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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-31 02:11:35 +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
+27
-284
@@ -31,291 +31,34 @@
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*
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****************************************************************************/
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/**
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* @file spi.cpp
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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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#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_ICM20689, SPI::CS{GPIO::PortF, GPIO::Pin2}, SPI::DRDY{GPIO::PortB, GPIO::Pin4}),
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initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortF, GPIO::Pin3}, SPI::DRDY{GPIO::PortC, GPIO::Pin5}),
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initSPIDevice(DRV_GYR_DEVTYPE_BMI055, SPI::CS{GPIO::PortF, GPIO::Pin4}, SPI::DRDY{GPIO::PortB, GPIO::Pin14}),
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initSPIDevice(DRV_ACC_DEVTYPE_BMI055, SPI::CS{GPIO::PortG, GPIO::Pin10}, SPI::DRDY{GPIO::PortB, GPIO::Pin15}),
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}, {GPIO::PortE, GPIO::Pin3}),
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initSPIBus(2, {
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initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortF, GPIO::Pin5})
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}),
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initSPIBus(4, {
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initSPIDevice(DRV_BARO_DEVTYPE_MS5611, SPI::CS{GPIO::PortF, GPIO::Pin10}),
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}),
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initSPIBusExternal(5, {
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initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortD, GPIO::Pin15}),
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initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}),
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initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin11})
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}),
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initSPIBusExternal(6, {
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initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin6}),
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initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin7}),
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initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin8})
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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_SENSOR_BUS_CS_GPIO;
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static constexpr uint32_t spi2selects_gpio[] = PX4_MEMORY_BUS_CS_GPIO;
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static constexpr uint32_t spi4selects_gpio[] = PX4_BARO_BUS_CS_GPIO;
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static constexpr uint32_t spi5selects_gpio[] = PX4_EXTERNAL1_BUS_CS_GPIO;
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static constexpr uint32_t spi6selects_gpio[] = PX4_EXTERNAL2_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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#ifdef CONFIG_STM32F7_SPI6
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for (auto gpio : spi6selects_gpio) {
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px4_arch_configgpio(gpio);
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}
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#endif // CONFIG_STM32F7_SPI6
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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_SENSORS);
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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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if (devid == SPIDEV_FLASH(0)) {
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devid = PX4_SPIDEV_MEMORY;
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}
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ASSERT(PX4_SPI_BUS_ID(devid) == PX4_SPI_BUS_MEMORY);
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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 && GPIO_SPI2_CS_FRAM
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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_BARO);
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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_EXTERNAL1);
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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: stm32_spi6select and stm32_spi6status
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*
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* Description:
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* Called by stm32 spi driver on bus 6.
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*
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************************************************************************************/
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#ifdef CONFIG_STM32F7_SPI6
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__EXPORT void stm32_spi6select(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_EXTERNAL2);
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// Making sure the other peripherals are not selected
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for (auto cs : spi6selects_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(spi6selects_gpio[PX4_SPI_DEV_ID(devid)], !selected);
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}
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__EXPORT uint8_t stm32_spi6status(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_SPI6
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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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// disable SPI bus
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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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#if BOARD_USE_DRDY
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stm32_configgpio(GPIO_DRDY_OFF_SPI1_DRDY1_ICM20689);
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stm32_configgpio(GPIO_DRDY_OFF_SPI1_DRDY2_BMI055_GYRO);
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stm32_configgpio(GPIO_DRDY_OFF_SPI1_DRDY3_BMI055_ACC);
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stm32_configgpio(GPIO_DRDY_OFF_SPI1_DRDY4_ICM20602);
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stm32_configgpio(GPIO_DRDY_OFF_SPI1_DRDY5_BMI055_GYRO);
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stm32_configgpio(GPIO_DRDY_OFF_SPI1_DRDY6_BMI055_ACC);
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#endif
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/* set the sensor rail off */
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stm32_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, 0);
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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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/* switch the sensor rail back on */
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stm32_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, 1);
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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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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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#if BOARD_USE_DRDY
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stm32_configgpio(GPIO_SPI1_DRDY1_ICM20689);
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stm32_configgpio(GPIO_SPI1_DRDY2_BMI055_GYRO);
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stm32_configgpio(GPIO_SPI1_DRDY3_BMI055_ACC);
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stm32_configgpio(GPIO_SPI1_DRDY4_ICM20602);
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stm32_configgpio(GPIO_SPI1_DRDY5_BMI055_GYRO);
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stm32_configgpio(GPIO_SPI1_DRDY6_BMI055_ACC);
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#endif
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}
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