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.
2026-10-29 01:33:34 +08:00 · 2020-03-10 10:11:43 -04:00
parent 06712450a7
commit 1851665fab
142 changed files with 2607 additions and 5655 deletions
@@ -0,0 +1,98 @@
+/****************************************************************************
+ *
+ *   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_platform_common/px4_config.h>
+#include <px4_platform/gpio.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 <nuttx/mmcsd.h>
+
+#include <up_arch.h>
+#include <chip.h>
+#include <stm32_gpio.h>
+#include "board_config.h"
+
+#include <px4_arch/spi_hw_description.h>
+#include <drivers/drv_sensor.h>
+#include <nuttx/spi/spi.h>
+
+constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
+	initSPIBus(1, {
+		initSPIDevice(SPIDEV_MMCSD(0), SPI::CS{GPIO::PortC, GPIO::Pin12}),
+		initSPIDevice(DRV_FLOW_DEVTYPE_PMW3901, SPI::CS{GPIO::PortB, GPIO::Pin4}),
+		initSPIDevice(DRV_DEVTYPE_UNUSED, SPI::CS{GPIO::PortB, GPIO::Pin5}),
+	}),
+};
+
+static constexpr bool unused = validateSPIConfig(px4_spi_buses);
+
+/************************************************************************************
+ * Name: stm32_spi_bus_initialize
+ *
+ * Description:
+ *   Called to configure SPI buses on PX4FMU board.
+ *
+ ************************************************************************************/
+static struct spi_dev_s *spi_expansion;
+
+__EXPORT int stm32_spi_bus_initialize(void)
+{
+	/* Configure SPI-based devices */
+
+	/* Get the external SPI port */
+	spi_expansion = stm32_spibus_initialize(1);
+
+	if (!spi_expansion) {
+		syslog(LOG_ERR, "[boot] FAILED to initialize SPI port %d\n", 1);
+		return -ENODEV;
+	}
+
+#ifdef CONFIG_MMCSD
+	int ret = mmcsd_spislotinitialize(CONFIG_NSH_MMCSDMINOR, CONFIG_NSH_MMCSDSLOTNO, spi_expansion);
+
+	if (ret != OK) {
+		syslog(LOG_ERR, "[boot] FAILED to bind SPI port 1 to the MMCSD driver\n");
+		return -ENODEV;
+	}
+
+#endif
+
+	return OK;
+}