mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-11-06 13:31:35 +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
@@ -35,10 +35,11 @@ add_library(drivers_board
|
||||
autoleds.c
|
||||
automount.c
|
||||
can.c
|
||||
i2c.cpp
|
||||
init.c
|
||||
led.c
|
||||
sdhc.c
|
||||
spi.c
|
||||
spi.cpp
|
||||
timer_config.cpp
|
||||
usb.c
|
||||
)
|
||||
|
||||
@@ -53,6 +53,8 @@ __BEGIN_DECLS
|
||||
#include <hardware/kinetis_pinmux.h>
|
||||
#include <arch/board/board.h>
|
||||
|
||||
__END_DECLS
|
||||
|
||||
/* FMUK66 GPIOs ***********************************************************************************/
|
||||
/* LEDs */
|
||||
/* An RGB LED is connected through GPIO as shown below:
|
||||
@@ -233,20 +235,21 @@ __BEGIN_DECLS
|
||||
|
||||
/* Use these in place of the uint32_t enumeration to select a specific SPI device on SPI1 */
|
||||
|
||||
#define PX4_SPIDEV_MEMORY PX4_MK_SPI_SEL(PX4_SPI_BUS_MEMORY,0)
|
||||
#include <drivers/drv_sensor.h>
|
||||
#define PX4_SPIDEV_MEMORY SPIDEV_FLASH(0)
|
||||
#define PX4_MEMORY_BUS_CS_GPIO {GPIO_SPI_CS_MEMORY}
|
||||
#define PX4_MEMORY_BUS_FIRST_CS PX4_SPIDEV_MEMORY
|
||||
#define PX4_MEMORY_BUS_LAST_CS PX4_SPIDEV_MEMORY
|
||||
|
||||
#define PX4_SPIDEV_ACCEL_MAG PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS,0)
|
||||
#define PX4_SPIDEV_GYRO PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS,1)
|
||||
#define PX4_SPIDEV_CALMEM PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS,2)
|
||||
#define PX4_SPIDEV_ACCEL_MAG PX4_MK_SPI_SEL(0,DRV_ACC_DEVTYPE_FXOS8701C)
|
||||
#define PX4_SPIDEV_GYRO PX4_MK_SPI_SEL(0,DRV_GYR_DEVTYPE_FXAS2100C)
|
||||
#define PX4_SPIDEV_CALMEM PX4_MK_SPI_SEL(0,DRV_DEVTYPE_UNUSED)
|
||||
#define PX4_SENSOR_BUS_CS_GPIO {GPIO_SPI_CS_FXOS8700CQ_ACCEL_MAG, GPIO_SPI_CS_FXAS21002CQ_GYRO, GPIO_SPI1_CS_CALMEM}
|
||||
#define PX4_SENSOR_BUS_FIRST_CS PX4_SPIDEV_ACCEL_MAG
|
||||
#define PX4_SENSOR_BUS_LAST_CS PX4_SPIDEV_CALMEM
|
||||
|
||||
#define PX4_SPIDEV_EXTERNAL1 PX4_MK_SPI_SEL(PX4_SPI_BUS_EXTERNAL,0)
|
||||
#define PX4_SPIDEV_EXTERNAL2 PX4_MK_SPI_SEL(PX4_SPI_BUS_EXTERNAL,1)
|
||||
#define PX4_SPIDEV_EXTERNAL1 PX4_MK_SPI_SEL(0,0)
|
||||
#define PX4_SPIDEV_EXTERNAL2 PX4_MK_SPI_SEL(0,1)
|
||||
#define PX4_EXTERNAL_BUS_CS_GPIO {GPIO_SPI2_CS, GPIO_SPI2_EXT}
|
||||
#define PX4_EXTERNAL_BUS_FIRST_CS PX4_SPIDEV_EXTERNAL1
|
||||
#define PX4_EXTERNAL_BUS_LAST_CS PX4_SPIDEV_EXTERNAL2
|
||||
@@ -482,6 +485,8 @@ __BEGIN_DECLS
|
||||
* Public data
|
||||
************************************************************************************/
|
||||
|
||||
__BEGIN_DECLS
|
||||
|
||||
#ifndef __ASSEMBLY__
|
||||
|
||||
/************************************************************************************
|
||||
@@ -515,7 +520,6 @@ int fmuk66_spi_bus_initialize(void);
|
||||
* Called to reset SPI and the perferal bus
|
||||
*
|
||||
****************************************************************************************************/
|
||||
void board_spi_reset(int ms);
|
||||
void board_peripheral_reset(int ms);
|
||||
|
||||
/************************************************************************************
|
||||
|
||||
@@ -0,0 +1,40 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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] = {
|
||||
initI2CBusInternal(PX4_BUS_NUMBER_TO_PX4(1)),
|
||||
initI2CBusExternal(PX4_BUS_NUMBER_TO_PX4(0)),
|
||||
};
|
||||
|
||||
@@ -33,9 +33,9 @@
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
/************************************************************************************
|
||||
* Included Files
|
||||
************************************************************************************/
|
||||
#include <px4_arch/spi_hw_description.h>
|
||||
#include <drivers/drv_sensor.h>
|
||||
#include <nuttx/spi/spi.h>
|
||||
|
||||
#include <px4_platform_common/px4_config.h>
|
||||
|
||||
@@ -55,18 +55,31 @@
|
||||
|
||||
#if defined(CONFIG_KINETIS_SPI0) || defined(CONFIG_KINETIS_SPI1) || defined(CONFIG_KINETIS_SPI2)
|
||||
|
||||
#define PX4_MK_GPIO(pin_ftmx, io) ((((uint32_t)(pin_ftmx)) & ~(_PIN_MODE_MASK | _PIN_OPTIONS_MASK)) |(io))
|
||||
constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
|
||||
initSPIBus(PX4_BUS_NUMBER_TO_PX4(0), {
|
||||
initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortC, GPIO::Pin2})
|
||||
}),
|
||||
initSPIBus(PX4_BUS_NUMBER_TO_PX4(1), {
|
||||
initSPIDevice(DRV_ACC_DEVTYPE_FXOS8701C, SPI::CS{GPIO::PortB, GPIO::Pin10}),
|
||||
initSPIDevice(DRV_GYR_DEVTYPE_FXAS2100C, SPI::CS{GPIO::PortB, GPIO::Pin9}),
|
||||
initSPIDevice(DRV_DEVTYPE_UNUSED, SPI::CS{GPIO::PortA, GPIO::Pin19}),
|
||||
}, {GPIO::PortB, GPIO::Pin8}),
|
||||
initSPIBusExternal(PX4_BUS_NUMBER_TO_PX4(2), {
|
||||
initSPIConfigExternal(SPI::CS{GPIO::PortB, GPIO::Pin20}),
|
||||
