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i2c_spi_buses: respect CONFIG_I2C and CONFIG_SPI

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- bmp280, dps310, and ms5611 barometers support boards without I2C
This commit is contained in:
Daniel Agar
2021-11-15 15:57:33 -05:00
parent eade2915c1
commit 7b7b7acd36
54 changed files with 529 additions and 282 deletions
Download Patch File Download Diff File Expand all files Collapse all files
platforms/common/i2c.cpp
+3 -2
View File
@@ -32,10 +32,11 @@
****************************************************************************/
#include <board_config.h>
#ifndef BOARD_DISABLE_I2C_SPI
#include <px4_platform_common/i2c.h>
#if defined(CONFIG_I2C)
#ifndef BOARD_OVERRIDE_I2C_BUS_EXTERNAL
bool px4_i2c_bus_external(const px4_i2c_bus_t &bus)
{
@@ -85,4 +86,4 @@ bool I2CBusIterator::next()
return false;
}
#endif /* BOARD_DISABLE_I2C_SPI */
#endif // CONFIG_I2C
platforms/common/i2c_spi_buses.cpp
+188 -74
View File
@@ -32,7 +32,6 @@
****************************************************************************/
#include <board_config.h>
#ifndef BOARD_DISABLE_I2C_SPI
#ifndef MODULE_NAME
#define MODULE_NAME "SPI_I2C"
@@ -57,11 +56,15 @@ I2CSPIDriverConfig::I2CSPIDriverConfig(const BusCLIArguments &cli, const BusInst
bus_option(iterator.configuredBusOption()),
bus_type(iterator.busType()),
bus(iterator.bus()),
#if defined(CONFIG_I2C)
i2c_address(cli.i2c_address),
#endif // CONFIG_I2C
bus_frequency(cli.bus_frequency),
#if defined(CONFIG_SPI)
drdy_gpio(iterator.DRDYGPIO()),
spi_mode(cli.spi_mode),
spi_devid(iterator.devid()),
#endif // CONFIG_SPI
bus_device_index(iterator.busDeviceIndex()),
rotation(cli.rotation),
quiet_start(cli.quiet_start),
@@ -93,6 +96,8 @@ int BusCLIArguments::getOpt(int argc, char *argv[], const char *options)
char *p = (char *)&_options;
#if defined(CONFIG_I2C)
if (_i2c_support) {
*(p++) = 'X'; // external
*(p++) = 'I'; // internal
@@ -102,6 +107,9 @@ int BusCLIArguments::getOpt(int argc, char *argv[], const char *options)
}
}
#endif // CONFIG_I2C
#if defined(CONFIG_SPI)
if (_spi_support) {
*(p++) = 'S'; // external
*(p++) = 's'; // internal
@@ -109,6 +117,8 @@ int BusCLIArguments::getOpt(int argc, char *argv[], const char *options)
*(p++) = 'm'; *(p++) = ':'; // spi mode
}
#endif // CONFIG_SPI
if (support_keep_running) {
*(p++) = 'k';
}
@@ -148,6 +158,8 @@ int BusCLIArguments::getOpt(int argc, char *argv[], const char *options)
while ((ch = px4_getopt(argc, argv, _options, &_optind, &_optarg)) != EOF) {
switch (ch) {
#if defined(CONFIG_I2C)
case 'X':
bus_option = I2CSPIBusOption::I2CExternal;
break;
@@ -163,6 +175,8 @@ int BusCLIArguments::getOpt(int argc, char *argv[], const char *options)
i2c_address = (int)strtol(_optarg, nullptr, 0);
break;
#endif // CONFIG_I2C
#if defined(CONFIG_SPI)
case 'S':
bus_option = I2CSPIBusOption::SPIExternal;
@@ -175,6 +189,7 @@ int BusCLIArguments::getOpt(int argc, char *argv[], const char *options)
case 'c':
chipselect_index = atoi(_optarg);
break;
#endif // CONFIG_SPI
case 'b':
requested_bus = atoi(_optarg);
@@ -183,10 +198,12 @@ int BusCLIArguments::getOpt(int argc, char *argv[], const char *options)
case 'f':
bus_frequency = 1000 * atoi(_optarg);
break;
#if defined(CONFIG_SPI)
case 'm':
spi_mode = (spi_mode_e)atoi(_optarg);
break;
#endif // CONFIG_SPI
