait a bit before starting SPI, different times didn't influence results */
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usleep(100);
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/* reconfigure the SPI pins */
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#ifdef CONFIG_STM32F7_SPI1
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// re-enable SPI1
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for (auto cs : spi1selects_gpio) {
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stm32_configgpio(cs);
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}
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stm32_configgpio(GPIO_SPI1_SCK);
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stm32_configgpio(GPIO_SPI1_MISO);
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stm32_configgpio(GPIO_SPI1_MOSI);
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#endif // CONFIG_STM32F7_SPI1
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#ifdef CONFIG_STM32F7_SPI2
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// re-enable SPI2
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for (auto cs : spi2selects_gpio) {
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stm32_configgpio(cs);
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}
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stm32_configgpio(GPIO_SPI2_SCK);
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stm32_configgpio(GPIO_SPI2_MISO);
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stm32_configgpio(GPIO_SPI2_MOSI);
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#endif // CONFIG_STM32F7_SPI2
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#ifdef CONFIG_STM32F7_SPI4
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// re-enable SPI4
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for (auto cs : spi4selects_gpio) {
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stm32_configgpio(cs);
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}
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stm32_configgpio(GPIO_SPI4_SCK);
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stm32_configgpio(GPIO_SPI4_MISO);
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stm32_configgpio(GPIO_SPI4_MOSI);
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#endif // CONFIG_STM32F7_SPI4
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#ifdef CONFIG_STM32F7_SPI5
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// re-enable SPI5
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for (auto cs : spi5selects_gpio) {
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stm32_configgpio(cs);
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}
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stm32_configgpio(GPIO_SPI5_SCK);
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stm32_configgpio(GPIO_SPI5_MISO);
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stm32_configgpio(GPIO_SPI5_MOSI);
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#endif // CONFIG_STM32F7_SPI5
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}
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