initSPIConfigExternal(SPI::CS{GPIO::PortD, GPIO::Pin15}),
|
||||
}),
|
||||
};
|
||||
|
||||
/* Define CS GPIO array */
|
||||
static const uint32_t spi0selects_gpio[] = PX4_MEMORY_BUS_CS_GPIO;
|
||||
static const uint32_t spi1selects_gpio[] = PX4_SENSOR_BUS_CS_GPIO;
|
||||
static const uint32_t spi2selects_gpio[] = PX4_EXTERNAL_BUS_CS_GPIO;
|
||||
static constexpr bool unused = validateSPIConfig(px4_spi_buses);
|
||||
|
||||
|
||||
#define PX4_MK_GPIO(pin_ftmx, io) ((((uint32_t)(pin_ftmx)) & ~(_PIN_MODE_MASK | _PIN_OPTIONS_MASK)) |(io))
|
||||
|
||||
/************************************************************************************
|
||||
* Public Functions
|
||||
************************************************************************************/
|
||||
|
||||
__EXPORT void board_spi_reset(int ms)
|
||||
__EXPORT void board_spi_reset(int ms, int bus_mask)
|
||||
{
|
||||
/* Goal not to back feed the chips on the bus via IO lines */
|
||||
|
||||
@@ -76,10 +89,13 @@ __EXPORT void board_spi_reset(int ms)
|
||||
kinetis_gpiowrite(PIN_SPI1_SIN, 1);
|
||||
|
||||
/* Next Change CS to inputs with pull downs */
|
||||
|
||||
for (unsigned int cs = 0; cs < arraySize(spi1selects_gpio); cs++) {
|
||||
if (spi1selects_gpio[cs] != 0) {
|
||||
kinetis_pinconfig(PX4_MK_GPIO(spi1selects_gpio[cs], GPIO_PULLDOWN));
|
||||
for (int bus = 0; bus < SPI_BUS_MAX_BUS_ITEMS; ++bus) {
|
||||
if (px4_spi_buses[bus].bus == PX4_BUS_NUMBER_TO_PX4(1)) {
|
||||
for (int i = 0; i < SPI_BUS_MAX_DEVICES; ++i) {
|
||||
if (px4_spi_buses[bus].devices[i].cs_gpio != 0) {
|
||||
kinetis_pinconfig(PX4_MK_GPIO(px4_spi_buses[bus].devices[i].cs_gpio, GPIO_PULLDOWN));
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@@ -110,9 +126,13 @@ __EXPORT void board_spi_reset(int ms)
|
||||
|
||||
/* Restore all the CS to ouputs inactive */
|
||||
|
||||
for (unsigned int cs = 0; cs < arraySize(spi1selects_gpio); cs++) {
|
||||
if (spi1selects_gpio[cs] != 0) {
|
||||
kinetis_pinconfig(spi1selects_gpio[cs]);
|
||||
for (int bus = 0; bus < SPI_BUS_MAX_BUS_ITEMS; ++bus) {
|
||||
if (px4_spi_buses[bus].bus == PX4_BUS_NUMBER_TO_PX4(1)) {
|
||||
for (int i = 0; i < SPI_BUS_MAX_DEVICES; ++i) {
|
||||
if (px4_spi_buses[bus].devices[i].cs_gpio != 0) {
|
||||
kinetis_pinconfig(px4_spi_buses[bus].devices[i].cs_gpio);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@@ -155,23 +175,13 @@ __EXPORT void board_spi_reset(int ms)
|
||||
|
||||
void fmuk66_spidev_initialize(void)
|
||||
{
|
||||
board_spi_reset(10);
|
||||
board_spi_reset(10, 0xffff);
|
||||
|
||||
for (unsigned int cs = 0; cs < arraySize(spi0selects_gpio); cs++) {
|
||||
if (spi0selects_gpio[cs] != 0) {
|
||||
kinetis_pinconfig(spi0selects_gpio[cs]);
|
||||
}
|
||||
}
|
||||
|
||||
for (unsigned int cs = 0; cs < arraySize(spi1selects_gpio); cs++) {
|
||||
if (spi1selects_gpio[cs] != 0) {
|
||||
kinetis_pinconfig(spi1selects_gpio[cs]);
|
||||
}
|
||||
}
|
||||
|
||||
for (unsigned int cs = 0; cs < arraySize(spi2selects_gpio); cs++) {
|
||||
if (spi2selects_gpio[cs] != 0) {
|
||||
kinetis_pinconfig(spi2selects_gpio[cs]);
|
||||
for (int bus = 0; bus < SPI_BUS_MAX_BUS_ITEMS; ++bus) {
|
||||
for (int i = 0; i < SPI_BUS_MAX_DEVICES; ++i) {
|
||||
if (px4_spi_buses[bus].devices[i].cs_gpio != 0) {
|
||||
kinetis_pinconfig(px4_spi_buses[bus].devices[i].cs_gpio);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -183,73 +193,79 @@ void fmuk66_spidev_initialize(void)
|
||||
* Called to configure SPI chip select GPIO pins for the NXP FMUK66 v3 board.
|
||||
*
|
||||
************************************************************************************/
|
||||
static struct spi_dev_s *spi_sensors;
|
||||
static struct spi_dev_s *spi_memory;
|
||||
static struct spi_dev_s *spi_ext;
|
||||
static const px4_spi_bus_t *_spi_bus0;
|
||||
static const px4_spi_bus_t *_spi_bus1;
|
||||
static const px4_spi_bus_t *_spi_bus2;
|
||||
|
||||
__EXPORT int fmuk66_spi_bus_initialize(void)
|
||||
{
|
||||
for (int i = 0; i < SPI_BUS_MAX_BUS_ITEMS; ++i) {
|
||||
switch (px4_spi_buses[i].bus) {
|
||||
case PX4_BUS_NUMBER_TO_PX4(0): _spi_bus0 = &px4_spi_buses[i]; break;
|
||||
|
||||
case PX4_BUS_NUMBER_TO_PX4(1): _spi_bus1 = &px4_spi_buses[i]; break;
|
||||
|
||||
case PX4_BUS_NUMBER_TO_PX4(2): _spi_bus2 = &px4_spi_buses[i]; break;
|
||||
}
|
||||
}
|
||||
|
||||
/* Configure SPI-based devices */
|
||||
|
||||
spi_sensors = px4_spibus_initialize(PX4_SPI_BUS_SENSORS);
|
||||
struct spi_dev_s *spi_sensors = px4_spibus_initialize(1);
|
||||
|
||||
if (!spi_sensors) {
|
||||
syslog(LOG_ERR, "[boot] FAILED to initialize SPI port %d\n", PX4_SPI_BUS_SENSORS);
|
||||
syslog(LOG_ERR, "[boot] FAILED to initialize SPI port %d\n", 1);
|
||||
return -ENODEV;
|
||||
}
|
||||
|
||||
/* Default PX4_SPI_BUS_SENSORS to 1MHz and de-assert the known chip selects.