case 'q':
quiet_start = true;
@@ -216,12 +233,21 @@ int BusCLIArguments::getOpt(int argc, char *argv[], const char *options)
// apply defaults if not provided
if (bus_frequency == 0) {
#if defined(CONFIG_I2C)
if (bus_option == I2CSPIBusOption::I2CExternal || bus_option == I2CSPIBusOption::I2CInternal) {
bus_frequency = default_i2c_frequency;
} else if (bus_option == I2CSPIBusOption::SPIExternal || bus_option == I2CSPIBusOption::SPIInternal) {
}
#endif // CONFIG_I2C
#if defined(CONFIG_SPI)
if (bus_option == I2CSPIBusOption::SPIExternal || bus_option == I2CSPIBusOption::SPIInternal) {
bus_frequency = default_spi_frequency;
}
#endif // CONFIG_SPI
}
}
@@ -232,16 +258,22 @@ bool BusCLIArguments::validateConfiguration()
{
bool success = true;
#if defined(CONFIG_I2C)
if (_i2c_support && default_i2c_frequency == -1) {
PX4_ERR("Bug: driver %s does not set default_i2c_frequency", px4_get_taskname());
success = false;
}
#endif // CONFIG_I2C
#if defined(CONFIG_SPI)
if (_spi_support && default_spi_frequency == -1) {
PX4_ERR("Bug: driver %s does not set default_spi_frequency", px4_get_taskname());
success = false;
}
#endif // CONFIG_SPI
return success;
}
@@ -249,11 +281,17 @@ bool BusCLIArguments::validateConfiguration()
BusInstanceIterator::BusInstanceIterator(const char *module_name,
const BusCLIArguments &cli_arguments, uint16_t devid_driver_index)
: _module_name(module_name), _bus_option(cli_arguments.bus_option), _devid_driver_index(devid_driver_index),
#if defined(CONFIG_I2C)
_i2c_address(cli_arguments.i2c_address),
#endif // CONFIG_I2C
#if defined(CONFIG_SPI)
_spi_bus_iterator(spiFilter(cli_arguments.bus_option),
cli_arguments.bus_option == I2CSPIBusOption::SPIExternal ? cli_arguments.chipselect_index : devid_driver_index,
cli_arguments.requested_bus),
#endif // CONFIG_SPI
#if defined(CONFIG_I2C)
_i2c_bus_iterator(i2cFilter(cli_arguments.bus_option), cli_arguments.requested_bus),
#endif // CONFIG_I2C
_current_instance(i2c_spi_module_instances.end())
{
// We lock the module instance list as long as this object is alive, since we iterate over the list.
@@ -290,20 +328,31 @@ bool BusInstanceIterator::next()
return false;
#if defined(CONFIG_SPI)
} else if (busType() == BOARD_SPI_BUS) {
if (_spi_bus_iterator.next()) {
bus = _spi_bus_iterator.bus().bus;
}
} else {
#endif // CONFIG_SPI
#if defined(CONFIG_I2C)
} else if (busType() == BOARD_I2C_BUS) {
if (_i2c_bus_iterator.next()) {
bus = _i2c_bus_iterator.bus().bus;
}
#endif // CONFIG_I2C
}
if (bus != -1) {
// find matching runtime instance
#if defined(CONFIG_I2C)
bool is_i2c = busType() == BOARD_I2C_BUS;
#else
bool is_i2c = false;
#endif
for (_current_instance = i2c_spi_module_instances.begin(); _current_instance != i2c_spi_module_instances.end();
++_current_instance) {
@@ -314,7 +363,12 @@ bool BusInstanceIterator::next()
if (_bus_option == (*_current_instance)->_bus_option && bus == (*_current_instance)->_bus &&
_devid_driver_index == (*_current_instance)->_devid_driver_index &&
busDeviceIndex() == (*_current_instance)->_bus_device_index &&
(!is_i2c || _i2c_address == (*_current_instance)->_i2c_address)) {
(!is_i2c
#if defined(CONFIG_I2C)
|| _i2c_address == (*_current_instance)->_i2c_address
#endif // CONFIG_I2C
)
) {
break;
}
}
@@ -371,13 +425,19 @@ board_bus_types BusInstanceIterator::busType() const
