px4_fmu-v4: add runtime external SPI4 detection to support pmw3901 (#11301)

* The build is built with SPI4. At run time the signal GPIO_8266_GPIO2 it tested. If it is low the SPI4 is configured. If it is high SPI4 is not configured.
 * board_common: Add Notion of Board has bus manifest

src/drivers/boards/common/board_common.h

@@ -1075,6 +1075,24 @@ __EXPORT bool px4_spi_bus_external(int bus);
 
 #endif /* BOARD_HAS_SIMPLE_HW_VERSIONING */
 
+/************************************************************************************
+ * Name: board_has_bus
+ *
+ ************************************************************************************/
+
+enum board_bus_types {
+	BOARD_SPI_BUS = 1,
+	BOARD_I2C_BUS = 2
+};
+
+#if defined(BOARD_HAS_BUS_MANIFEST)
+
+__EXPORT bool board_has_bus(enum board_bus_types type, uint32_t bus);
+
+#else
+#  define board_has_bus(t, b) true
+#endif /* BOARD_HAS_BUS_MANIFEST */
+
 /************************************************************************************
  * Name: board_hardfault_init
  *

src/drivers/pmw3901/pmw3901.cpp

@@ -79,20 +79,25 @@
 #include <board_config.h>
 
 /* Configuration Constants */
-#if defined PX4_SPI_BUS_EXPANSION		// crazyflie
-#define PMW3901_BUS PX4_SPI_BUS_EXPANSION
-#elif defined PX4_SPI_BUS_EXTERNAL1		// fmu-v5
-#define PMW3901_BUS PX4_SPI_BUS_EXTERNAL1
+
+#if defined PX4_SPI_BUS_EXPANSION   // crazyflie
+# define PMW3901_BUS PX4_SPI_BUS_EXPANSION
+#elif defined PX4_SPI_BUS_EXTERNAL1   // fmu-v5
+# define PMW3901_BUS PX4_SPI_BUS_EXTERNAL1
+#elif defined PX4_SPI_BUS_EXTERNAL    // fmu-v4 extspi
+# define PMW3901_BUS PX4_SPI_BUS_EXTERNAL
 #else
-#error "add the required spi bus from board_config.h here"
+# error "add the required spi bus from board_config.h here"
 #endif
 
-#if defined PX4_SPIDEV_EXPANSION_2		// crazyflie flow deck
-#define PMW3901_SPIDEV PX4_SPIDEV_EXPANSION_2
-#elif defined PX4_SPIDEV_EXTERNAL1_1		// fmu-v5 ext CS1
-#define PMW3901_SPIDEV PX4_SPIDEV_EXTERNAL1_1
+#if defined PX4_SPIDEV_EXPANSION_2    // crazyflie flow deck
+# define PMW3901_SPIDEV PX4_SPIDEV_EXPANSION_2
+#elif defined PX4_SPIDEV_EXTERNAL1_1    // fmu-v5 ext CS1
+# define PMW3901_SPIDEV PX4_SPIDEV_EXTERNAL1_1
+#elif defined PX4_SPIDEV_EXTERNAL   // fmu-v4 extspi
+# define PMW3901_SPIDEV PX4_SPIDEV_EXTERNAL
 #else
-#error "add the required spi dev from board_config.h here"
+# error "add the required spi dev from board_config.h here"
 #endif
 
 #define PMW3901_SPI_BUS_SPEED (2000000L) // 2MHz

src/lib/drivers/device/nuttx/SPI.cpp

@@ -94,7 +94,14 @@ SPI::init()
 
 	/* attach to the spi bus */
 	if (_dev == nullptr) {
-		_dev = px4_spibus_initialize(get_device_bus());
+		int bus = get_device_bus();
+
+		if (!board_has_bus(BOARD_SPI_BUS, bus)) {
+			ret = -ENOENT;
+			goto out;
+		}
+
+		_dev = px4_spibus_initialize(bus);
 	}
 
 	if (_dev == nullptr) {