|
||||
/* Default bus 1 to 1MHz and de-assert the known chip selects.
|
||||
*/
|
||||
|
||||
SPI_SETFREQUENCY(spi_sensors, 1 * 1000 * 1000);
|
||||
SPI_SETBITS(spi_sensors, 8);
|
||||
SPI_SETMODE(spi_sensors, SPIDEV_MODE0);
|
||||
|
||||
for (int cs = PX4_SENSOR_BUS_FIRST_CS; cs <= PX4_SENSOR_BUS_LAST_CS; cs++) {
|
||||
SPI_SELECT(spi_sensors, cs, false);
|
||||
}
|
||||
|
||||
/* Get the SPI port for the Memory */
|
||||
|
||||
spi_memory = px4_spibus_initialize(PX4_SPI_BUS_MEMORY);
|
||||
struct spi_dev_s *spi_memory = px4_spibus_initialize(0);
|
||||
|
||||
if (!spi_memory) {
|
||||
syslog(LOG_ERR, "[boot] FAILED to initialize SPI port %d\n", PX4_SPI_BUS_MEMORY);
|
||||
syslog(LOG_ERR, "[boot] FAILED to initialize SPI port %d\n", 0);
|
||||
return -ENODEV;
|
||||
}
|
||||
|
||||
/* Default PX4_SPI_BUS_MEMORY to 12MHz and de-assert the known chip selects.
|
||||
/* Default bus 0 to 12MHz and de-assert the known chip selects.
|
||||
*/
|
||||
|
||||
SPI_SETFREQUENCY(spi_memory, 12 * 1000 * 1000);
|
||||
SPI_SETBITS(spi_memory, 8);
|
||||
SPI_SETMODE(spi_memory, SPIDEV_MODE3);
|
||||
|
||||
for (int cs = PX4_MEMORY_BUS_FIRST_CS; cs <= PX4_MEMORY_BUS_LAST_CS; cs++) {
|
||||
SPI_SELECT(spi_memory, cs, false);
|
||||
}
|
||||
|
||||
/* Configure EXTERNAL SPI-based devices */
|
||||
|
||||
spi_ext = px4_spibus_initialize(PX4_SPI_BUS_EXTERNAL);
|
||||
struct spi_dev_s *spi_ext = px4_spibus_initialize(2);
|
||||
|
||||
if (!spi_ext) {
|
||||
syslog(LOG_ERR, "[boot] FAILED to initialize SPI port %d\n", PX4_SPI_BUS_EXTERNAL);
|
||||
syslog(LOG_ERR, "[boot] FAILED to initialize SPI port %d\n", 2);
|
||||
return -ENODEV;
|
||||
}
|
||||
|
||||
/* Default PX4_SPI_BUS_SENSORS to 1MHz and de-assert the known chip selects.
|
||||
/* Default external bus to 1MHz and de-assert the known chip selects.
|
||||
*/
|
||||
|
||||
SPI_SETFREQUENCY(spi_ext, 8 * 1000 * 1000);
|
||||
SPI_SETBITS(spi_ext, 8);
|
||||
SPI_SETMODE(spi_ext, SPIDEV_MODE3);
|
||||
|
||||
for (int cs = PX4_EXTERNAL_BUS_FIRST_CS; cs <= PX4_EXTERNAL_BUS_LAST_CS; cs++) {
|
||||
SPI_SELECT(spi_ext, cs, false);
|
||||
/* deselect all */
|
||||
for (int bus = 0; bus < SPI_BUS_MAX_BUS_ITEMS; ++bus) {
|
||||
for (int i = 0; i < SPI_BUS_MAX_DEVICES; ++i) {
|
||||
if (px4_spi_buses[bus].devices[i].cs_gpio != 0) {
|
||||
SPI_SELECT(spi_ext, px4_spi_buses[bus].devices[i].devid, false);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
return OK;
|
||||
|
||||
}
|
||||
@@ -282,35 +298,37 @@ __EXPORT int fmuk66_spi_bus_initialize(void)
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
void kinetis_spi0select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
|
||||
static inline void kinetis_spixselect(const px4_spi_bus_t *bus, struct spi_dev_s *dev, uint32_t devid, bool selected)
|
||||
{
|
||||
spiinfo("devid: %d CS: %s\n", (int)devid, selected ? "assert" : "de-assert");
|
||||
int matched_dev_idx = -1;
|
||||
|
||||
/* SPI select is active low, so write !selected to select the device */
|
||||
for (int i = 0; i < SPI_BUS_MAX_DEVICES; ++i) {
|
||||
if (bus->devices[i].cs_gpio == 0) {
|
||||
break;
|
||||
}
|
||||
|
||||
uint32_t sel = devid;
|
||||
if (devid == bus->devices[i].devid) {
|
||||
matched_dev_idx = i;
|
||||
|
||||
if (devid == SPIDEV_FLASH(0)) {
|
||||
sel = PX4_SPIDEV_MEMORY;
|
||||
}
|
||||
|
||||
ASSERT(PX4_SPI_BUS_ID(sel) == PX4_SPI_BUS_MEMORY);
|
||||
|
||||
/* Making sure the other peripherals are not selected */
|
||||
|
||||
for (unsigned int cs = 0; arraySize(spi0selects_gpio) > 1 && cs < arraySize(spi0selects_gpio); cs++) {
|
||||
if (spi0selects_gpio[cs] != 0) {
|
||||
kinetis_gpiowrite(spi0selects_gpio[cs], 1);
|
||||
} else {
|
||||
// Making sure the other peripherals are not selected
|
||||
kinetis_gpiowrite(bus->devices[i].cs_gpio, 1);
|
||||
}
|
||||
}
|
||||
|
||||
uint32_t gpio = spi0selects_gpio[PX4_SPI_DEV_ID(sel)];
|
||||
|
||||
if (gpio) {
|
||||
kinetis_gpiowrite(gpio, !selected);
|
||||
// different devices might use the same CS, so make sure to configure the one we want last
|
||||
if (matched_dev_idx != -1) {
|
||||
// SPI select is active low, so write !selected to select the device
|
||||
kinetis_gpiowrite(bus->devices[matched_dev_idx].cs_gpio, !selected);
|
||||
}
|
||||
}
|
||||
|
||||
void kinetis_spi0select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
|
||||
{
|
||||
spiinfo("devid: %d CS: %s\n", (int)devid, selected ? "assert" : "de-assert");
|
||||
kinetis_spixselect(_spi_bus0, dev, devid, selected);
|
||||
}
|
||||
|
||||
uint8_t kinetis_spi0status(FAR struct spi_dev_s *dev, uint32_t devid)
|
||||
{
|
||||
return SPI_STATUS_PRESENT;
|
||||