case I2CSPIBusOption::All:
return BOARD_INVALID_BUS;
#if defined(CONFIG_I2C)
case I2CSPIBusOption::I2CInternal:
case I2CSPIBusOption::I2CExternal:
return BOARD_I2C_BUS;
#endif // CONFIG_I2C
#if defined(CONFIG_SPI)
case I2CSPIBusOption::SPIInternal:
case I2CSPIBusOption::SPIExternal:
return BOARD_SPI_BUS;
#endif // CONFIG_SPI
}
return BOARD_INVALID_BUS;
@@ -385,78 +445,104 @@ board_bus_types BusInstanceIterator::busType() const
int BusInstanceIterator::bus() const
{
if (busType() == BOARD_INVALID_BUS) {
return -1;
#if defined(CONFIG_SPI)
} else if (busType() == BOARD_SPI_BUS) {
if (busType() == BOARD_SPI_BUS) {
return _spi_bus_iterator.bus().bus;
}
} else {
#endif // CONFIG_SPI
#if defined(CONFIG_I2C)
if (busType() == BOARD_I2C_BUS) {
return _i2c_bus_iterator.bus().bus;
}
}
uint32_t BusInstanceIterator::devid() const
{
if (busType() == BOARD_INVALID_BUS) {
return 0;
} else if (busType() == BOARD_SPI_BUS) {
return _spi_bus_iterator.devid();
} else {
return 0;
}
}
spi_drdy_gpio_t BusInstanceIterator::DRDYGPIO() const
{
if (busType() == BOARD_INVALID_BUS) {
return 0;
} else if (busType() == BOARD_SPI_BUS) {
return _spi_bus_iterator.DRDYGPIO();
} else {
return 0;
}
}
bool BusInstanceIterator::external() const
{
if (busType() == BOARD_INVALID_BUS) {
return false;
} else if (busType() == BOARD_SPI_BUS) {
return _spi_bus_iterator.external();
} else {
return _i2c_bus_iterator.external();
}
}
int BusInstanceIterator::externalBusIndex() const
{
if (busType() == BOARD_INVALID_BUS) {
return 0;
} else if (busType() == BOARD_SPI_BUS) {
return _spi_bus_iterator.externalBusIndex();
} else {
return _i2c_bus_iterator.externalBusIndex();
}
}
int BusInstanceIterator::busDeviceIndex() const
{
if (busType() == BOARD_SPI_BUS) {
return _spi_bus_iterator.busDeviceIndex();
}
#endif // CONFIG_I2C
return -1;
}
uint32_t BusInstanceIterator::devid() const
{
#if defined(CONFIG_SPI)
if (busType() == BOARD_SPI_BUS) {
return _spi_bus_iterator.devid();
}
#endif // CONFIG_SPI
return 0;
}
#if defined(CONFIG_SPI)
spi_drdy_gpio_t BusInstanceIterator::DRDYGPIO() const
{
if (busType() == BOARD_SPI_BUS) {
return _spi_bus_iterator.DRDYGPIO();
}
return 0;
}
#endif // CONFIG_SPI
bool BusInstanceIterator::external() const
{
#if defined(CONFIG_SPI)
if (busType() == BOARD_SPI_BUS) {
return _spi_bus_iterator.external();
}
#endif // CONFIG_SPI
#if defined(CONFIG_I2C)
if (busType() == BOARD_I2C_BUS) {
return _i2c_bus_iterator.external();
}
#endif // CONFIG_I2C
return false;
}
int BusInstanceIterator::externalBusIndex() const
{
#if defined(CONFIG_SPI)
if (busType() == BOARD_SPI_BUS) {
return _spi_bus_iterator.externalBusIndex();
}
#endif // CONFIG_SPI
#if defined(CONFIG_I2C)
if (busType() == BOARD_I2C_BUS) {
return _i2c_bus_iterator.externalBusIndex();
}
#endif // CONFIG_I2C
return 0;
}
int BusInstanceIterator::busDeviceIndex() const
{
#if defined(CONFIG_SPI)
if (busType() == BOARD_SPI_BUS) {
return _spi_bus_iterator.busDeviceIndex();
}
#endif // CONFIG_SPI
return -1;
}
#if defined(CONFIG_I2C)
I2CBusIterator::FilterType BusInstanceIterator::i2cFilter(I2CSPIBusOption bus_option)
{
switch (bus_option) {
@@ -471,7 +557,9 @@ I2CBusIterator::FilterType BusInstanceIterator::i2cFilter(I2CSPIBusOption bus_op
return I2CBusIterator::FilterType::All;
}
#endif // CONFIG_I2C
#if defined(CONFIG_SPI)
