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px4:platform support SPI configuration selection on HW REV

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This commit is contained in:
David Sidrane 2021-04-02 06:48:15 -07:00 committed by Beat Küng
parent e4ee7c7d98
commit 69e0c2fc10
4 changed files with 13 additions and 6 deletions
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1
platforms/common/include/px4_platform_common/board_common.h
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@ -262,6 +262,7 @@
#if defined(BOARD_HAS_HW_VERSIONING)
# define BOARD_HAS_VERSIONING 1
# define HW_VER_REV(v,r) ((uint32_t)((v) & 0xff) << 8) | ((uint32_t)(r) & 0xff)
#endif
/* Default LED logical to color mapping */

2
platforms/common/include/px4_platform_common/spi.h
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@ -71,7 +71,7 @@ struct px4_spi_bus_t {
struct px4_spi_bus_all_hw_t {
px4_spi_bus_t buses[SPI_BUS_MAX_BUS_ITEMS];
int board_hw_version{-1}; ///< 0=default, >0 for a specific revision (see board_get_hw_version), -1=unused
int board_hw_version_revision{-1}; ///< 0=default, >0 for a specific revision (see board_get_hw_version & board_get_hw_revision), -1=unused
};
#if BOARD_NUM_SPI_CFG_HW_VERSIONS > 1

11
platforms/common/spi.cpp
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@ -39,14 +39,19 @@
#if BOARD_NUM_SPI_CFG_HW_VERSIONS > 1
void px4_set_spi_buses_from_hw_version()
{
int hw_version = board_get_hw_version();
#if defined(BOARD_HAS_SIMPLE_HW_VERSIONING)
int hw_version_revision = board_get_hw_version();
#else
int hw_version_revision = board_get_hw_revision();
#endif
for (int i = 0; i < BOARD_NUM_SPI_CFG_HW_VERSIONS; ++i) {
if (!px4_spi_buses && px4_spi_buses_all_hw[i].board_hw_version == 0) {
if (!px4_spi_buses && px4_spi_buses_all_hw[i].board_hw_version_revision == 0) {
px4_spi_buses = px4_spi_buses_all_hw[i].buses;
}
if (px4_spi_buses_all_hw[i].board_hw_version == hw_version) {
if (px4_spi_buses_all_hw[i].board_hw_version_revision == hw_version_revision) {
px4_spi_buses = px4_spi_buses_all_hw[i].buses;
}
}

5
platforms/nuttx/src/px4/stm/stm32_common/include/px4_arch/spi_hw_description.h
View File

@ -129,7 +129,8 @@ static inline constexpr SPI::bus_device_external_cfg_t initSPIConfigExternal(SPI
struct px4_spi_bus_array_t {
px4_spi_bus_t item[SPI_BUS_MAX_BUS_ITEMS];
};
static inline constexpr px4_spi_bus_all_hw_t initSPIHWVersion(int hw_version, const px4_spi_bus_array_t &bus_items)
static inline constexpr px4_spi_bus_all_hw_t initSPIHWVersion(int hw_version_revision,
const px4_spi_bus_array_t &bus_items)
{
px4_spi_bus_all_hw_t ret{};
@ -137,7 +138,7 @@ static inline constexpr px4_spi_bus_all_hw_t initSPIHWVersion(int hw_version, co
ret.buses[i] = bus_items.item[i];
}
ret.board_hw_version = hw_version;
ret.board_hw_version_revision = hw_version_revision;
return ret;
}
constexpr bool validateSPIConfig(const px4_spi_bus_t spi_buses_conf[SPI_BUS_MAX_BUS_ITEMS]);