mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-14 11:03:35 +08:00
tropic-community: Update SPI driver and basic hwver support
This commit is contained in:
Peter van der Perk
@@ -14,6 +14,7 @@ CONFIG_DRIVERS_CAMERA_TRIGGER=y
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CONFIG_DRIVERS_CDCACM_AUTOSTART=y
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CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
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CONFIG_COMMON_DISTANCE_SENSOR=y
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CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_SF45_SERIAL=y
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CONFIG_DRIVERS_DSHOT=y
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CONFIG_DRIVERS_GNSS_SEPTENTRIO=y
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CONFIG_DRIVERS_GPS=y
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@@ -7,7 +7,7 @@
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"summary": "TROPIC Community",
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"version": "0.1",
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"image_size": 0,
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"image_maxsize": 0,
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"image_maxsize": 8126464,
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"git_identity": "",
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"board_revision": 0
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}
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@@ -61,7 +61,9 @@ CONFIG_FS_CROMFS=y
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CONFIG_FS_FAT=y
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CONFIG_FS_FATTIME=y
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CONFIG_FS_LITTLEFS=y
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CONFIG_FS_LITTLEFS_PROGRAM_SIZE_FACTOR=2
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CONFIG_FS_LITTLEFS_CACHE_SIZE_FACTOR=2
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CONFIG_FS_LITTLEFS_LOOKAHEAD_SIZE=64
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CONFIG_FS_LITTLEFS_PROGRAM_SIZE_FACTOR=1
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CONFIG_FS_PROCFS=y
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CONFIG_FS_PROCFS_MAX_TASKS=64
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CONFIG_FS_PROCFS_REGISTER=y
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@@ -83,8 +85,6 @@ CONFIG_IMXRT_ENET_NTXBUFFERS=8
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CONFIG_IMXRT_ENET_PHYINIT=y
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CONFIG_IMXRT_FLEXCAN3=y
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CONFIG_IMXRT_FLEXCAN_TXMB=1
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CONFIG_IMXRT_FLEXSPI1=y
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CONFIG_IMXRT_FLEXSPI1_XIP=y
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CONFIG_IMXRT_GPIO1_0_15_IRQ=y
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CONFIG_IMXRT_GPIO1_16_31_IRQ=y
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CONFIG_IMXRT_GPIO2_0_15_IRQ=y
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@@ -20,7 +20,12 @@
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*(.text.imxrt_enet_interrupt)
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*(.text.imxrt_enet_interrupt_work)
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*(.text.imxrt_interrupt)
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*(.text.imxrt_gpio1_16_31_interrupt)
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*(.text.imxrt_gpio2_0_15_interrupt)
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*(.text.imxrt_gpio3_16_31_interrupt)
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*(.text.imxrt_lpi2c_isr)
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*(.text.imxrt_lpspi3select)
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*(.text.imxrt_lpspi4select)
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*(.text.imxrt_lpspi_exchange)
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*(.text.imxrt_recvdma)
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*(.text.imxrt_tcd_free)
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@@ -115,18 +120,45 @@
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*(.text.work_thread)
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*(.text.work_queue)
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/* Flash Storage */
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*(.text.imxrt_flexspi_transfer_blocking)
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*(.text.imxrt_flexspi_transfer_blocking_private)
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*(.text.imxrt_flexspi_write_blocking)
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*(.text.imxrt_flexspi_read_blocking)
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*(.text.imxrt_flexspi_check_and_clear_error)
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*(.text.imxrt_flexspi_get_bus_idle_status)
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*(.text.imxrt_flexspi_configure_prefetch)
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*(.text.imxrt_flexspi_configure_prefetch_private)
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*(.text.imxrt_flexspi_storage_write_enable)
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*(.text.imxrt_flexspi_storage_wait_bus_busy)
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*(.text.imxrt_flexspi_storage_read_status)
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*(.text.imxrt_flexspi_storage_erase)
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*(.text.imxrt_flexspi_storage_bwrite)
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*(.text.imxrt_flexspi_storage_page_program)
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/* ICM45686 */
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*(.text._ZN8ICM4568612ProcessAccelERKyPKN19InvenSense_ICM456864FIFO4DATAEh)
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*(.text._ZN8ICM4568611ProcessGyroERKyPKN19InvenSense_ICM456864FIFO4DATAEh)
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*(.text._ZN8ICM456868FIFOReadERKy)
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*(.text._ZN8ICM456867RunImplEv)
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*(.text._ZN8ICM4568618ProcessTemperatureEPKN19InvenSense_ICM456864FIFO4DATAEh)
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*(.text._ZN12I2CSPIDriverI8ICM45686E3RunEv)
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*(.text._ZN8ICM4568613FIFOReadCountEv)
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/* BMI088 */
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*(.text._ZN5Bosch6BMI08813Accelerometer20BMI088_Accelerometer12RegisterReadENS1_8RegisterE)
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*(.text._ZN5Bosch6BMI08813Accelerometer20BMI088_Accelerometer13FIFOReadCountEv)
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*(.text._ZN5Bosch6BMI08813Accelerometer20BMI088_Accelerometer8FIFOReadERKyh)
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*(.text._ZN5Bosch6BMI08813Accelerometer20BMI088_Accelerometer13RegisterCheckERKNS2_17register_config_tE)
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*(.text._ZN5Bosch6BMI08813Accelerometer20BMI088_Accelerometer13RegisterWriteENS1_8RegisterEh)
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*(.text._ZN5Bosch6BMI08813Accelerometer20BMI088_Accelerometer17UpdateTemperatureEv)
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*(.text._ZN5Bosch6BMI08813Accelerometer20BMI088_Accelerometer23RegisterSetAndClearBitsENS1_8RegisterEhh)
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*(.text._ZN5Bosch6BMI08813Accelerometer20BMI088_Accelerometer26DataReadyInterruptCallbackEiPvS3_)