SPIBusIterator::FilterType BusInstanceIterator::spiFilter(I2CSPIBusOption bus_option)
{
switch (bus_option) {
@@ -484,6 +572,7 @@ SPIBusIterator::FilterType BusInstanceIterator::spiFilter(I2CSPIBusOption bus_op
return SPIBusIterator::FilterType::InternalBus;
}
#endif // CONFIG_SPI
struct I2CSPIDriverInitializing {
const I2CSPIDriverConfig &config;
@@ -520,9 +609,15 @@ int I2CSPIDriverBase::module_start(const BusCLIArguments &cli, BusInstanceIterat
device_id.devid_s.bus = iterator.bus();
switch (iterator.busType()) {
#if defined(CONFIG_I2C)
case BOARD_I2C_BUS: device_id.devid_s.bus_type = device::Device::DeviceBusType_I2C; break;
#endif // CONFIG_I2C
#if defined(CONFIG_SPI)
case BOARD_SPI_BUS: device_id.devid_s.bus_type = device::Device::DeviceBusType_SPI; break;
#endif // CONFIG_SPI
case BOARD_INVALID_BUS: device_id.devid_s.bus_type = device::Device::DeviceBusType_UNKNOWN; break;
}
@@ -543,15 +638,21 @@ int I2CSPIDriverBase::module_start(const BusCLIArguments &cli, BusInstanceIterat
continue;
}
#if defined(CONFIG_I2C)
if (cli.i2c_address != 0 && instance->_i2c_address == 0) {
PX4_ERR("Bug: driver %s does not pass the I2C address to I2CSPIDriverBase", instance->ItemName());
}
#endif // CONFIG_I2C
iterator.addInstance(instance);
started = true;
// print some info that we are running
switch (iterator.busType()) {
#if defined(CONFIG_I2C)
case BOARD_I2C_BUS:
PX4_INFO_RAW("%s #%i on I2C bus %d", instance->ItemName(), runtime_instance, iterator.bus());
@@ -570,6 +671,8 @@ int I2CSPIDriverBase::module_start(const BusCLIArguments &cli, BusInstanceIterat
PX4_INFO_RAW("\n");
break;
#endif // CONFIG_I2C
#if defined(CONFIG_SPI)
case BOARD_SPI_BUS:
PX4_INFO_RAW("%s #%i on SPI bus %d", instance->ItemName(), runtime_instance, iterator.bus());
@@ -585,6 +688,7 @@ int I2CSPIDriverBase::module_start(const BusCLIArguments &cli, BusInstanceIterat
PX4_INFO_RAW("\n");
break;
#endif // CONFIG_SPI
case BOARD_INVALID_BUS:
break;
@@ -594,15 +698,18 @@ int I2CSPIDriverBase::module_start(const BusCLIArguments &cli, BusInstanceIterat
if (!started && !cli.quiet_start) {
PX4_WARN("%s: no instance started (no device on bus?)", px4_get_taskname());
#if defined(CONFIG_I2C)
if (iterator.busType() == BOARD_I2C_BUS && cli.i2c_address == 0) {
PX4_ERR("%s: driver does not set i2c address", px4_get_taskname());
}
#endif // CONFIG_I2C
}
return started ? 0 : -1;
}
int I2CSPIDriverBase::module_stop(BusInstanceIterator &iterator)
{
bool is_running = false;
@@ -680,14 +787,23 @@ int I2CSPIDriverBase::module_custom_method(const BusCLIArguments &cli, BusInstan
void I2CSPIDriverBase::print_status()
{
bool is_i2c_bus = _bus_option == I2CSPIBusOption::I2CExternal || _bus_option == I2CSPIBusOption::I2CInternal;
#if defined(CONFIG_I2C)
if (is_i2c_bus) {
if (_bus_option == I2CSPIBusOption::I2CExternal || _bus_option == I2CSPIBusOption::I2CInternal) {
PX4_INFO("Running on I2C Bus %i, Address 0x%02X", _bus, get_i2c_address());
} else {
PX4_INFO("Running on SPI Bus %i", _bus);
return;
}
#endif // CONFIG_I2C
#if defined(CONFIG_SPI)
if (_bus_option == I2CSPIBusOption::SPIExternal || _bus_option == I2CSPIBusOption::SPIInternal) {
PX4_INFO("Running on SPI Bus %i", _bus);
return;
}
#endif // CONFIG_SPI
}
void I2CSPIDriverBase::request_stop_and_wait()
@@ -705,5 +821,3 @@ void I2CSPIDriverBase::request_stop_and_wait()