@@ -319,25 +337,7 @@ uint8_t kinetis_spi0status(FAR struct spi_dev_s *dev, uint32_t devid)
|
||||
void kinetis_spi1select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
|
||||
{
|
||||
spiinfo("devid: %d CS: %s\n", (int)devid, selected ? "assert" : "de-assert");
|
||||
|
||||
/* SPI select is active low, so write !selected to select the device */
|
||||
|
||||
int sel = (int) devid;
|
||||
ASSERT(PX4_SPI_BUS_ID(sel) == PX4_SPI_BUS_SENSORS);
|
||||
|
||||
/* Making sure the other peripherals are not selected */
|
||||
|
||||
for (unsigned int cs = 0; arraySize(spi1selects_gpio) > 1 && cs < arraySize(spi1selects_gpio); cs++) {
|
||||
if (spi1selects_gpio[cs] != 0) {
|
||||
kinetis_gpiowrite(spi1selects_gpio[cs], 1);
|
||||
}
|
||||
}
|
||||
|
||||
uint32_t gpio = spi1selects_gpio[PX4_SPI_DEV_ID(sel)];
|
||||
|
||||
if (gpio) {
|
||||
kinetis_gpiowrite(gpio, !selected);
|
||||
}
|
||||
kinetis_spixselect(_spi_bus1, dev, devid, selected);
|
||||
}
|
||||
|
||||
uint8_t kinetis_spi1status(FAR struct spi_dev_s *dev, uint32_t devid)
|
||||
@@ -348,25 +348,7 @@ uint8_t kinetis_spi1status(FAR struct spi_dev_s *dev, uint32_t devid)
|
||||
void kinetis_spi2select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
|
||||
{
|
||||
spiinfo("devid: %d CS: %s\n", (int)devid, selected ? "assert" : "de-assert");
|
||||
|
||||
/* SPI select is active low, so write !selected to select the device */
|
||||
|
||||
int sel = (int) devid;
|
||||
ASSERT(PX4_SPI_BUS_ID(sel) == PX4_SPI_BUS_EXTERNAL);
|
||||
|
||||
/* Making sure the other peripherals are not selected */
|
||||
|
||||
for (unsigned int cs = 0; arraySize(spi2selects_gpio) > 1 && cs < arraySize(spi2selects_gpio); cs++) {
|
||||
if (spi2selects_gpio[cs] != 0) {
|
||||
kinetis_gpiowrite(spi2selects_gpio[cs], 1);
|
||||
}
|
||||
}
|
||||
|
||||
uint32_t gpio = spi2selects_gpio[PX4_SPI_DEV_ID(sel)];
|
||||
|
||||
if (gpio) {
|
||||
kinetis_gpiowrite(gpio, !selected);
|
||||
}
|
||||
kinetis_spixselect(_spi_bus2, dev, devid, selected);
|
||||
}
|
||||
|
||||
uint8_t kinetis_spi2status(FAR struct spi_dev_s *dev, uint32_t devid)
|
||||
@@ -35,6 +35,7 @@ px4_add_library(drivers_board
|
||||
autoleds.c
|
||||
automount.c
|
||||
can.c
|
||||
i2c.cpp
|
||||
init.c
|
||||
led.c
|
||||
sdhc.c
|
||||
|
||||
@@ -186,29 +186,30 @@
|
||||
#define PX4_SPIDEV_BMI 0
|
||||
|
||||
/* ^ END Legacy SPI defines TODO: fix this with enumeration */
|
||||
#include <drivers/drv_sensor.h>
|
||||
|
||||
#define PX4_SPIDEV_ICM_20689 PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS,0)
|
||||
#define PX4_SPIDEV_BMI055_GYR PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS,1)
|
||||
#define PX4_SPIDEV_BMI055_ACC PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS,2)
|
||||
#define PX4_SPIDEV_AUX_MEM PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS,3)
|
||||
#define PX4_SPIDEV_ICM_20689 PX4_MK_SPI_SEL(0,DRV_IMU_DEVTYPE_ICM20689)
|
||||
#define PX4_SPIDEV_BMI055_GYR PX4_MK_SPI_SEL(0,DRV_GYR_DEVTYPE_BMI055)
|
||||
#define PX4_SPIDEV_BMI055_ACC PX4_MK_SPI_SEL(0,DRV_ACC_DEVTYPE_BMI055)
|
||||
#define PX4_SPIDEV_AUX_MEM PX4_MK_SPI_SEL(0,DRV_DEVTYPE_UNUSED)
|
||||
|
||||
#define PX4_SENSOR_BUS_CS_GPIO {GPIO_SPI1_CS1_ICM20689, GPIO_SPI1_CS3_BMI055_GYRO, GPIO_SPI1_CS4_BMI055_ACCEL, SPI1_CS5_AUX_MEM}
|
||||
#define PX4_SENSORS_BUS_FIRST_CS PX4_SPIDEV_ICM_20689
|
||||
#define PX4_SENSORS_BUS_LAST_CS PX4_SPIDEV_AUX_MEM
|
||||
|
||||
#define PX4_SPIDEV_MEMORY PX4_MK_SPI_SEL(PX4_SPI_BUS_MEMORY,0)
|
||||
#define PX4_SPIDEV_MEMORY SPIDEV_FLASH(0)
|
||||
#define PX4_MEMORY_BUS_CS_GPIO {GPIO_SPI2_CS_FRAM}
|
||||
#define PX4_MEMORY_BUS_FIRST_CS PX4_SPIDEV_MEMORY
|
||||
#define PX4_MEMORY_BUS_LAST_CS PX4_SPIDEV_MEMORY
|
||||
|
||||
#define PX4_SPIDEV_BARO PX4_MK_SPI_SEL(PX4_SPI_BUS_BARO,0)
|
||||
#define PX4_SPIDEV_BARO PX4_MK_SPI_SEL(0,DRV_BARO_DEVTYPE_MS5611)
|
||||
#define PX4_BARO_BUS_CS_GPIO {GPIO_SPI3_CS1_MS5611}
|
||||
#define PX4_BARO_BUS_FIRST_CS PX4_SPIDEV_BARO
|
||||
#define PX4_BARO_BUS_LAST_CS PX4_SPIDEV_BARO
|
||||
|
||||
#define PX4_SPIDEV_EXTERNAL1_1 PX4_MK_SPI_SEL(PX4_SPI_BUS_EXTERNAL1,0)
|
||||
#define PX4_SPIDEV_EXTERNAL1_2 PX4_MK_SPI_SEL(PX4_SPI_BUS_EXTERNAL1,1)
|
||||
#define PX4_SPIDEV_EXTERNAL1_3 PX4_MK_SPI_SEL(PX4_SPI_BUS_EXTERNAL1,2)
|
||||
#define PX4_SPIDEV_EXTERNAL1_1 PX4_MK_SPI_SEL(0,0)
|
||||
#define PX4_SPIDEV_EXTERNAL1_2 PX4_MK_SPI_SEL(0,1)
|
||||
#define PX4_SPIDEV_EXTERNAL1_3 PX4_MK_SPI_SEL(0,2)
|
||||
#define PX4_EXTERNAL1_BUS_CS_GPIO {SPI4_CS1_EXTERNAL1, SPI4_CS2_EXTERNAL1, SPI4_CS3_EXTERNAL1}
|
||||
#define PX4_EXTERNAL1_BUS_FIRST_CS PX4_SPIDEV_EXTERNAL1_1
|
||||
#define PX4_EXTERNAL1_BUS_LAST_CS PX4_SPIDEV_EXTERNAL1_3
|
||||
@@ -581,8 +582,6 @@ extern int imxrt1062_spi_bus_initialize(void);
