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Fix AUAV X2.1 Board Config for 20608

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These changes were required to fix support for the ICM-20608 after this commit:

f746141afe

This has been tested!
This commit is contained in:
Phillip Kocmoud 2017-02-12 20:09:37 -06:00 committed by Lorenz Meier
parent 6baf6fc666
commit 36e2bc8ae7
3 changed files with 26 additions and 21 deletions
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2
src/drivers/boards/auav-x21/auav_init.c
View File

@ -422,7 +422,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
SPI_SETFREQUENCY(spi1, 10000000);
SPI_SETBITS(spi1, 8);
SPI_SETMODE(spi1, SPIDEV_MODE3);
SPI_SELECT(spi1, PX4_SPIDEV_ICM, false);
SPI_SELECT(spi1, PX4_SPIDEV_ICM_20608, false);
SPI_SELECT(spi1, PX4_SPIDEV_BARO, false);
SPI_SELECT(spi1, PX4_SPIDEV_MPU, false);
up_udelay(20);

30
src/drivers/boards/auav-x21/auav_spi.c
View File

@ -74,12 +74,12 @@ __EXPORT void stm32_spiinitialize(void)
{
#ifdef CONFIG_STM32_SPI1
px4_arch_configgpio(GPIO_SPI_CS_ICM_20608_G);
px4_arch_configgpio(GPIO_SPI_CS_ICM_2060X);
px4_arch_configgpio(GPIO_SPI_CS_BARO);
px4_arch_configgpio(GPIO_SPI_CS_MPU);
px4_arch_configgpio(GPIO_EXTI_MPU_DRDY);
px4_arch_configgpio(GPIO_EXTI_ICM_20608_G_DRDY);
px4_arch_configgpio(GPIO_EXTI_ICM_2060X_DRDY);
#endif
#ifdef CONFIG_STM32_SPI2
@ -94,23 +94,27 @@ __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid,
switch (devid) {
case PX4_SPIDEV_ICM:
/* Making sure the other peripherals are not selected */
px4_arch_gpiowrite(GPIO_SPI_CS_ICM_20608_G, !selected);
/* intended fallthrough */
case PX4_SPIDEV_ICM_20602:
/* intended fallthrough */
case PX4_SPIDEV_ICM_20608:
/* Making sure the other peripherals are not selected */
px4_arch_gpiowrite(GPIO_SPI_CS_ICM_2060X, !selected);
px4_arch_gpiowrite(GPIO_SPI_CS_BARO, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_MPU, 1);
break;
case PX4_SPIDEV_BARO:
/* Making sure the other peripherals are not selected */
px4_arch_gpiowrite(GPIO_SPI_CS_ICM_20608_G, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_ICM_2060X, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_BARO, !selected);
px4_arch_gpiowrite(GPIO_SPI_CS_MPU, 1);
break;
case PX4_SPIDEV_MPU:
/* Making sure the other peripherals are not selected */
px4_arch_gpiowrite(GPIO_SPI_CS_ICM_20608_G, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_ICM_2060X, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_BARO, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_MPU, !selected);
break;
@ -144,11 +148,11 @@ __EXPORT uint8_t stm32_spi2status(FAR struct spi_dev_s *dev, enum spi_dev_e devi
__EXPORT void board_spi_reset(int ms)
{
/* disable SPI bus */
px4_arch_configgpio(GPIO_SPI_CS_ICM_20608_G_OFF);
px4_arch_configgpio(GPIO_SPI_CS_ICM_2060X_OFF);
px4_arch_configgpio(GPIO_SPI_CS_BARO_OFF);
px4_arch_configgpio(GPIO_SPI_CS_MPU_OFF);
px4_arch_gpiowrite(GPIO_SPI_CS_ICM_20608_G_OFF, 0);
px4_arch_gpiowrite(GPIO_SPI_CS_ICM_2060X_OFF, 0);
px4_arch_gpiowrite(GPIO_SPI_CS_BARO_OFF, 0);
px4_arch_gpiowrite(GPIO_SPI_CS_MPU_OFF, 0);
@ -160,10 +164,10 @@ __EXPORT void board_spi_reset(int ms)
px4_arch_gpiowrite(GPIO_SPI1_MISO_OFF, 0);
px4_arch_gpiowrite(GPIO_SPI1_MOSI_OFF, 0);
px4_arch_configgpio(GPIO_EXTI_ICM_20608_G_DRDY_OFF);
px4_arch_configgpio(GPIO_EXTI_ICM_2060X_DRDY_OFF);
px4_arch_configgpio(GPIO_EXTI_MPU_DRDY_OFF);
px4_arch_gpiowrite(GPIO_EXTI_ICM_20608_G_DRDY_OFF, 0);
px4_arch_gpiowrite(GPIO_EXTI_ICM_2060X_DRDY_OFF, 0);
px4_arch_gpiowrite(GPIO_EXTI_MPU_DRDY_OFF, 0);
/* set the sensor rail off */
@ -184,7 +188,7 @@ __EXPORT void board_spi_reset(int ms)
/* reconfigure the SPI pins */
#ifdef CONFIG_STM32_SPI1
px4_arch_configgpio(GPIO_SPI_CS_ICM_20608_G);
px4_arch_configgpio(GPIO_SPI_CS_ICM_2060X);
px4_arch_configgpio(GPIO_SPI_CS_BARO);
px4_arch_configgpio(GPIO_SPI_CS_MPU);
@ -194,7 +198,7 @@ __EXPORT void board_spi_reset(int ms)
// // XXX bring up the EXTI pins again
// px4_arch_configgpio(GPIO_EXTI_MPU_DRDY);
// px4_arch_configgpio(GPIO_EXTI_ICM_20608_G_DRDY);
// px4_arch_configgpio(GPIO_EXTI_ICM_2060X_DRDY);
#endif
}