PX4_ERR("Module did not respond to stop request");
}
}
#endif /* BOARD_DISABLE_I2C_SPI */
platforms/common/include/px4_platform_common/board_common.h
+4
View File
@@ -1015,8 +1015,12 @@ int board_register_power_state_notification_cb(power_button_state_notification_t
enum board_bus_types {
BOARD_INVALID_BUS = 0,
#if defined(CONFIG_SPI)
BOARD_SPI_BUS = 1,
#endif // CONFIG_SPI
#if defined(CONFIG_I2C)
BOARD_I2C_BUS = 2
#endif // CONFIG_I2C
};
#if defined(BOARD_HAS_BUS_MANIFEST)
platforms/common/include/px4_platform_common/i2c.h
+4
View File
@@ -35,6 +35,8 @@
#include <board_config.h>
#if defined(CONFIG_I2C)
#define I2C_BUS_MAX_BUS_ITEMS PX4_NUMBER_I2C_BUSES
struct px4_i2c_bus_t {
@@ -99,3 +101,5 @@ private:
int _index{-1};
int _external_bus_counter{0};
};
#endif // CONFIG_I2C
platforms/common/include/px4_platform_common/i2c_spi_buses.h
+74 -13
View File
@@ -33,8 +33,7 @@
#pragma once
#include "i2c.h"
#include "spi.h"
#include <board_config.h>
#include <stdint.h>
@@ -43,15 +42,29 @@
#include <px4_platform_common/atomic.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include <px4_platform_common/sem.h>
#include <board_config.h>
#include <drivers/device/spi.h>
#if defined(CONFIG_I2C)
# include "i2c.h"
#endif // CONFIG_I2C
#if defined(CONFIG_SPI)
# include "spi.h"
#endif // CONFIG_SPI
#if defined(CONFIG_SPI)
# include <drivers/device/spi.h>
#endif // CONFIG_SPI
enum class I2CSPIBusOption : uint8_t {
All = 0, ///< select all runnning instances
#if defined(CONFIG_I2C)
I2CInternal,
I2CExternal,
#endif // CONFIG_I2C
#if defined(CONFIG_SPI)
SPIInternal,
SPIExternal,
#endif // CONFIG_SPI
};
class BusCLIArguments;
@@ -66,11 +79,15 @@ struct I2CSPIDriverConfig {
I2CSPIBusOption bus_option;
board_bus_types bus_type;
int bus;
#if defined(CONFIG_I2C)
uint8_t i2c_address;
#endif // CONFIG_I2C
int bus_frequency;
#if defined(CONFIG_SPI)
spi_drdy_gpio_t drdy_gpio;
spi_mode_e spi_mode;
uint32_t spi_devid;
#endif // CONFIG_SPI
int bus_device_index;
Rotation rotation;
@@ -93,13 +110,17 @@ class I2CSPIInstance : public ListNode<I2CSPIInstance *>
{
public:
virtual ~I2CSPIInstance() = default;
#if defined(CONFIG_I2C)
virtual int8_t get_i2c_address() {return _i2c_address;}
#endif // CONFIG_I2C
private:
I2CSPIInstance(const I2CSPIDriverConfig &config)
: _module_name(config.module_name), _bus_option(config.bus_option), _bus(config.bus),
_devid_driver_index(config.devid_driver_index), _bus_device_index(config.bus_device_index),
_i2c_address(config.i2c_address) {}
_devid_driver_index(config.devid_driver_index), _bus_device_index(config.bus_device_index)
#if defined(CONFIG_I2C)
, _i2c_address(config.i2c_address)
#endif // CONFIG_I2C
{}
friend class BusInstanceIterator;
@@ -110,14 +131,28 @@ private:
const int _bus;
const uint16_t _devid_driver_index;
const int8_t _bus_device_index;
#if defined(CONFIG_I2C)
const int8_t _i2c_address; ///< I2C address (optional)
#endif // CONFIG_I2C
};
class BusCLIArguments
{
public:
BusCLIArguments(bool i2c_support, bool spi_support)
: _i2c_support(i2c_support), _spi_support(spi_support) {}
#if defined(CONFIG_I2C) || defined(CONFIG_SPI)
:
#endif // CONFIG_I2C || CONFIG_SPI
#if defined(CONFIG_I2C)
_i2c_support(i2c_support)
#endif // CONFIG_I2C
#if defined(CONFIG_I2C) && defined(CONFIG_SPI)
,
#endif // CONFIG_I2C && CONFIG_SPI
#if defined(CONFIG_SPI)