|
||||
|
||||
extern int imxrt_usb_initialize(void);
|
||||
|
||||
void board_spi_reset(int ms);
|
||||
|
||||
extern void imxrt_usbinitialize(void);
|
||||
|
||||
extern void board_peripheral_reset(int 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(1),
|
||||
initI2CBusExternal(2),
|
||||
initI2CBusInternal(3),
|
||||
};
|
||||
|
||||
@@ -256,7 +256,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
|
||||
VDD_3V3_SENSORS_EN(true);
|
||||
VDD_3V3_SPEKTRUM_POWER_EN(true);
|
||||
|
||||
board_spi_reset(10);
|
||||
board_spi_reset(10, 0xffff);
|
||||
|
||||
if (OK == board_determine_hw_info()) {
|
||||
syslog(LOG_INFO, "[boot] Rev 0x%1x : Ver 0x%1x %s\n", board_get_hw_revision(), board_get_hw_version(),
|
||||
|
||||
+122
-146
@@ -37,6 +37,10 @@
|
||||
* Included Files
|
||||
************************************************************************************/
|
||||
|
||||
#include <px4_arch/spi_hw_description.h>
|
||||
#include <drivers/drv_sensor.h>
|
||||
#include <nuttx/spi/spi.h>
|
||||
|
||||
#include <px4_platform_common/px4_config.h>
|
||||
#include <px4_log.h>
|
||||
|
||||
@@ -59,20 +63,30 @@
|
||||
#if defined(CONFIG_IMXRT_LPSPI1) || defined(CONFIG_IMXRT_LPSPI2) || \
|
||||
defined(CONFIG_IMXRT_LPSPI3) || defined(CONFIG_IMXRT_LPSPI4)
|
||||
|
||||
/* Define CS GPIO array */
|
||||
|
||||
#if defined(CONFIG_IMXRT_LPSPI1)
|
||||
static const uint32_t spi1selects_gpio[] = PX4_SENSOR_BUS_CS_GPIO;
|
||||
#endif
|
||||
#if defined(CONFIG_IMXRT_LPSPI2)
|
||||
static const uint32_t spi2selects_gpio[] = PX4_MEMORY_BUS_CS_GPIO;
|
||||
#endif
|
||||
#if defined(CONFIG_IMXRT_LPSPI3)
|
||||
static const uint32_t spi3selects_gpio[] = PX4_BARO_BUS_CS_GPIO;
|
||||
#endif
|
||||
#if defined(CONFIG_IMXRT_LPSPI4)
|
||||
static const uint32_t spi4selects_gpio[] = PX4_EXTERNAL1_BUS_CS_GPIO;
|
||||
#endif
|
||||
constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
|
||||
initSPIBus(1, {
|
||||
initSPIDevice(DRV_IMU_DEVTYPE_ICM20689, SPI::CS{GPIO::Port3, GPIO::Pin26}, SPI::DRDY{GPIO::Port4, GPIO::Pin15}), /* GPIO_EMC_40 GPIO3_IO26 */
|
||||
initSPIDevice(DRV_GYR_DEVTYPE_BMI055, SPI::CS{GPIO::Port2, GPIO::Pin26}, SPI::DRDY{GPIO::Port4, GPIO::Pin16}), /* GPIO_B1_10 GPIO2_IO26 */
|
||||
initSPIDevice(DRV_ACC_DEVTYPE_BMI055, SPI::CS{GPIO::Port2, GPIO::Pin31}, SPI::DRDY{GPIO::Port3, GPIO::Pin23}), /* GPIO_B1_15 GPIO2_IO31 */
|
||||
initSPIDevice(DRV_DEVTYPE_UNUSED, SPI::CS{GPIO::Port3, GPIO::Pin0}), /* GPIO_SD_B1_00 GPIO3_IO00, AUX_MEM */
|
||||
}, {GPIO::Port3, GPIO::Pin27}),
|
||||
initSPIBus(2, {
|
||||
initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::Port3, GPIO::Pin20}) /* GPIO_EMC_34 G GPIO3_IO20 */
|
||||
}),
|
||||
initSPIBus(3, {
|
||||
initSPIDevice(DRV_BARO_DEVTYPE_MS5611, SPI::CS{GPIO::Port4, GPIO::Pin14}), /* GPIO_EMC_14 GPIO4_IO14 */
|
||||
}),
|
||||
initSPIBusExternal(4, {
|
||||
initSPIConfigExternal(SPI::CS{GPIO::Port4, GPIO::Pin7}), /* GPIO_EMC_07 GPIO4_IO07 */
|
||||
initSPIConfigExternal(SPI::CS{GPIO::Port2, GPIO::Pin30}), /* GPIO_B1_14 GPIO2_IO30 */
|
||||
initSPIConfigExternal(SPI::CS{GPIO::Port4, GPIO::Pin11}), /* GPIO_EMC_11 GPIO4_IO011 */
|
||||
}),
|
||||
};
|
||||
|
||||
static constexpr bool unused = validateSPIConfig(px4_spi_buses);
|
||||
|
||||
#define _PIN_OFF(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT | IOMUX_PULL_DOWN_100K | IOMUX_CMOS_INPUT))
|
||||
|
||||
/************************************************************************************
|
||||
* Public Functions
|
||||
@@ -87,18 +101,13 @@ static const uint32_t spi4selects_gpio[] = PX4_EXTERNAL1_BUS_CS_GPIO;
|
||||
|
||||
void imxrt_spidev_initialize(void)
|
||||
{
|
||||
#if defined(CONFIG_IMXRT_LPSPI1)
|
||||
px4_gpio_init(spi1selects_gpio, arraySize(spi1selects_gpio));
|
||||
#endif
|
||||
#if defined(CONFIG_IMXRT_LPSPI2)
|
||||
px4_gpio_init(spi2selects_gpio, arraySize(spi2selects_gpio));
|
||||
#endif
|
||||
#if defined(CONFIG_IMXRT_LPSPI3)
|
||||
px4_gpio_init(spi3selects_gpio, arraySize(spi3selects_gpio));
|
||||
#endif
|
||||
#if defined(CONFIG_IMXRT_LPSPI4)
|
||||
px4_gpio_init(spi4selects_gpio, arraySize(spi4selects_gpio));
|
||||
#endif
|
||||
for (int bus = 0; bus < SPI_BUS_MAX_BUS_ITEMS; ++bus) {
|
||||
for (int i = 0; i < SPI_BUS_MAX_DEVICES; ++i) {
|
||||
if (px4_spi_buses[bus].devices[i].cs_gpio != 0) {
|
||||
px4_arch_configgpio(px4_spi_buses[bus].devices[i].cs_gpio);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/************************************************************************************
|
||||
@@ -108,39 +117,48 @@ void imxrt_spidev_initialize(void)
|
||||
* Called to configure SPI chip select GPIO pins for the NXP FMUKRT1062-V1 board.
