mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-31 12:01:36 +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
|
||||
if ! param greater SENS_EN_PMW3901 0
|
||||
then
|
||||
# try to start adis16497 only if pmw3901 isn't enabled, or parameter doesn't exists
|
||||
# TODO: this one is external SPI
|
||||
adis16497 start
|
||||
fi
|
||||
|
||||
|
||||
@@ -32,6 +32,7 @@
|
||||
############################################################################
|
||||
|
||||
add_library(drivers_board
|
||||
i2c.cpp
|
||||
init.c
|
||||
sdio.c
|
||||
spi.cpp
|
||||
@@ -40,6 +41,7 @@ add_library(drivers_board
|
||||
|
||||
target_link_libraries(drivers_board
|
||||
PRIVATE
|
||||
arch_spi
|
||||
drivers__led # drv_led_start
|
||||
nuttx_arch # sdio
|
||||
nuttx_drivers # sdio
|
||||
|
||||
@@ -123,21 +123,22 @@
|
||||
#define _PIN_OFF(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz))
|
||||
|
||||
|
||||
#include <drivers/drv_sensor.h>
|
||||
/* SPI1 */
|
||||
#define PX4_SPIDEV_ADIS16477 PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSOR1,0)
|
||||
#define PX4_SPIDEV_ADIS16477 PX4_MK_SPI_SEL(0,DRV_GYR_DEVTYPE_ADIS16477)
|
||||
#define PX4_SENSOR1_BUS_CS_GPIO {GPIO_SPI1_CS1_ADIS16477}
|
||||
|
||||
/* SPI2 */
|
||||
#define PX4_SPIDEV_EXTERNAL1_1 PX4_MK_SPI_SEL(PX4_SPI_BUS_EXTERNAL1,0)
|
||||
#define PX4_SPIDEV_EXTERNAL1_1 PX4_MK_SPI_SEL(0,0)
|
||||
#define PX4_EXTERNAL1_BUS_CS_GPIO {SPI2_CS1_EXTERNAL1}
|
||||
|
||||
/* SPI4 */
|
||||
#define PX4_SPIDEV_LPS22HB PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSOR4,0)
|
||||
#define PX4_SPIDEV_LPS22HB PX4_MK_SPI_SEL(0,DRV_BARO_DEVTYPE_LPS22HB)
|
||||
#define PX4_SENSOR4_BUS_CS_GPIO {GPIO_SPI4_CS1_LPS22HB}
|
||||
|
||||
/* SPI5 */
|
||||
#define PX4_SPIDEV_LSM303A_M PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSOR5,0)
|
||||
#define PX4_SPIDEV_LSM303A_X PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSOR5,1)
|
||||
#define PX4_SPIDEV_LSM303A_M PX4_MK_SPI_SEL(0,DRV_MAG_DEVTYPE_LSM303AGR)
|
||||
#define PX4_SPIDEV_LSM303A_X PX4_MK_SPI_SEL(0,DRV_ACC_DEVTYPE_LSM303AGR)
|
||||
#define PX4_SENSOR5_BUS_CS_GPIO {GPIO_SPI5_CS1_LSM303A_M, GPIO_SPI5_CS1_LSM303A_X}
|
||||
|
||||
/* I2C busses */
|
||||
@@ -287,7 +288,6 @@ int stm32_sdio_initialize(void);
|
||||
|
||||
extern void stm32_spiinitialize(void);
|
||||
|
||||
void board_spi_reset(int ms);
|
||||
#define board_peripheral_reset(ms)
|
||||
|
||||
|
||||
|
||||
@@ -0,0 +1,41 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2020 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#include <px4_arch/i2c_hw_description.h>
|
||||
|
||||
constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
|
||||
initI2CBusExternal(2),
|
||||
initI2CBusInternal(3),
|
||||
initI2CBusExternal(4),
|
||||
};
|
||||
|
||||
+18
-299
@@ -31,306 +31,25 @@
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @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 <px4_arch/spi_hw_description.h>
|
||||
#include <drivers/drv_sensor.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>
|
||||
constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
|
||||
initSPIBus(1, {
|
||||
initSPIDevice(DRV_GYR_DEVTYPE_ADIS16477, SPI::CS{GPIO::PortG, GPIO::Pin10}, SPI::DRDY{GPIO::PortJ, GPIO::Pin0}),
|
||||
}),
|
||||
initSPIBusExternal(2, {
|
||||
initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin0}),
|
||||
}),
|
||||
initSPIBus(4, {
|
||||
initSPIDevice(DRV_BARO_DEVTYPE_LPS22HB, SPI::CS{GPIO::PortE, GPIO::Pin4}, SPI::DRDY{GPIO::PortK, GPIO::Pin1}),
|
||||
}),
|
||||
initSPIBus(5, {
|
||||
initSPIDevice(DRV_MAG_DEVTYPE_LSM303AGR, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortK, GPIO::Pin7}),
|
||||
initSPIDevice(DRV_ACC_DEVTYPE_LSM303AGR, SPI::CS{GPIO::PortB, GPIO::Pin0}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}),
|
||||
}),
|
||||
};
|
||||
|
||||
/* Define CS GPIO array */
|
||||
static constexpr uint32_t spi1selects_gpio[] = PX4_SENSOR1_BUS_CS_GPIO;
|
||||
static constexpr uint32_t spi2selects_gpio[] = PX4_EXTERNAL1_BUS_CS_GPIO;
|
||||
static constexpr uint32_t spi4selects_gpio[] = PX4_SENSOR4_BUS_CS_GPIO;