_spi_support(spi_support)
#endif // CONFIG_SPI
{}
/**
* Parse CLI arguments (for drivers that don't need any custom arguments, otherwise getopt() should be used)
@@ -139,11 +174,15 @@ public:
I2CSPIBusOption bus_option{I2CSPIBusOption::All};
int requested_bus{-1};
int chipselect_index{1};
int bus_frequency{0};
#if defined(CONFIG_SPI)
int chipselect_index {1};
spi_mode_e spi_mode{SPIDEV_MODE3};
uint8_t i2c_address{0}; ///< I2C address (a driver must set the default address)
bool quiet_start{false}; ///< do not print a message when startup fails
#endif // CONFIG_SPI
#if defined(CONFIG_I2C)
uint8_t i2c_address {0}; ///< I2C address (a driver must set the default address)
#endif // CONFIG_I2C
bool quiet_start {false}; ///< do not print a message when startup fails
bool keep_running{false}; ///< keep driver running even if no device is detected on startup
Rotation rotation{ROTATION_NONE}; ///< sensor rotation (MAV_SENSOR_ROTATION_* or distance_sensor_s::ROTATION_*)
@@ -153,8 +192,12 @@ public:
void *custom_data{nullptr}; ///< driver-specific custom argument
// driver defaults, if not specified via CLI
int default_spi_frequency{-1}; ///< default spi bus frequency (driver needs to set this) [Hz]
int default_i2c_frequency{-1}; ///< default i2c bus frequency (driver needs to set this) [Hz]
#if defined(CONFIG_SPI)
int default_spi_frequency {-1}; ///< default spi bus frequency (driver needs to set this) [Hz]
#endif // CONFIG_SPI
#if defined(CONFIG_I2C)
int default_i2c_frequency {-1}; ///< default i2c bus frequency (driver needs to set this) [Hz]
#endif // CONFIG_I2C
bool support_keep_running{false}; ///< true if keep_running (see above) is supported
@@ -164,8 +207,12 @@ private:
char _options[32] {};
int _optind{1};
const char *_optarg{nullptr};
#if defined(CONFIG_I2C)
const bool _i2c_support;
#endif // CONFIG_I2C
#if defined(CONFIG_SPI)
const bool _spi_support;
#endif // CONFIG_SPI
};
/**
@@ -189,15 +236,23 @@ public:
board_bus_types busType() const;
int bus() const;
uint32_t devid() const;
#if defined(CONFIG_SPI)
spi_drdy_gpio_t DRDYGPIO() const;
#endif // CONFIG_SPI
bool external() const;
int externalBusIndex() const;
int busDeviceIndex() const;
void addInstance(I2CSPIInstance *instance);
#if defined(CONFIG_I2C)
static I2CBusIterator::FilterType i2cFilter(I2CSPIBusOption bus_option);
#endif // CONFIG_I2C
#if defined(CONFIG_SPI)
static SPIBusIterator::FilterType spiFilter(I2CSPIBusOption bus_option);
#endif // CONFIG_SPI
const char *moduleName() const { return _module_name; }
uint16_t devidDriverIndex() const { return _devid_driver_index; }
@@ -206,9 +261,15 @@ private:
const char *_module_name;
const I2CSPIBusOption _bus_option;
const uint16_t _devid_driver_index;
#if defined(CONFIG_I2C)
const uint8_t _i2c_address;
#endif // CONFIG_I2C
#if defined(CONFIG_SPI)
SPIBusIterator _spi_bus_iterator;
#endif // CONFIG_SPI
#if defined(CONFIG_I2C)
I2CBusIterator _i2c_bus_iterator;
#endif // CONFIG_I2C
List<I2CSPIInstance *>::Iterator _current_instance;
};
platforms/common/include/px4_platform_common/spi.h
+4
View File
@@ -36,6 +36,8 @@
#include <stdint.h>
#include <board_config.h>
#if defined(CONFIG_SPI)
/*
* Helper macros to handle device ID's. They are used to match drivers against SPI buses and chip-select signals.
* They match with corresponding definitions in NuttX.