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*(.text._ZN5Bosch6BMI08813Accelerometer20BMI088_Accelerometer7RunImplEv)
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*(.text._ZN5Bosch6BMI08813Accelerometer20BMI088_Accelerometer9DataReadyEv)
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*(.text._ZN5Bosch6BMI08813Accelerometer20BMI088_AccelerometerD0Ev)
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*(.text._ZN5Bosch6BMI08813Accelerometer20BMI088_AccelerometerD1Ev)
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*(.text._ZN5Bosch6BMI08813Accelerometer20BMI088_AccelerometerD2Ev)
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||||
*(.text._ZN5Bosch6BMI0889Gyroscope16BMI088_Gyroscope12RegisterReadENS1_8RegisterE)
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*(.text._ZN5Bosch6BMI0889Gyroscope16BMI088_Gyroscope13RegisterCheckERKNS2_17register_config_tE)
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||||
*(.text._ZN5Bosch6BMI0889Gyroscope16BMI088_Gyroscope13RegisterWriteENS1_8RegisterEh)
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||||
*(.text._ZN5Bosch6BMI0889Gyroscope16BMI088_Gyroscope23RegisterSetAndClearBitsENS1_8RegisterEhh)
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*(.text._ZN5Bosch6BMI0889Gyroscope16BMI088_Gyroscope26DataReadyInterruptCallbackEiPvS3_)
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*(.text._ZN5Bosch6BMI0889Gyroscope16BMI088_Gyroscope7RunImplEv)
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*(.text._ZN5Bosch6BMI0889Gyroscope16BMI088_Gyroscope8FIFOReadERKyh)
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*(.text._ZN5Bosch6BMI0889Gyroscope16BMI088_Gyroscope9DataReadyEv)
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*(.text._ZN5Bosch6BMI0889Gyroscope16BMI088_GyroscopeD0Ev)
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*(.text._ZN5Bosch6BMI0889Gyroscope16BMI088_GyroscopeD1Ev)
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||||
*(.text._ZN5Bosch6BMI0889Gyroscope16BMI088_GyroscopeD2Ev)
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*(.text._ZN12I2CSPIDriverI6BMI088E3RunEv)
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/* BMM350 */
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*(.text._ZN12I2CSPIDriverI6BMM350E3RunEv)
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*(.text._ZN6BMM3507RunImplEv)
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*(.text._ZN6BMM35013RegisterWriteEN12Bosch_BMM3508RegisterEh)
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*(.text._ZN6BMM35012RegisterReadEN12Bosch_BMM3508RegisterEPh)
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*(.text._ZN6BMM35014ReadOutRawDataEPf)
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@@ -80,6 +80,13 @@ SECTIONS
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{
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_stext = ABSOLUTE(.);
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*(.vectors)
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. = ALIGN(32);
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/*
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This signature provides the bootloader with a way to delay booting
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*/
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_bootdelay_signature = ABSOLUTE(.);
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FILL(0xffecc2925d7d05c5)
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. += 8;
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*(.text .text.*)
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*(.fixup)
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*(.gnu.warning)
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@@ -162,6 +169,10 @@ SECTIONS
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.debug_line 0 : { *(.debug_line) }
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.debug_pubnames 0 : { *(.debug_pubnames) }
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.debug_aranges 0 : { *(.debug_aranges) }
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_boot_loadaddr = ORIGIN(flash);
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_boot_size = LENGTH(flash);
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_ram_size = LENGTH(sram);
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_sdtcm = ORIGIN(dtcm);
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_edtcm = ORIGIN(dtcm) + LENGTH(dtcm);
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}
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@@ -30,28 +30,57 @@
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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if("${PX4_BOARD_LABEL}" STREQUAL "bootloader")
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add_compile_definitions(BOOTLOADER)
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add_library(drivers_board
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bootloader_main.c
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init.c
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usb.c
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imxrt_flexspi_nor_boot.c
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imxrt_flexspi_nor_flash.c
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timer_config.cpp
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)
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target_link_libraries(drivers_board
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PRIVATE
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nuttx_arch # sdio
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nuttx_drivers # sdio
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px4_layer #gpio
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arch_io_pins # iotimer
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arch_board_romapi
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bootloader
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)
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target_include_directories(drivers_board PRIVATE ${PX4_SOURCE_DIR}/platforms/nuttx/src/bootloader/common)
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px4_add_library(drivers_board
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i2c.cpp
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init.c
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sdhc.c
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spi.cpp
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timer_config.cpp
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tropic_led_pwm.cpp
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usb.c
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imxrt_flexspi_nor_boot.c
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imxrt_flexspi_nor_flash.c
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imxrt_flexspi_storage.c
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imxrt_ocram_initialize.c
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)
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else()
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# Force compiler not to use builtin functions (like memcpy)
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# to optimize for loops in init.c (imxrt_ocram_initialize)
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set_source_files_properties(imxrt_ocram_initialize.c PROPERTIES COMPILE_FLAGS -fno-builtin)
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px4_add_library(drivers_board
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i2c.cpp
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init.c
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sdhc.c