|
||||
*
|
||||
************************************************************************************/
|
||||
static struct spi_dev_s *spi_sensors;
|
||||
static struct spi_dev_s *spi_memory;
|
||||
static struct spi_dev_s *spi_baro;
|
||||
static struct spi_dev_s *spi_ext;
|
||||
|
||||
static const px4_spi_bus_t *_spi_bus1;
|
||||
static const px4_spi_bus_t *_spi_bus2;
|
||||
static const px4_spi_bus_t *_spi_bus3;
|
||||
static const px4_spi_bus_t *_spi_bus4;
|
||||
|
||||
__EXPORT int imxrt1062_spi_bus_initialize(void)
|
||||
{
|
||||
for (int i = 0; i < SPI_BUS_MAX_BUS_ITEMS; ++i) {
|
||||
switch (px4_spi_buses[i].bus) {
|
||||
case 1: _spi_bus1 = &px4_spi_buses[i]; break;
|
||||
|
||||
case 2: _spi_bus2 = &px4_spi_buses[i]; break;
|
||||
|
||||
case 3: _spi_bus3 = &px4_spi_buses[i]; break;
|
||||
|
||||
case 4: _spi_bus4 = &px4_spi_buses[i]; break;
|
||||
}
|
||||
}
|
||||
|
||||
/* Configure SPI-based devices */
|
||||
|
||||
spi_sensors = px4_spibus_initialize(PX4_SPI_BUS_SENSORS);
|
||||
struct spi_dev_s *spi_sensors = px4_spibus_initialize(1);
|
||||
|
||||
if (!spi_sensors) {
|
||||
PX4_ERR("[boot] FAILED to initialize SPI port %d\n", PX4_SPI_BUS_SENSORS);
|
||||
PX4_ERR("[boot] FAILED to initialize SPI port %d\n", 1);
|
||||
return -ENODEV;
|
||||
}
|
||||
|
||||
/* Default PX4_SPI_BUS_SENSORS to 1MHz and de-assert the known chip selects.
|
||||
/* Default bus 1 to 1MHz and de-assert the known chip selects.
|
||||
*/
|
||||
|
||||
SPI_SETFREQUENCY(spi_sensors, 1 * 1000 * 1000);
|
||||
SPI_SETBITS(spi_sensors, 8);
|
||||
SPI_SETMODE(spi_sensors, SPIDEV_MODE3);
|
||||
|
||||
for (int cs = PX4_SENSORS_BUS_FIRST_CS; cs <= PX4_SENSORS_BUS_LAST_CS; cs++) {
|
||||
SPI_SELECT(spi_sensors, cs, false);
|
||||
}
|
||||
|
||||
/* Get the SPI port for the Memory */
|
||||
|
||||
spi_memory = px4_spibus_initialize(PX4_SPI_BUS_MEMORY);
|
||||
struct spi_dev_s *spi_memory = px4_spibus_initialize(2);
|
||||
|
||||
if (!spi_memory) {
|
||||
PX4_ERR("[boot] FAILED to initialize SPI port %d\n", PX4_SPI_BUS_MEMORY);
|
||||
PX4_ERR("[boot] FAILED to initialize SPI port %d\n", 2);
|
||||
return -ENODEV;
|
||||
}
|
||||
|
||||
@@ -151,16 +169,12 @@ __EXPORT int imxrt1062_spi_bus_initialize(void)
|
||||
SPI_SETBITS(spi_memory, 8);
|
||||
SPI_SETMODE(spi_memory, SPIDEV_MODE3);
|
||||
|
||||
for (int cs = PX4_MEMORY_BUS_FIRST_CS; cs <= PX4_MEMORY_BUS_LAST_CS; cs++) {
|
||||
SPI_SELECT(spi_memory, cs, false);
|
||||
}
|
||||
|
||||
/* Get the SPI port for the BARO */
|
||||
|
||||
spi_baro = px4_spibus_initialize(PX4_SPI_BUS_BARO);
|
||||
struct spi_dev_s *spi_baro = px4_spibus_initialize(3);
|
||||
|
||||
if (!spi_baro) {
|
||||
PX4_ERR("[boot] FAILED to initialize SPI port %d\n", PX4_SPI_BUS_BARO);
|
||||
PX4_ERR("[boot] FAILED to initialize SPI port %d\n", 3);
|
||||
return -ENODEV;
|
||||
}
|
||||
|
||||
@@ -171,28 +185,29 @@ __EXPORT int imxrt1062_spi_bus_initialize(void)
|
||||
SPI_SETBITS(spi_baro, 8);
|
||||
SPI_SETMODE(spi_baro, SPIDEV_MODE3);
|
||||
|
||||
for (int cs = PX4_BARO_BUS_FIRST_CS; cs <= PX4_BARO_BUS_LAST_CS; cs++) {
|
||||
SPI_SELECT(spi_baro, cs, false);
|
||||
}
|
||||
|
||||
/* Get the SPI port for the PX4_SPI_EXTERNAL1 */
|
||||
|
||||
spi_ext = px4_spibus_initialize(PX4_SPI_BUS_EXTERNAL1);
|
||||
struct spi_dev_s *spi_ext = px4_spibus_initialize(4);
|
||||
|
||||
if (!spi_ext) {
|
||||
PX4_ERR("[boot] FAILED to initialize SPI port %d\n", PX4_SPI_BUS_EXTERNAL1);
|
||||
PX4_ERR("[boot] FAILED to initialize SPI port %d\n", 4);
|
||||
return -ENODEV;
|
||||
}
|
||||
|
||||
/* Default PX4_SPI_BUS_SENSORS to 1MHz and de-assert the known chip selects.