|
||||
static constexpr uint32_t spi5selects_gpio[] = PX4_SENSOR5_BUS_CS_GPIO;
|
||||
static constexpr bool unused = validateSPIConfig(px4_spi_buses);
|
||||
|
||||
/************************************************************************************
|
||||
* 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
|
||||
}
|
||||
|
||||
/************************************************************************************
|
||||
* 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_SENSOR1);
|
||||
|
||||
// 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)
|
||||
{
|
||||
ASSERT(PX4_SPI_BUS_ID(devid) == PX4_SPI_BUS_EXTERNAL1);
|
||||
|
||||
// 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
|
||||
|
||||
/************************************************************************************
|
||||
* 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_SENSOR4);
|
||||
|
||||
// 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_SENSOR5);
|
||||
|
||||
// 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: board_spi_reset
|
||||
*
|
||||
* Description:
|
||||
*
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
__EXPORT void board_spi_reset(int ms)
|
||||
{
|
||||
#ifdef CONFIG_STM32F7_SPI1
|
||||
|
||||
// disable SPI1
|
||||
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);
|
||||
#endif // CONFIG_STM32F7_SPI1
|
||||
|
||||
#ifdef CONFIG_STM32F7_SPI2
|
||||
|
||||
// disable SPI2
|
||||
for (auto cs : spi2selects_gpio) {
|
||||
stm32_configgpio(_PIN_OFF(cs));
|
||||
}
|
||||
|
||||
stm32_configgpio(GPIO_SPI2_SCK_OFF);
|
||||
stm32_configgpio(GPIO_SPI2_MISO_OFF);
|
||||
stm32_configgpio(GPIO_SPI2_MOSI_OFF);
|
||||
#endif // CONFIG_STM32F7_SPI2
|
||||
|
||||
#ifdef CONFIG_STM32F7_SPI4
|
||||
|
||||
// disable SPI4
|
||||
for (auto cs : spi4selects_gpio) {
|
||||
stm32_configgpio(_PIN_OFF(cs));
|
||||
}
|
||||
|
||||
stm32_configgpio(GPIO_SPI4_SCK_OFF);
|
||||
stm32_configgpio(GPIO_SPI4_MISO_OFF);
|
||||
stm32_configgpio(GPIO_SPI4_MOSI_OFF);
|
||||
#endif // CONFIG_STM32F7_SPI4
|
||||
|
||||
#ifdef CONFIG_STM32F7_SPI5
|
||||
|
||||
// disable SPI5
|
||||
for (auto cs : spi5selects_gpio) {
|
||||
stm32_configgpio(_PIN_OFF(cs));
|
||||
}
|
||||
|
||||
stm32_configgpio(GPIO_SPI5_SCK_OFF);
|
||||
stm32_configgpio(GPIO_SPI5_MISO_OFF);
|
||||
stm32_configgpio(GPIO_SPI5_MOSI_OFF);
|
||||
#endif // CONFIG_STM32F7_SPI5
|
||||
|
||||
|
||||
/* wait for the sensor rail to reach GND */
|
||||
usleep(ms * 1000);
|
||||
syslog(LOG_DEBUG, "reset done, %d ms\n", ms);
|
||||
|
||||
/* re-enable power */
|
||||
|
||||
/* wait a bit before starting SPI, different times didn't influence results */
|
||||
usleep(100);
|
||||
|
||||
/* reconfigure the SPI pins */
|
||||
|
||||
#ifdef CONFIG_STM32F7_SPI1
|
||||
|
||||
// re-enable SPI1
|
||||
for (auto cs : spi1selects_gpio) {
|
||||
stm32_configgpio(cs);
|
||||
}
|
||||
|
||||
stm32_configgpio(GPIO_SPI1_SCK);
|
||||
stm32_configgpio(GPIO_SPI1_MISO);
|
||||
stm32_configgpio(GPIO_SPI1_MOSI);
|
||||
#endif // CONFIG_STM32F7_SPI1
|
||||
|
||||
#ifdef CONFIG_STM32F7_SPI2
|
||||
|
||||
// re-enable SPI2
|
||||
for (auto cs : spi2selects_gpio) {
|
||||
stm32_configgpio(cs);
|
||||
}
|
||||
|
||||
stm32_configgpio(GPIO_SPI2_SCK);
|
||||
stm32_configgpio(GPIO_SPI2_MISO);
|
||||
stm32_configgpio(GPIO_SPI2_MOSI);
|
||||
#endif // CONFIG_STM32F7_SPI2
|
||||
|
||||
#ifdef CONFIG_STM32F7_SPI4
|
||||
|
||||
// re-enable SPI4
|
||||
for (auto cs : spi4selects_gpio) {
|
||||
stm32_configgpio(cs);
|
||||
}
|
||||
|
||||
stm32_configgpio(GPIO_SPI4_SCK);
|
||||
stm32_configgpio(GPIO_SPI4_MISO);
|
||||
stm32_configgpio(GPIO_SPI4_MOSI);
|
||||
#endif // CONFIG_STM32F7_SPI4
|
||||
|
||||
#ifdef CONFIG_STM32F7_SPI5
|
||||
|
||||
// re-enable SPI5
|
||||
for (auto cs : spi5selects_gpio) {
|
||||
stm32_configgpio(cs);
|
||||
}
|
||||
|
||||
stm32_configgpio(GPIO_SPI5_SCK);
|
||||
stm32_configgpio(GPIO_SPI5_MISO);
|
||||
stm32_configgpio(GPIO_SPI5_MOSI);
|
||||
#endif // CONFIG_STM32F7_SPI5
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user