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spi.cpp
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timer_config.cpp
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tropic_led_pwm.cpp
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usb.c
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imxrt_flexspi_nor_boot.c
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imxrt_flexspi_nor_flash.c
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imxrt_flexspi_storage.c
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imxrt_ocram_initialize.c
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hw_rev_ver_tropic.c
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manifest.c
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)
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target_link_libraries(drivers_board
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PRIVATE
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nuttx_arch # sdio
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nuttx_drivers # sdio
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px4_layer
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)
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# Force compiler not to use builtin functions (like memcpy)
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# to optimize for loops in init.c (imxrt_ocram_initialize)
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set_source_files_properties(imxrt_ocram_initialize.c PROPERTIES COMPILE_FLAGS -fno-builtin)
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target_link_libraries(drivers_board
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PRIVATE
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arch_board_romapi
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arch_spi
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nuttx_arch # sdio
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nuttx_drivers # sdio
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px4_layer
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)
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endif()
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@@ -112,7 +112,6 @@
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#define GPIO_DRDY_OFF_SPI4_DRDY7_EXTERNAL1 _PIN_OFF(GPIO_SPI4_DRDY7_EXTERNAL1)
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#define ADC_IOMUX (IOMUX_CMOS_INPUT | IOMUX_PULL_NONE | IOMUX_DRIVE_HIZ)
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#define ADC1_CH(n) (n)
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@@ -262,6 +261,18 @@ static inline int board_read_usb2_vbus_state(void)
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}
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#define BOARD_ENABLE_CONSOLE_BUFFER
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/* To detect IMU */
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#define BOARD_HAS_HW_VERSIONING 1
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#define BOARD_HAS_HW_SPLIT_VERSIONING 1
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#define HW_INFO_INIT_PREFIX "TROPIC"
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#define BOARD_NUM_SPI_CFG_HW_VERSIONS 3
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// Base/FMUM
|
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#define TROPIC_0 HW_FMUM_ID(0x0) // ICM42688
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#define TROPIC_1 HW_FMUM_ID(0x1) // ICM42688
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#define TROPIC_2 HW_FMUM_ID(0x2) // ICM45686
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__BEGIN_DECLS
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/****************************************************************************************************
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@@ -316,6 +327,8 @@ extern int imxrt1062_spi_bus_initialize(void);
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*
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************************************************************************************/
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extern void imxrt_spiinitialize(void);
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extern int imxrt_usb_initialize(void);
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extern void imxrt_usbinitialize(void);
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@@ -326,6 +339,8 @@ extern void fmurt1062_timer_initialize(void);
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#include <px4_platform_common/board_common.h>
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void imxrt_flash_romapi_initialize(void);
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int imxrt_flexspi_storage_initialize(void);
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#endif /* __ASSEMBLY__ */
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|
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@@ -0,0 +1,61 @@
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/****************************************************************************
|
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*
|
||||
* Copyright (c) 2023 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file bootloader_main.c
|
||||
*
|
||||
* FMU-specific early startup code for bootloader
|
||||
*/
|
||||
|
||||
#include "board_config.h"
|
||||
#include "bl.h"
|
||||
|
||||
#include <nuttx/config.h>
|
||||
#include <nuttx/board.h>
|
||||
#include <chip.h>
|
||||
#include <arch/board/board.h>
|
||||
#include "arm_internal.h"
|
||||
#include <px4_platform_common/init.h>
|
||||
|
||||
extern int sercon_main(int c, char **argv);
|
||||
|
||||
void board_late_initialize(void)
|
||||
{
|
||||
sercon_main(0, NULL);
|
||||
}
|
||||
|
||||
extern void sys_tick_handler(void);
|
||||
void board_timerhook(void)
|
||||
{
|
||||
sys_tick_handler();
|
||||
}
|
||||
@@ -0,0 +1,130 @@
|
||||
/*
|
||||
* hw_config.h
|
||||
*
|
||||
* Created on: May 17, 2015
|
||||
* Author: david_s5
|
||||
*/
|
||||
|
||||
#ifndef HW_CONFIG_H_
|
||||
#define HW_CONFIG_H_
|
||||
|
||||
/****************************************************************************
|
||||
* 10-8--2016:
|
||||
* To simplify the ripple effect on the tools, we will be using
|
||||
* /dev/serial/by-id/<asterisk>PX4<asterisk> to locate PX4 devices. Therefore
|
||||
* moving forward all Bootloaders must contain the prefix "PX4 BL "
|
||||
* in the USBDEVICESTRING
|
||||
* This Change will be made in an upcoming BL release
|
||||
****************************************************************************/
|
||||
/*
|
||||
* Define usage to configure a bootloader
|
||||
*
|
||||
*
|
||||
* Constant example Usage
|
||||
* APP_LOAD_ADDRESS 0x08004000 - The address in Linker Script, where the app fw is org-ed
|
||||
* BOOTLOADER_DELAY 5000 - Ms to wait while under USB pwr or bootloader request
|
||||
* BOARD_FMUV2
|
||||
* INTERFACE_USB 1 - (Optional) Scan and use the USB interface for bootloading
|
||||
* INTERFACE_USART 1 - (Optional) Scan and use the Serial interface for bootloading
|
||||
* USBDEVICESTRING "PX4 BL FMU v2.x" - USB id string
|
||||
* USBPRODUCTID 0x0011 - PID Should match defconfig
|
||||
* BOOT_DELAY_ADDRESS 0x000001a0 - (Optional) From the linker script from Linker Script to get a custom
|
||||
* delay provided by an APP FW
|
||||
* BOARD_TYPE 9 - Must match .prototype boad_id
|
||||
* _FLASH_KBYTES (*(uint16_t *)0x1fff7a22) - Run time flash size detection
|
||||
* BOARD_FLASH_SECTORS ((_FLASH_KBYTES == 0x400) ? 11 : 23) - Run time determine the physical last sector
|
||||
* BOARD_FLASH_SECTORS 11 - Hard coded zero based last sector
|
||||
* BOARD_FLASH_SIZE (_FLASH_KBYTES*1024)- Total Flash size of device, determined at run time.