|
||||
/* Default ext bus to 1MHz and de-assert the known chip selects.
|
||||
*/
|
||||
|
||||
SPI_SETFREQUENCY(spi_ext, 8 * 1000 * 1000);
|
||||
SPI_SETBITS(spi_ext, 8);
|
||||
SPI_SETMODE(spi_ext, SPIDEV_MODE3);
|
||||
|
||||
for (int cs = PX4_EXTERNAL1_BUS_FIRST_CS; cs <= PX4_EXTERNAL1_BUS_LAST_CS; cs++) {
|
||||
SPI_SELECT(spi_ext, cs, false);
|
||||
/* deselect all */
|
||||
for (int bus = 0; bus < SPI_BUS_MAX_BUS_ITEMS; ++bus) {
|
||||
for (int i = 0; i < SPI_BUS_MAX_DEVICES; ++i) {
|
||||
if (px4_spi_buses[bus].devices[i].cs_gpio != 0) {
|
||||
SPI_SELECT(spi_ext, px4_spi_buses[bus].devices[i].devid, false);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
return OK;
|
||||
@@ -224,25 +239,35 @@ __EXPORT int imxrt1062_spi_bus_initialize(void)
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
static inline void imxrt_spixselect(const px4_spi_bus_t *bus, struct spi_dev_s *dev, uint32_t devid, bool selected)
|
||||
{
|
||||
int matched_dev_idx = -1;
|
||||
|
||||
for (int i = 0; i < SPI_BUS_MAX_DEVICES; ++i) {
|
||||
if (bus->devices[i].cs_gpio == 0) {
|
||||
break;
|
||||
}
|
||||
|
||||
if (devid == bus->devices[i].devid) {
|
||||
matched_dev_idx = i;
|
||||
|
||||
} else {
|
||||
// Making sure the other peripherals are not selected
|
||||
imxrt_gpio_write(bus->devices[i].cs_gpio, 1);
|
||||
}
|
||||
}
|
||||
|
||||
// different devices might use the same CS, so make sure to configure the one we want last
|
||||
if (matched_dev_idx != -1) {
|
||||
// SPI select is active low, so write !selected to select the device
|
||||
imxrt_gpio_write(bus->devices[matched_dev_idx].cs_gpio, !selected);
|
||||
}
|
||||
}
|
||||
|
||||
#if defined(CONFIG_IMXRT_LPSPI1)
|
||||
__EXPORT void imxrt_lpspi1select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
|
||||
{
|
||||
/* SPI select is active low, so write !selected to select the device */
|
||||
|
||||
int sel = (int) devid;
|
||||
ASSERT(PX4_SPI_BUS_ID(sel) == PX4_SPI_BUS_SENSORS);
|
||||
|
||||
/* Making sure the other peripherals are not selected */
|
||||
|
||||
for (auto cs : spi1selects_gpio) {
|
||||
imxrt_gpio_write(cs, 1);
|
||||
}
|
||||
|
||||
uint32_t gpio = spi1selects_gpio[PX4_SPI_DEV_ID(sel)];
|
||||
|
||||
if (gpio) {
|
||||
imxrt_gpio_write(gpio, !selected);
|
||||
}
|
||||
imxrt_spixselect(_spi_bus1, dev, devid, selected);
|
||||
}
|
||||
|
||||
__EXPORT uint8_t imxrt_lpspi1status(FAR struct spi_dev_s *dev, uint32_t devid)
|
||||
@@ -254,27 +279,7 @@ __EXPORT uint8_t imxrt_lpspi1status(FAR struct spi_dev_s *dev, uint32_t devid)
|
||||
#if defined(CONFIG_IMXRT_LPSPI2)
|
||||
__EXPORT void imxrt_lpspi2select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
|
||||
{
|
||||
/* SPI select is active low, so write !selected to select the device */
|
||||
|
||||
int sel = (int) devid;
|
||||
|
||||
if (devid == SPIDEV_FLASH(0)) {
|
||||
sel = PX4_SPIDEV_MEMORY;
|
||||
}
|
||||
|
||||
ASSERT(PX4_SPI_BUS_ID(sel) == PX4_SPI_BUS_MEMORY);
|
||||
|
||||
/* Making sure the other peripherals are not selected */
|
||||
|
||||
for (auto cs : spi2selects_gpio) {
|
||||
imxrt_gpio_write(cs, 1);
|
||||
}
|
||||
|
||||
uint32_t gpio = spi2selects_gpio[PX4_SPI_DEV_ID(sel)];
|
||||
|
||||
if (gpio) {
|
||||
imxrt_gpio_write(gpio, !selected);
|
||||
}
|
||||
imxrt_spixselect(_spi_bus2, dev, devid, selected);
|
||||
}
|
||||
|
||||
__EXPORT uint8_t imxrt_lpspi2status(FAR struct spi_dev_s *dev, uint32_t devid)
|
||||
@@ -286,22 +291,7 @@ __EXPORT uint8_t imxrt_lpspi2status(FAR struct spi_dev_s *dev, uint32_t devid)
|
||||
#if defined(CONFIG_IMXRT_LPSPI3)
|
||||
__EXPORT void imxrt_lpspi3select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
|
||||
{
|
||||
/* SPI select is active low, so write !selected to select the device */
|
||||
|
||||
int sel = (int) devid;
|
||||
ASSERT(PX4_SPI_BUS_ID(sel) == PX4_SPI_BUS_BARO);
|
||||
|
||||
/* Making sure the other peripherals are not selected */
|
||||
|
||||
for (auto cs : spi3selects_gpio) {
|
||||
imxrt_gpio_write(cs, 1);
|
||||
}
|
||||
|
||||
uint32_t gpio = spi3selects_gpio[PX4_SPI_DEV_ID(sel)];
|
||||
|
||||
if (gpio) {
|
||||
imxrt_gpio_write(gpio, !selected);
|
||||
}
|
||||
imxrt_spixselect(_spi_bus3, dev, devid, selected);
|
||||
}
|
||||
|
||||
__EXPORT uint8_t imxrt_lpspi3status(FAR struct spi_dev_s *dev, uint32_t devid)
|
||||