@@ -168,3 +170,5 @@ private:
int _external_bus_counter{1};
int _bus_device_index{-1};
};
#endif // CONFIG_SPI
platforms/common/spi.cpp
+3 -2
View File
@@ -32,7 +32,8 @@
****************************************************************************/
#include <board_config.h>
#ifndef BOARD_DISABLE_I2C_SPI
#if defined(CONFIG_SPI)
#include <px4_platform_common/spi.h>
@@ -163,4 +164,4 @@ bool SPIBusIterator::next()
return false;
}
#endif /* BOARD_DISABLE_I2C_SPI */
#endif // CONFIG_SPI
platforms/nuttx/src/px4/nxp/imxrt/include/px4_arch/i2c_hw_description.h
+2
View File
@@ -36,6 +36,7 @@
#include <px4_arch/hw_description.h>
#include <px4_platform_common/i2c.h>
#if defined(CONFIG_I2C)
static inline constexpr px4_i2c_bus_t initI2CBusInternal(int bus)
{
@@ -52,3 +53,4 @@ static inline constexpr px4_i2c_bus_t initI2CBusExternal(int bus)
ret.is_external = true;
return ret;
}
#endif // CONFIG_I2C
platforms/nuttx/src/px4/nxp/imxrt/include/px4_arch/spi_hw_description.h
+3
View File
@@ -36,6 +36,8 @@
#include <px4_arch/hw_description.h>
#include <px4_platform_common/spi.h>
#if defined(CONFIG_SPI)
#include <imxrt_gpio.h>
#define CS_IOMUX (IOMUX_CMOS_OUTPUT | IOMUX_PULL_UP_100K | IOMUX_DRIVE_33OHM | IOMUX_SPEED_LOW | IOMUX_SLEW_FAST)
@@ -135,3 +137,4 @@ static inline constexpr SPI::bus_device_external_cfg_t initSPIConfigExternal(SPI
ret.drdy_gpio = drdy_gpio;
return ret;
}
#endif // CONFIG_SPI
platforms/nuttx/src/px4/nxp/k66/include/px4_arch/spi_hw_description.h
+3
View File
@@ -32,9 +32,12 @@
****************************************************************************/
#pragma once
#if defined(CONFIG_SPI)
#include "../../../kinetis/include/px4_arch/spi_hw_description.h"
constexpr bool validateSPIConfig(const px4_spi_bus_t spi_busses_conf[SPI_BUS_MAX_BUS_ITEMS])
{
return true;
}
#endif // CONFIG_SPI
platforms/nuttx/src/px4/nxp/kinetis/include/px4_arch/i2c_hw_description.h
+2
View File
@@ -36,6 +36,7 @@
#include <px4_arch/hw_description.h>
#include <px4_platform_common/i2c.h>
#if defined(CONFIG_I2C)
static inline constexpr px4_i2c_bus_t initI2CBusInternal(int bus)
{
@@ -52,3 +53,4 @@ static inline constexpr px4_i2c_bus_t initI2CBusExternal(int bus)
ret.is_external = true;
return ret;
}
#endif // CONFIG_I2C
platforms/nuttx/src/px4/nxp/kinetis/include/px4_arch/spi_hw_description.h
+4
View File
@@ -36,6 +36,8 @@
#include <px4_arch/hw_description.h>
#include <px4_platform_common/spi.h>
#if defined(CONFIG_SPI)
#include <kinetis.h>
static inline constexpr px4_spi_bus_device_t initSPIDevice(uint32_t devid, SPI::CS cs_gpio, SPI::DRDY drdy_gpio = {})
@@ -129,3 +131,5 @@ static inline constexpr SPI::bus_device_external_cfg_t initSPIConfigExternal(SPI
ret.drdy_gpio = drdy_gpio;
return ret;
}
#endif // CONFIG_SPI
platforms/nuttx/src/px4/nxp/rt106x/include/px4_arch/spi_hw_description.h
+3
View File
@@ -32,9 +32,12 @@
****************************************************************************/
#pragma once
#if defined(CONFIG_SPI)
#include "../../../imxrt/include/px4_arch/spi_hw_description.h"
constexpr bool validateSPIConfig(const px4_spi_bus_t spi_busses_conf[SPI_BUS_MAX_BUS_ITEMS])
{
return true;
}
#endif // CONFIG_SPI
platforms/nuttx/src/px4/nxp/s32k14x/include/px4_arch/i2c_hw_description.h
+3
View File
@@ -35,6 +35,8 @@
#include <px4_arch/hw_description.h>
#include <px4_platform_common/i2c.h>
#if defined(CONFIG_I2C)
static inline constexpr px4_i2c_bus_t initI2CBusInternal(int bus)
{
px4_i2c_bus_t ret{};
@@ -50,3 +52,4 @@ static inline constexpr px4_i2c_bus_t initI2CBusExternal(int bus)
ret.is_external = true;
return ret;