|
||||
* (1024 * 1024) - Hard coded Total Flash of device - The bootloader and app reserved will be deducted
|
||||
* programmatically
|
||||
*
|
||||
* BOARD_FIRST_FLASH_SECTOR_TO_ERASE 2 - Optional sectors index in the flash_sectors table (F4 only), to begin erasing.
|
||||
* This is to allow sectors to be reserved for app fw usage. That will NOT be erased
|
||||
* during a FW upgrade.
|
||||
* The default is 0, and selects the first sector to be erased, as the 0th entry in the
|
||||
* flash_sectors table. Which is the second physical sector of FLASH in the device.
|
||||
* The first physical sector of FLASH is used by the bootloader, and is not defined
|
||||
* in the table.
|
||||
*
|
||||
* APP_RESERVATION_SIZE (BOARD_FIRST_FLASH_SECTOR_TO_ERASE * 16 * 1024) - Number of bytes reserved by the APP FW. This number plus
|
||||
* BOOTLOADER_RESERVATION_SIZE will be deducted from
|
||||
* BOARD_FLASH_SIZE to determine the size of the App FW
|
||||
* and hence the address space of FLASH to erase and program.
|
||||
* USBMFGSTRING "PX4 AP" - Optional USB MFG string (default is '3D Robotics' if not defined.)
|
||||
* SERIAL_BREAK_DETECT_DISABLED - Optional prevent break selection on Serial port from entering or staying in BL
|
||||
*
|
||||
* * Other defines are somewhat self explanatory.
|
||||
*/
|
||||
|
||||
/* Boot device selection list*/
|
||||
#define USB0_DEV 0x01
|
||||
#define SERIAL0_DEV 0x02
|
||||
#define SERIAL1_DEV 0x04
|
||||
|
||||
#define APP_LOAD_ADDRESS 0x60020000
|
||||
#define APP_VECTOR_OFFSET 0x2000
|
||||
#define BOOTLOADER_DELAY 5000
|
||||
#define INTERFACE_USB 1
|
||||
#define INTERFACE_USB_CONFIG "/dev/ttyACM0"
|
||||
|
||||
//#define USE_VBUS_PULL_DOWN
|
||||
#define INTERFACE_USART 1
|
||||
#define INTERFACE_USART_CONFIG "/dev/ttyS0,1500000"
|
||||
#define BOOT_DELAY_ADDRESS 0x00039FA0
|
||||
#define BOARD_TYPE 37
|
||||
// The board has a 8 Mb part with 2048, 4K secors
|
||||
// as 1024, 4K sectors
|
||||
#define BOARD_FLASH_SECTORS 1984 // 1024 * 4k sectors, 128k for bootloader, 128k for storage
|
||||
#define BOARD_FIRST_FLASH_SECTOR_TO_ERASE 32 // We resreve 128K for the bootloader
|
||||
#define BOARD_FLASH_SIZE (BOARD_FLASH_SECTORS * 4096)
|
||||
|
||||
#define OSC_FREQ 24
|
||||
|
||||
#define BOARD_PIN_LED_ACTIVITY GPIO_nLED_BLUE // BLUE
|
||||
#define BOARD_PIN_LED_BOOTLOADER GPIO_nLED_GREEN // GREEN
|
||||
#define BOARD_LED_ON 0
|
||||
#define BOARD_LED_OFF 1
|
||||
|
||||
#define SERIAL_BREAK_DETECT_DISABLED 1
|
||||
|
||||
/*
|
||||
* Uncommenting this allows to force the bootloader through
|
||||
* a PWM output pin. As this can accidentally initialize
|
||||
* an ESC prematurely, it is not recommended. This feature
|
||||
* has not been used and hence defaults now to off.