15
src/drivers/boards/auav-x21/board_config.h
View File

@ -75,11 +75,11 @@
/* Data ready pins but on board */
#define GPIO_EXTI_ICM_20608_G_DRDY (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTC|GPIO_PIN14)
#define GPIO_EXTI_ICM_2060X_DRDY (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTC|GPIO_PIN14)
/* Data ready pins off */
#define GPIO_EXTI_MPU_DRDY_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_EXTI|GPIO_PORTD|GPIO_PIN15)
#define GPIO_EXTI_ICM_20608_G_DRDY_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_EXTI|GPIO_PORTC|GPIO_PIN14)
#define GPIO_EXTI_ICM_2060X_DRDY_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_EXTI|GPIO_PORTC|GPIO_PIN14)
/* SPI1 off */
#define GPIO_SPI1_SCK_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN5)
@ -87,12 +87,12 @@
#define GPIO_SPI1_MOSI_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN7)
/* SPI1 chip selects off */
#define GPIO_SPI_CS_ICM_20608_G_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN15)
#define GPIO_SPI_CS_ICM_2060X_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN15)
#define GPIO_SPI_CS_BARO_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTD|GPIO_PIN7)
#define GPIO_SPI_CS_MPU_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN2)
/* SPI chip selects */
#define GPIO_SPI_CS_ICM_20608_G (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN15)
#define GPIO_SPI_CS_ICM_2060X (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN15)
#define GPIO_SPI_CS_BARO (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN7)
#define GPIO_SPI_CS_FRAM (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN10)
#define GPIO_SPI_CS_MPU (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN2)
@ -102,9 +102,10 @@
#define PX4_SPI_BUS_BARO PX4_SPI_BUS_SENSORS
/* Use these in place of the spi_dev_e enumeration to select a specific SPI device on SPI1 */
#define PX4_SPIDEV_ICM 1
#define PX4_SPIDEV_BARO 2
#define PX4_SPIDEV_MPU 3
#define PX4_SPIDEV_ICM_20602 1
#define PX4_SPIDEV_ICM_20608 2
#define PX4_SPIDEV_BARO 3
#define PX4_SPIDEV_MPU 4
/* I2C busses */