}
#endif // CONFIG_I2C
platforms/nuttx/src/px4/nxp/s32k1xx/include/px4_arch/i2c_hw_description.h
+3
View File
@@ -35,6 +35,8 @@
#include <px4_arch/hw_description.h>
#include <px4_platform_common/i2c.h>
#if defined(CONFIG_I2C)
static inline constexpr px4_i2c_bus_t initI2CBusInternal(int bus)
{
px4_i2c_bus_t ret{};
@@ -50,3 +52,4 @@ static inline constexpr px4_i2c_bus_t initI2CBusExternal(int bus)
ret.is_external = true;
return ret;
}
#endif // CONFIG_I2C
platforms/nuttx/src/px4/stm/stm32_common/include/px4_arch/i2c_hw_description.h
+2
View File
@@ -36,6 +36,7 @@
#include <px4_arch/hw_description.h>
#include <px4_platform_common/i2c.h>
#if defined(CONFIG_I2C)
static inline constexpr px4_i2c_bus_t initI2CBusInternal(int bus)
{
@@ -52,3 +53,4 @@ static inline constexpr px4_i2c_bus_t initI2CBusExternal(int bus)
ret.is_external = true;
return ret;
}
#endif // CONFIG_I2C
platforms/nuttx/src/px4/stm/stm32_common/include/px4_arch/spi_hw_description.h
+3
View File
@@ -36,6 +36,7 @@
#include <px4_arch/hw_description.h>
#include <px4_platform_common/spi.h>
#if defined(CONFIG_SPI)
#include <stm32_gpio.h>
@@ -168,3 +169,5 @@ constexpr bool validateSPIConfig(const px4_spi_bus_all_hw_t spi_buses_conf[BOARD
return false;
}
#endif // CONFIG_SPI
platforms/nuttx/src/px4/stm/stm32f4/include/px4_arch/spi_hw_description.h
+4
View File
@@ -34,6 +34,8 @@
#include "../../../stm32_common/include/px4_arch/spi_hw_description.h"
#if defined(CONFIG_SPI)
constexpr bool validateSPIConfig(const px4_spi_bus_t spi_busses_conf[SPI_BUS_MAX_BUS_ITEMS])
{
const bool nuttx_enabled_spi_buses[] = {
@@ -84,3 +86,5 @@ constexpr bool validateSPIConfig(const px4_spi_bus_t spi_busses_conf[SPI_BUS_MAX
return false;
}
#endif // CONFIG_SPI
platforms/nuttx/src/px4/stm/stm32f7/include/px4_arch/spi_hw_description.h
+4
View File
@@ -32,6 +32,8 @@
****************************************************************************/
#pragma once
#if defined(CONFIG_SPI)
#include "../../../stm32_common/include/px4_arch/spi_hw_description.h"
constexpr bool validateSPIConfig(const px4_spi_bus_t spi_busses_conf[SPI_BUS_MAX_BUS_ITEMS])
@@ -84,3 +86,5 @@ constexpr bool validateSPIConfig(const px4_spi_bus_t spi_busses_conf[SPI_BUS_MAX
return false;
}
#endif // CONFIG_SPI
platforms/nuttx/src/px4/stm/stm32h7/include/px4_arch/spi_hw_description.h
+4
View File
@@ -34,6 +34,8 @@
#include "../../../stm32_common/include/px4_arch/spi_hw_description.h"
#if defined(CONFIG_SPI)
constexpr bool validateSPIConfig(const px4_spi_bus_t spi_busses_conf[SPI_BUS_MAX_BUS_ITEMS])
{
const bool nuttx_enabled_spi_buses[] = {
@@ -84,3 +86,5 @@ constexpr bool validateSPIConfig(const px4_spi_bus_t spi_busses_conf[SPI_BUS_MAX
return false;
}
#endif // CONFIG_SPI
platforms/posix/src/px4/generic/generic/include/px4_arch/i2c_hw_description.h
+2
View File
@@ -35,6 +35,7 @@
#include <px4_platform_common/i2c.h>
#if defined(CONFIG_I2C)
static inline constexpr px4_i2c_bus_t initI2CBusInternal(int bus)
{
@@ -51,3 +52,4 @@ static inline constexpr px4_i2c_bus_t initI2CBusExternal(int bus)
ret.is_external = true;
return ret;
}
#endif // CONFIG_I2C
platforms/posix/src/px4/generic/generic/include/px4_arch/spi_hw_description.h
+3
View File
@@ -35,6 +35,8 @@
#include <px4_platform_common/spi.h>
#if defined(CONFIG_SPI)
static inline constexpr px4_spi_bus_device_t initSPIDevice(uint8_t devid_driver, uint8_t cs_index)
{
px4_spi_bus_device_t ret{};
@@ -57,3 +59,4 @@ static inline constexpr px4_spi_bus_t initSPIBus(int bus, const px4_spi_bus_devi
ret.requires_locking = false;
return ret;
}
#endif // CONFIG_SPI