|
||||
*
|
||||
* # define BOARD_FORCE_BL_PIN_OUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN14)
|
||||
* # define BOARD_FORCE_BL_PIN_IN (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN11)
|
||||
*
|
||||
* # define BOARD_POWER_PIN_OUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN4)
|
||||
* # define BOARD_POWER_ON 1
|
||||
* # define BOARD_POWER_OFF 0
|
||||
* # undef BOARD_POWER_PIN_RELEASE // Leave pin enabling Power - un comment to release (disable power)
|
||||
*
|
||||
*/
|
||||
|
||||
#if !defined(ARCH_SN_MAX_LENGTH)
|
||||
# define ARCH_SN_MAX_LENGTH 12
|
||||
#endif
|
||||
|
||||
#if !defined(APP_RESERVATION_SIZE)
|
||||
# define APP_RESERVATION_SIZE 0
|
||||
#endif
|
||||
|
||||
#if !defined(BOARD_FIRST_FLASH_SECTOR_TO_ERASE)
|
||||
# define BOARD_FIRST_FLASH_SECTOR_TO_ERASE 1
|
||||
#endif
|
||||
|
||||
#if !defined(USB_DATA_ALIGN)
|
||||
# define USB_DATA_ALIGN
|
||||
#endif
|
||||
|
||||
#ifndef BOOT_DEVICES_SELECTION
|
||||
# define BOOT_DEVICES_SELECTION USB0_DEV|SERIAL0_DEV|SERIAL1_DEV
|
||||
#endif
|
||||
|
||||
#ifndef BOOT_DEVICES_FILTER_ONUSB
|
||||
# define BOOT_DEVICES_FILTER_ONUSB USB0_DEV|SERIAL0_DEV|SERIAL1_DEV
|
||||
#endif
|
||||
|
||||
#endif /* HW_CONFIG_H_ */
|
||||
@@ -0,0 +1,165 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2025 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file hw_rev_ver_tropic.c
|
||||
* Tropic-community Hardware Revision and Version ID API
|
||||
*/
|
||||
#include <drivers/drv_adc.h>
|
||||
#include <px4_arch/adc.h>
|
||||
#include <px4_platform_common/micro_hal.h>
|
||||
#include <px4_platform_common/px4_config.h>
|
||||
#include <px4_platform/board_determine_hw_info.h>
|
||||
#include <stdio.h>
|
||||
#include <board_config.h>
|
||||
#include <drivers/drv_sensor.h>
|
||||
|
||||
#include <systemlib/px4_macros.h>
|
||||
|
||||
#include <nuttx/spi/spi.h>
|
||||
|
||||
#if defined(BOARD_HAS_HW_VERSIONING)
|
||||
|
||||
#define HW_INFO_SIZE HW_INFO_VER_DIGITS + HW_INFO_REV_DIGITS
|
||||
|
||||
/****************************************************************************
|
||||
* Private Data
|
||||
****************************************************************************/
|
||||
static int hw_revision = 0;
|
||||
static char hw_info[HW_INFO_SIZE] = {0};
|
||||
#if defined(BOARD_HAS_HW_SPLIT_VERSIONING)
|
||||
static char hw_base_info[HW_INFO_SIZE] = {0};
|
||||
#endif
|
||||
|
||||
/****************************************************************************
|
||||
* Public Functions
|
||||
****************************************************************************/
|
||||
/************************************************************************************
|
||||
* Name: board_get_hw_type
|
||||
*
|
||||
* Description:
|
||||
* Optional returns a 0 terminated string defining the HW type.
|
||||
*
|
||||
* Input Parameters:
|
||||
* None
|
||||
*
|
||||
* Returned Value:
|
||||
* a 0 terminated string defining the HW type. This my be a 0 length string ""
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
__EXPORT const char *board_get_hw_type_name()
|
||||
{
|
||||
return (const char *) hw_info;
|
||||
}
|
||||
|
||||
#if defined(BOARD_HAS_HW_SPLIT_VERSIONING)
|
||||
/************************************************************************************
|
||||
* Name: board_get_hw_base_type_name
|
||||
*
|
||||
* Description:
|
||||
* Optional returns a 0 terminated string defining the base type.
|
||||
*
|
||||
* Input Parameters:
|
||||
* None
|
||||
*
|
||||
* Returned Value:
|
||||
* a 0 terminated string defining the HW type. This my be a 0 length string ""
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
__EXPORT const char *board_get_hw_base_type_name()
|
||||
{
|
||||
return (const char *) hw_base_info;
|
||||
}
|
||||
#endif
|
||||
|
||||
/************************************************************************************
|
||||
* Name: board_get_hw_version
|
||||
*
|
||||
* Description:
|
||||
* Optional returns a integer HW version
|
||||
*
|
||||
* Input Parameters:
|
||||
* None
|
||||
*
|
||||
* Returned Value:
|
||||
* An integer value of this boards hardware version.
|
||||
* A value of -1 is the default for boards not supporting the BOARD_HAS_VERSIONING API.
|
||||
* A value of 0 is the default for boards supporting the API but not having version.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
__EXPORT int board_get_hw_version()
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
|
||||
/************************************************************************************
|
||||
* Name: board_get_hw_revision
|
||||
*
|
||||
* Description:
|
||||
* Optional returns a integer HW revision
|
||||
*
|
||||
* Input Parameters:
|
||||
* None
|
||||
*
|
||||
* Returned Value:
|
||||
* An integer value of this boards hardware revision.
|
||||
* A value of -1 is the default for boards not supporting the BOARD_HAS_VERSIONING API.
|
||||
* A value of 0 is the default for boards supporting the API but not having revision.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
__EXPORT int board_get_hw_revision()
|
||||
{
|
||||
return hw_revision;
|
||||
}
|
||||
|
||||
/************************************************************************************
|
||||
* Name: board_determine_hw_info
|
||||
*
|
||||
* Description:
|
||||
* Uses FUSES to detect Version
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
int board_determine_hw_info()
|
||||
{
|
||||
hw_revision = 0; //TODO Read fuses
|
||||
|
||||
sprintf(hw_info, "%03d", hw_revision);
|
||||
|
||||
return 0;
|
||||
}
|
||||
#endif
|
||||
@@ -1,6 +1,6 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2024 PX4 Development Team. All rights reserved.
