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fmu-v5 board_config: set up external spi

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This commit is contained in:
Simone Guscetti
2017-05-17 15:30:16 +02:00
committed by David Sidrane
parent 74dfa8805f
commit 1e86f24cf9
2 changed files with 45 additions and 25 deletions
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src/drivers/boards/px4fmu-v5/board_config.h
+19 -15
View File
@@ -120,10 +120,11 @@ __BEGIN_DECLS
* MEMORY is on bus SPI2
* MS5611 is on bus SPI4
*/
#define PX4_SPI_BUS_SENSORS 1
#define PX4_SPI_BUS_MEMORY 2
#define PX4_SPI_BUS_BARO 4
#define PX4_SPI_BUS_EXTERNAL 6
#define PX4_SPI_BUS_SENSORS 1
#define PX4_SPI_BUS_MEMORY 2
#define PX4_SPI_BUS_BARO 4
#define PX4_SPI_BUS_EXTERNAL1 5
#define PX4_SPI_BUS_EXTERNAL2 6
/* v BEGIN Legacy SPI defines TODO: fix this with enumeration */
#define PX4_SPI_BUS_RAMTRON PX4_SPI_BUS_MEMORY
@@ -151,18 +152,21 @@ __BEGIN_DECLS
#define PX4_BARO_BUS_FIRST_CS PX4_SPIDEV_BARO
#define PX4_BARO_BUS_LAST_CS PX4_SPIDEV_BARO
#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_EXTERNAL3 PX4_MK_SPI_SEL(PX4_SPI_BUS_EXTERNAL,2)
#define PX4_SPIDEV_EXTERNAL4 PX4_MK_SPI_SEL(PX4_SPI_BUS_EXTERNAL,3)
#define PX4_SPIDEV_EXTERNAL5 PX4_MK_SPI_SEL(PX4_SPI_BUS_EXTERNAL,4)
#define PX4_SPIDEV_EXTERNAL6 PX4_MK_SPI_SEL(PX4_SPI_BUS_EXTERNAL,5)
#define PX4_EXTERNAL_BUS_CS_GPIO {SPI5_CS1_EXTERNAL1, SPI5_CS2_EXTERNAL1, \
SPI5_CS3_EXTERNAL1, \
SPI6_CS1_EXTERNAL2, SPI6_CS2_EXTERNAL2, \
#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_EXTERNAL1_BUS_CS_GPIO {SPI5_CS1_EXTERNAL1, SPI5_CS2_EXTERNAL1, \
SPI5_CS3_EXTERNAL1}
#define PX4_EXTERNAL1_BUS_FIRST_CS PX4_SPIDEV_EXTERNAL1_1
#define PX4_EXTERNAL1_BUS_LAST_CS PX4_SPIDEV_EXTERNAL1_3
#define PX4_SPIDEV_EXTERNAL2_1 PX4_MK_SPI_SEL(PX4_SPI_BUS_EXTERNAL2,0)
#define PX4_SPIDEV_EXTERNAL2_2 PX4_MK_SPI_SEL(PX4_SPI_BUS_EXTERNAL2,1)
#define PX4_SPIDEV_EXTERNAL2_3 PX4_MK_SPI_SEL(PX4_SPI_BUS_EXTERNAL2,2)
#define PX4_EXTERNAL2_BUS_CS_GPIO {SPI6_CS1_EXTERNAL2, SPI6_CS2_EXTERNAL2, \
SPI6_CS3_EXTERNAL2}
#define PX4_EXTERNAL_BUS_FIRST_CS PX4_SPIDEV_EXTERNAL1
#define PX4_EXTERNAL_BUS_LAST_CS PX4_SPIDEV_EXTERNAL6
#define PX4_EXTERNAL2_BUS_FIRST_CS PX4_SPIDEV_EXTERNAL2_1
#define PX4_EXTERNAL2_BUS_LAST_CS PX4_SPIDEV_EXTERNAL2_3
/* I2C busses */
src/drivers/boards/px4fmu-v5/px4fmu_spi.c
+26 -10
View File
@@ -88,11 +88,10 @@ static const uint32_t spi3selects_gpio[] = {FIXME};
#error Need to define SPI3 Usage