@@ -313,20 +303,7 @@ __EXPORT uint8_t imxrt_lpspi3status(FAR struct spi_dev_s *dev, uint32_t devid)
|
||||
#if defined(CONFIG_IMXRT_LPSPI4)
|
||||
__EXPORT void imxrt_lpspi4select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
|
||||
{
|
||||
int sel = (int) devid;
|
||||
|
||||
ASSERT(PX4_SPI_BUS_ID(sel) == PX4_SPI_BUS_EXTERNAL1);
|
||||
|
||||
/* Making sure the other peripherals are not selected */
|
||||
for (auto cs : spi4selects_gpio) {
|
||||
imxrt_gpio_write(cs, 1);
|
||||
}
|
||||
|
||||
uint32_t gpio = spi4selects_gpio[PX4_SPI_DEV_ID(sel)];
|
||||
|
||||
if (gpio) {
|
||||
imxrt_gpio_write(gpio, !selected);
|
||||
}
|
||||
imxrt_spixselect(_spi_bus4, dev, devid, selected);
|
||||
}
|
||||
|
||||
__EXPORT uint8_t imxrt_lpspi4status(FAR struct spi_dev_s *dev, uint32_t devid)
|
||||
@@ -343,23 +320,29 @@ __EXPORT uint8_t imxrt_lpspi4status(FAR struct spi_dev_s *dev, uint32_t devid)
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
__EXPORT void board_spi_reset(int ms)
|
||||
__EXPORT void board_spi_reset(int ms, int bus_mask)
|
||||
{
|
||||
#ifdef CONFIG_IMXRT_LPSPI1
|
||||
|
||||
/* Goal not to back feed the chips on the bus via IO lines */
|
||||
for (auto cs : spi1selects_gpio) {
|
||||
imxrt_config_gpio(_PIN_OFF(cs));
|
||||
for (int bus = 0; bus < SPI_BUS_MAX_BUS_ITEMS; ++bus) {
|
||||
if (px4_spi_buses[bus].bus == 1 || px4_spi_buses[bus].bus == 3) {
|
||||
for (int i = 0; i < SPI_BUS_MAX_DEVICES; ++i) {
|
||||
if (px4_spi_buses[bus].devices[i].cs_gpio != 0) {
|
||||
imxrt_config_gpio(_PIN_OFF(px4_spi_buses[bus].devices[i].cs_gpio));
|
||||
}
|
||||
|
||||
if (px4_spi_buses[bus].devices[i].drdy_gpio != 0) {
|
||||
imxrt_config_gpio(_PIN_OFF(px4_spi_buses[bus].devices[i].drdy_gpio));
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
imxrt_config_gpio(GPIO_SPI1_SCK_OFF);
|
||||
imxrt_config_gpio(GPIO_SPI1_MISO_OFF);
|
||||
imxrt_config_gpio(GPIO_SPI1_MOSI_OFF);
|
||||
|
||||
for (auto cs : spi3selects_gpio) {
|
||||
imxrt_config_gpio(_PIN_OFF(cs));
|
||||
}
|
||||
|
||||
imxrt_config_gpio(GPIO_SPI3_SCK_OFF);
|
||||
imxrt_config_gpio(GPIO_SPI3_MISO_OFF);
|
||||
imxrt_config_gpio(GPIO_SPI3_MOSI_OFF);
|
||||
@@ -368,12 +351,6 @@ __EXPORT void board_spi_reset(int ms)
|
||||
imxrt_config_gpio(_PIN_OFF(GPIO_LPI2C3_SDA_RESET));
|
||||
imxrt_config_gpio(_PIN_OFF(GPIO_LPI2C3_SCL_RESET));
|
||||
|
||||
# if BOARD_USE_DRDY
|
||||
imxrt_config_gpio(GPIO_DRDY_OFF_SPI1_DRDY1_ICM20689);
|
||||
imxrt_config_gpio(GPIO_DRDY_OFF_SPI1_DRDY2_BMI055_GYRO);
|
||||
imxrt_config_gpio(GPIO_DRDY_OFF_SPI1_DRDY3_BMI055_ACC);
|
||||
imxrt_config_gpio(GPIO_DRDY_OFF_SPI1_DRDY4_ICM20602);
|
||||
# endif
|
||||
/* set the sensor rail off */
|
||||
imxrt_gpio_write(GPIO_VDD_3V3_SENSORS_EN, 0);
|
||||
|
||||
@@ -390,19 +367,24 @@ __EXPORT void board_spi_reset(int ms)
|
||||
usleep(100);
|
||||
|
||||
/* reconfigure the SPI pins */
|
||||
for (auto cs : spi1selects_gpio) {
|
||||
imxrt_config_gpio(cs);
|
||||
for (int bus = 0; bus < SPI_BUS_MAX_BUS_ITEMS; ++bus) {
|
||||
if (px4_spi_buses[bus].bus == 1 || px4_spi_buses[bus].bus == 3) {
|
||||
for (int i = 0; i < SPI_BUS_MAX_DEVICES; ++i) {
|
||||
if (px4_spi_buses[bus].devices[i].cs_gpio != 0) {
|
||||
imxrt_config_gpio(px4_spi_buses[bus].devices[i].cs_gpio);
|
||||
}
|
||||
|
||||
if (px4_spi_buses[bus].devices[i].drdy_gpio != 0) {
|
||||
imxrt_config_gpio(px4_spi_buses[bus].devices[i].drdy_gpio);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
imxrt_config_gpio(GPIO_LPSPI1_SCK);
|
||||
imxrt_config_gpio(GPIO_LPSPI1_MISO);
|
||||
imxrt_config_gpio(GPIO_LPSPI1_MOSI);
|
||||
|
||||
/* reconfigure the SPI pins */
|
||||
for (auto cs : spi3selects_gpio) {
|
||||
imxrt_config_gpio(cs);
|
||||
}
|
||||
|
||||
imxrt_config_gpio(GPIO_LPSPI3_SCK);
|
||||
imxrt_config_gpio(GPIO_LPSPI3_MISO);
|
||||
imxrt_config_gpio(GPIO_LPSPI3_MOSI);
|
||||
@@ -410,12 +392,6 @@ __EXPORT void board_spi_reset(int ms)
|
||||
imxrt_config_gpio(GPIO_LPI2C3_SDA);
|
||||
imxrt_config_gpio(GPIO_LPI2C3_SCL);
|
||||
|
||||
# if BOARD_USE_DRDY
|
||||
imxrt_config_gpio(GPIO_SPI1_DRDY1_ICM20689);
|
||||
imxrt_config_gpio(GPIO_SPI1_DRDY2_BMI055_GYRO);
|
||||
imxrt_config_gpio(GPIO_SPI1_DRDY3_BMI055_ACC);
|
||||
imxrt_config_gpio(GPIO_SPI1_DRDY4_ICM20602);
|
||||
# endif
|
||||
#endif /* CONFIG_IMXRT_LPSPI1 */
|
||||
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user