|
||||
* Copyright (c) 2025 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
|
||||
@@ -64,7 +64,6 @@
|
||||
#include <nuttx/analog/adc.h>
|
||||
#include <nuttx/mm/gran.h>
|
||||
|
||||
#include "arm_internal.h"
|
||||
#include "arm_internal.h"
|
||||
#include "imxrt_flexspi_nor_boot.h"
|
||||
#include <px4_arch/imxrt_flexspi_nor_flash.h>
|
||||
@@ -85,9 +84,11 @@
|
||||
#include <drivers/drv_board_led.h>
|
||||
#include <systemlib/px4_macros.h>
|
||||
#include <px4_arch/io_timer.h>
|
||||
#include <px4_arch/imxrt_romapi.h>
|
||||
#include <px4_platform_common/init.h>
|
||||
#include <px4_platform/gpio.h>
|
||||
#include <px4_platform/board_dma_alloc.h>
|
||||
#include <px4_platform/board_determine_hw_info.h>
|
||||
|
||||
/* Configuration ************************************************************/
|
||||
|
||||
@@ -232,6 +233,8 @@ __EXPORT void imxrt_boardinitialize(void)
|
||||
{
|
||||
imxrt_flash_setup_prefetch_partition();
|
||||
|
||||
imxrt_flash_romapi_initialize();
|
||||
|
||||
board_on_reset(-1); /* Reset PWM first thing */
|
||||
|
||||
/* configure LEDs */
|
||||
@@ -243,10 +246,6 @@ __EXPORT void imxrt_boardinitialize(void)
|
||||
const uint32_t gpio[] = PX4_GPIO_INIT_LIST;
|
||||
px4_gpio_init(gpio, arraySize(gpio));
|
||||
|
||||
/* configure SPI interfaces */
|
||||
|
||||
imxrt_spidev_initialize();
|
||||
|
||||
imxrt_usb_initialize();
|
||||
|
||||
fmurt1062_timer_initialize();
|
||||
@@ -355,14 +354,20 @@ void imxrt_flexio_clocking(void)
|
||||
****************************************************************************/
|
||||
__EXPORT int board_app_initialize(uintptr_t arg)
|
||||
{
|
||||
int ret = OK;
|
||||
|
||||
#if !defined(BOOTLOADER)
|
||||
|
||||
imxrt_flexio_clocking();
|
||||
|
||||
/* Power on Interfaces */
|
||||
|
||||
board_spi_reset(10, 0xffff);
|
||||
|
||||
px4_platform_init();
|
||||
|
||||
imxrt_spiinitialize();
|
||||
|
||||
board_determine_hw_info();
|
||||
|
||||
/* configure the DMA allocator */
|
||||
|
||||
if (board_dma_alloc_init() < 0) {
|
||||
@@ -375,14 +380,13 @@ __EXPORT int board_app_initialize(uintptr_t arg)
|
||||
hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)imxrt_serial_dma_poll, NULL);
|
||||
#endif
|
||||
|
||||
int ret = OK;
|
||||
#if defined(CONFIG_IMXRT_USDHC)
|
||||
ret = fmurt1062_usdhc_initialize();
|
||||
#endif
|
||||
|
||||
/* Configure SPI-based devices */
|
||||
imxrt_spiinitialize();
|
||||
|
||||
ret = imxrt1062_spi_bus_initialize();
|
||||
board_spi_reset(10, 0xffff);
|
||||
|
||||
#ifdef CONFIG_IMXRT_ENET
|
||||
imxrt_netinitialize(0);
|
||||
@@ -392,7 +396,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
|
||||
imxrt_caninitialize(3);
|
||||
#endif
|
||||
|
||||
#ifdef CONFIG_IMXRT_FLEXSPI
|
||||
ret = imxrt_flexspi_storage_initialize();
|
||||
|
||||
if (ret < 0) {
|
||||
@@ -400,7 +403,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
|
||||
"ERROR: imxrt_flexspi_nor_initialize failed: %d\n", ret);
|
||||
}
|
||||
|
||||
#endif
|
||||
#endif /* !defined(BOOTLOADER) */
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
@@ -0,0 +1,79 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2023 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file manifest.c
|
||||
*
|
||||
* This module supplies the interface to the manifest of hardware that is
|
||||
* optional and dependent on the HW REV and HW VER IDs
|
||||
*
|
||||
* The manifest allows the system to know whether a hardware option
|
||||
* say for example the PX4IO is an no-pop option vs it is broken.
|
||||
*
|
||||
*/
|
||||
|
||||
/****************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************/
|
||||
|
||||
#include <px4_platform_common/px4_config.h>
|
||||
#include <stdbool.h>
|
||||
#include <syslog.h>
|
||||
|
||||
#include "systemlib/px4_macros.h"
|
||||
#include "px4_log.h"
|
||||
|
||||
/****************************************************************************
|
||||
* Pre-Processor Definitions
|
||||
****************************************************************************/
|
||||
|
||||
|
||||
/************************************************************************************
|
||||
* Name: board_query_manifest
|
||||
*
|
||||
* Description:
|
||||
* Optional returns manifest item.