#endif
static const uint32_t spi4selects_gpio[] = PX4_BARO_BUS_CS_GPIO;
#ifdef CONFIG_STM32F7_SPI3
static const uint32_t spi5selects_gpio[] = {FIXME};;
#error Need to define SPI5 Usage
#ifdef CONFIG_STM32F7_SPI5
static const uint32_t spi5selects_gpio[] = PX4_EXTERNAL1_BUS_CS_GPIO;
#endif
static const uint32_t spi6selects_gpio[] = PX4_EXTERNAL_BUS_CS_GPIO;
static const uint32_t spi6selects_gpio[] = PX4_EXTERNAL2_BUS_CS_GPIO;
/************************************************************************************
@@ -242,12 +241,12 @@ __EXPORT int stm32_spi_bus_initialize(void)
SPI_SELECT(spi_baro, cs, false);
}
/* Get the SPI port for the PX4_SPI_EXTERNAL */
/* Get the SPI port for the PX4_SPI_EXTERNAL1 */
spi_ext = stm32_spibus_initialize(PX4_SPI_BUS_EXTERNAL);
spi_ext = stm32_spibus_initialize(PX4_SPI_BUS_EXTERNAL1);
if (!spi_ext) {
message("[boot] FAILED to initialize SPI port %d\n", PX4_SPI_BUS_EXTERNAL);
message("[boot] FAILED to initialize SPI port %d\n", PX4_SPI_BUS_EXTERNAL1);
return -ENODEV;
}
@@ -255,7 +254,24 @@ __EXPORT int stm32_spi_bus_initialize(void)
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++) {
for (int cs = PX4_EXTERNAL1_BUS_FIRST_CS; cs <= PX4_EXTERNAL1_BUS_LAST_CS; cs++) {
SPI_SELECT(spi_ext, cs, false);
}
/* Get the SPI port for the PX4_SPI_EXTERNAL2 */
spi_ext = stm32_spibus_initialize(PX4_SPI_BUS_EXTERNAL2);
if (!spi_ext) {
message("[boot] FAILED to initialize SPI port %d\n", PX4_SPI_BUS_EXTERNAL2);
return -ENODEV;
}
SPI_SETFREQUENCY(spi_ext, 8 * 1000 * 1000);
SPI_SETBITS(spi_ext, 8);
SPI_SETMODE(spi_ext, SPIDEV_MODE3);
for (int cs = PX4_EXTERNAL2_BUS_FIRST_CS; cs <= PX4_EXTERNAL2_BUS_LAST_CS; cs++) {
SPI_SELECT(spi_ext, cs, false);
}
@@ -421,7 +437,7 @@ __EXPORT void stm32_spi5select(FAR struct spi_dev_s *dev, enum spi_dev_e devid,
int sel = (int) devid;
ASSERT(PX4_SPI_BUS_ID(sel) == FIXME);
ASSERT(PX4_SPI_BUS_ID(sel) == PX4_SPI_BUS_EXTERNAL1);
/* Making sure the other peripherals are not selected */
for (int cs = 0; arraySize(spi5selects_gpio) > 1 && cs < arraySize(spi5selects_gpio); cs++) {
@@ -455,7 +471,7 @@ __EXPORT void stm32_spi6select(FAR struct spi_dev_s *dev, enum spi_dev_e devid,
int sel = (int) devid;
ASSERT(PX4_SPI_BUS_ID(sel) == PX4_SPI_BUS_EXTERNAL);
ASSERT(PX4_SPI_BUS_ID(sel) == PX4_SPI_BUS_EXTERNAL2);
/* Making sure the other peripherals are not selected */
for (int cs = 0; arraySize(spi6selects_gpio) > 1 && cs < arraySize(spi6selects_gpio); cs++) {