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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
@@ -33,13 +33,15 @@
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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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led.c
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spi.c
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spi.cpp
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timer_config.cpp
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)
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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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px4_layer
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modules__dataman # dm_flash_sector_description_set # TODO: fix this
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@@ -87,9 +87,10 @@
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#define PX4_I2C_BUS_EXPANSION1 2
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#define PX4_I2C_BUS_ONBOARD 3
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#include <drivers/drv_sensor.h>
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#define GPIO_SPI_CS_MPU6500 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN4)
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#define PX4_SPI_BUS_SENSORS 1
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#define PX4_SPIDEV_MPU PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 1)
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#define PX4_SPIDEV_MPU PX4_MK_SPI_SEL(0, DRV_IMU_DEVTYPE_MPU9250)
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/*
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* STM32 ADC channels
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@@ -167,7 +168,6 @@ __BEGIN_DECLS
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extern void stm32_spiinitialize(void);
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#define board_spi_reset(ms)
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#define board_peripheral_reset(ms)
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/************************************************************************************
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@@ -0,0 +1,40 @@
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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(1),
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initI2CBusExternal(2),
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initI2CBusInternal(3),
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};
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@@ -32,58 +32,14 @@
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*
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****************************************************************************/
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/**
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* @file 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 <px4_platform_common/px4_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 <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 "up_arch.h"
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#include "chip.h"
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#include "stm32.h"
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#include "board_config.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_IMU_DEVTYPE_MPU9250, SPI::CS{GPIO::PortA, GPIO::Pin4}),
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}),
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};
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/************************************************************************************
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* Public Functions
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************************************************************************************/
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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 AEROFC-v1 board.
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*
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************************************************************************************/
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__EXPORT void stm32_spiinitialize(void)
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{
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#ifdef CONFIG_STM32_SPI1
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px4_arch_configgpio(GPIO_SPI_CS_MPU6500);
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#endif
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}
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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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/* SPI select is active low, so write !selected to select the device */
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px4_arch_gpiowrite(GPIO_SPI_CS_MPU6500, !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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static constexpr bool unused = validateSPIConfig(px4_spi_buses);
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