|
||||
*
|
||||
* Input Parameters:
|
||||
* manifest_id - the ID for the manifest item to retrieve
|
||||
*
|
||||
* Returned Value:
|
||||
* 0 - item is not in manifest => assume legacy operations
|
||||
* pointer to a manifest item
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
__EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
|
||||
{
|
||||
return px4_hw_mft_unsupported;
|
||||
}
|
||||
@@ -60,256 +60,34 @@
|
||||
#include "board_config.h"
|
||||
#include <systemlib/err.h>
|
||||
|
||||
#if defined(CONFIG_IMXRT_LPSPI3) || defined(CONFIG_IMXRT_LPSPI4)
|
||||
|
||||
|
||||
constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
|
||||
initSPIBus(SPI::Bus::LPSPI3, {
|
||||
initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::Port1, GPIO::Pin28}), /* GPIO_AD_B1_12 GPIO1_IO28 */
|
||||
constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSIONS] = {
|
||||
initSPIFmumID(TROPIC_0, {
|
||||
initSPIBus(SPI::Bus::LPSPI3, {
|
||||
initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::Port1, GPIO::Pin28}), /* GPIO_AD_B1_12 GPIO1_IO28 */
|
||||
}),
|
||||
initSPIBus(SPI::Bus::LPSPI4, {
|
||||
initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::Port2, GPIO::Pin18}), /* GPIO_B1_02 GPIO2_IO18 */
|
||||
initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::Port2, GPIO::Pin0}), /* GPIO_B0_00 GPIO2_IO00 */
|
||||
}),
|
||||
}),
|
||||
initSPIBus(SPI::Bus::LPSPI4, {
|
||||
initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::Port2, GPIO::Pin18}), /* GPIO_B1_02 GPIO2_IO18 */
|
||||
initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::Port2, GPIO::Pin0}), /* GPIO_B0_00 GPIO2_IO00 */
|
||||
initSPIFmumID(TROPIC_1, {
|
||||
initSPIBus(SPI::Bus::LPSPI3, {
|
||||
initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::Port1, GPIO::Pin28}), /* GPIO_AD_B1_12 GPIO1_IO28 */
|
||||
}),
|
||||
initSPIBus(SPI::Bus::LPSPI4, {
|
||||
initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::Port2, GPIO::Pin18}), /* GPIO_B1_02 GPIO2_IO18 */
|
||||
initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::Port2, GPIO::Pin0}), /* GPIO_B0_00 GPIO2_IO00 */
|
||||
}),
|
||||
}),
|
||||
initSPIFmumID(TROPIC_2, {
|
||||
initSPIBus(SPI::Bus::LPSPI3, {
|
||||
initSPIDevice(DRV_IMU_DEVTYPE_ICM45686, SPI::CS{GPIO::Port1, GPIO::Pin28}), /* GPIO_AD_B1_12 GPIO1_IO28 */
|
||||
}),
|
||||
initSPIBus(SPI::Bus::LPSPI4, {
|
||||
initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::Port2, GPIO::Pin18}), /* GPIO_B1_02 GPIO2_IO18 */
|
||||
initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::Port2, GPIO::Pin0}), /* GPIO_B0_00 GPIO2_IO00 */
|
||||
}),
|
||||
}),
|
||||
};
|
||||
|
||||
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
|
||||
************************************************************************************/
|
||||
/************************************************************************************
|
||||
* Name: fmurt1062_spidev_initialize
|
||||
*
|
||||
* Description:
|
||||
* Called to configure SPI chip select GPIO pins for the NXP FMUKRT1062-V1 board.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
void imxrt_spidev_initialize(void)
|
||||
{
|
||||
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);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/************************************************************************************
|
||||
* Name: imxrt_spi_bus_initialize
|
||||
*
|
||||
* Description:
|
||||
* Called to configure SPI chip select GPIO pins for the NXP FMUKRT1062-V1 board.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
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 3: _spi_bus3 = &px4_spi_buses[i]; break;
|
||||
|
||||
case 4: _spi_bus4 = &px4_spi_buses[i]; break;
|
||||
}
|
||||
}
|
||||
|
||||
/* Configure SPI-based devices */
|
||||
|
||||
struct spi_dev_s *spi_icm = px4_spibus_initialize(3);
|
||||
|
||||
if (!spi_icm) {
|
||||
PX4_ERR("[boot] FAILED to initialize SPI port %d\n", 1);
|
||||
return -ENODEV;
|
||||
}
|
||||
|
||||
/* Default bus 1 to 8MHz and de-assert the known chip selects.
|
||||
*/
|
||||
|
||||
SPI_SETFREQUENCY(spi_icm, 8 * 1000 * 1000);
|
||||
SPI_SETBITS(spi_icm, 8);
|
||||
SPI_SETMODE(spi_icm, SPIDEV_MODE3);
|
||||
|
||||
/* Get the SPI port for the BMI088 */
|
||||
|
||||
struct spi_dev_s *spi_bmi = px4_spibus_initialize(4);
|
||||
|
||||
if (!spi_bmi) {
|
||||
PX4_ERR("[boot] FAILED to initialize SPI port %d\n", 4);
|
||||
return -ENODEV;
|
||||
}
|
||||
|
||||
/* Default ext bus to 8MHz and de-assert the known chip selects.
|
||||
*/
|
||||
|
||||
SPI_SETFREQUENCY(spi_bmi, 8 * 1000 * 1000);
|
||||
SPI_SETBITS(spi_bmi, 8);
|
||||
SPI_SETMODE(spi_bmi, SPIDEV_MODE3);
|
||||
|
||||
/* 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_bmi, px4_spi_buses[bus].devices[i].devid, false);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
return OK;
|
||||
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: imxrt_lpspi1/2/3select and imxrt_lpspi1/2/3status
|
||||
*
|
||||
* Description:
|
||||
* The external functions, imxrt_lpspi1/2/3select and imxrt_lpspi1/2/3status must be
|
||||
* provided by board-specific logic. They are implementations of the select
|
||||
* and status methods of the SPI interface defined by struct spi_ops_s (see
|
||||
* include/nuttx/spi/spi.h). All other methods (including imxrt_lpspibus_initialize())
|
||||
* are provided by common STM32 logic. To use this common SPI logic on your
|
||||
* board:
|
||||
*
|
||||
* 1. Provide logic in imxrt_boardinitialize() to configure SPI chip select
|
||||
* pins.
|
||||
* 2. Provide imxrt_lpspi1/2/3select() and imxrt_lpspi1/2/3status() functions in your
|
||||
* board-specific logic. These functions will perform chip selection and
|
||||
* status operations using GPIOs in the way your board is configured.
|
||||
* 3. Add a calls to imxrt_lpspibus_initialize() in your low level application
|
||||
* initialization logic
|
||||
* 4. The handle returned by imxrt_lpspibus_initialize() may then be used to bind the
|
||||
* SPI driver to higher level logic (e.g., calling
|
||||
* mmcsd_spislotinitialize(), for example, will bind the SPI driver to
|
||||
* the SPI MMC/SD driver).
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
static inline void imxrt_spixselect(const px4_spi_bus_t *bus, struct spi_dev_s *dev, uint32_t devid, bool selected)
|
||||
{
|
||||
for (int i = 0; i < SPI_BUS_MAX_DEVICES; ++i) {
|
||||
if (bus->devices[i].cs_gpio == 0) {
|
||||
break;
|
||||
}
|
||||
|
||||
if (devid == bus->devices[i].devid) {
|
||||
// SPI select is active low, so write !selected to select the device
|
||||
imxrt_gpio_write(bus->devices[i].cs_gpio, !selected);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#if defined(CONFIG_IMXRT_LPSPI3)
|
||||
__EXPORT void imxrt_lpspi3select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
|
||||
{
|
||||
imxrt_spixselect(_spi_bus3, dev, devid, selected);
|
||||
}
|
||||
|
||||
__EXPORT uint8_t imxrt_lpspi3status(FAR struct spi_dev_s *dev, uint32_t devid)
|
||||
{
|
||||
return SPI_STATUS_PRESENT;
|
||||
}
|
||||
#endif
|
||||
|
||||
#if defined(CONFIG_IMXRT_LPSPI4)
|
||||
__EXPORT void imxrt_lpspi4select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
|
||||
{
|
||||
imxrt_spixselect(_spi_bus4, dev, devid, selected);
|
||||
}
|
||||
|
||||
__EXPORT uint8_t imxrt_lpspi4status(FAR struct spi_dev_s *dev, uint32_t devid)
|
||||
{
|
||||
return SPI_STATUS_PRESENT;
|
||||
}
|
||||
#endif
|
||||
|
||||
/************************************************************************************
|
||||
* Name: board_spi_reset
|
||||
*
|
||||
* Description:
|
||||
*
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
__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 (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);
|
||||
|
||||
imxrt_config_gpio(GPIO_SPI3_SCK_OFF);
|
||||
imxrt_config_gpio(GPIO_SPI3_MISO_OFF);
|
||||
imxrt_config_gpio(GPIO_SPI3_MOSI_OFF);
|
||||
|
||||
|
||||
imxrt_config_gpio(_PIN_OFF(GPIO_LPI2C3_SDA_RESET));
|
||||
imxrt_config_gpio(_PIN_OFF(GPIO_LPI2C3_SCL_RESET));
|
||||
|
||||
/* set the sensor rail off */
|
||||
imxrt_gpio_write(GPIO_VDD_3V3_SENSORS_EN, 0);
|
||||
|
||||
/* wait for the sensor rail to reach GND */
|
||||
usleep(ms * 1000);
|
||||
warnx("reset done, %d ms", ms);
|
||||
|
||||
/* re-enable power */
|
||||
|
||||
/* switch the sensor rail back on */
|
||||
imxrt_gpio_write(GPIO_VDD_3V3_SENSORS_EN, 1);
|
||||
|
||||
/* wait a bit before starting SPI, different times didn't influence results */
|
||||
usleep(100);
|
||||
|
||||
/* reconfigure the SPI pins */
|
||||
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);
|
||||
|
||||
imxrt_config_gpio(GPIO_LPSPI3_SCK);
|
||||
imxrt_config_gpio(GPIO_LPSPI3_MISO);
|
||||
imxrt_config_gpio(GPIO_LPSPI3_MOSI);
|
||||
|
||||
imxrt_config_gpio(GPIO_LPI2C3_SDA);
|
||||
imxrt_config_gpio(GPIO_LPI2C3_SCL);
|
||||
|
||||
#endif /* CONFIG_IMXRT_LPSPI1 */
|
||||
|
||||
}
|
||||
|
||||
#endif /* CONFIG_IMXRT_LPSPI3 || CONFIG_IMXRT_LPSPI4 */
|
||||
static constexpr bool unused = validateSPIConfig(px4_spi_buses_all_hw);
|
||||
|
||||
Reference in New Issue
Block a user