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crazyflie: support for sd card board via SPI

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This commit is contained in:
DanielePettenuzzo 2018-04-29 14:00:16 +02:00 committed by Beat Küng
parent 818a6759d4
commit b822966e8e
6 changed files with 40 additions and 18 deletions
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4
ROMFS/px4fmu_common/init.d/rcS
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@ -988,8 +988,8 @@ fi
sh /etc/init.d/rc.logging
vl53lxx start
pmw3901 start
#vl53lxx start
#pmw3901 start
# End of autostart

1
cmake/configs/nuttx_crazyflie_default.cmake
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@ -32,6 +32,7 @@ set(config_module_list
systemcmds/ver
systemcmds/hardfault_log
systemcmds/topic_listener
systemcmds/sd_bench
#
# General system control

19
platforms/nuttx/nuttx-configs/crazyflie/nsh/defconfig
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@ -880,7 +880,17 @@ CONFIG_WATCHDOG_DEVPATH="/dev/watchdog0"
# CONFIG_RGBLED is not set
# CONFIG_PCA9635PW is not set
# CONFIG_NCP5623C is not set
# CONFIG_MMCSD is not set
#
# SD Card Support
#
CONFIG_MMCSD=y
CONFIG_MMCSD_NSLOTS=1
CONFIG_MMCSD_SPI=y
CONFIG_MMCSD_SPICLOCK=20000000
CONFIG_MMCSD_SPIMODE=0
# CONFIG_MODEM is not set
CONFIG_MTD=y
@ -1104,8 +1114,9 @@ CONFIG_FS_WRITABLE=y
CONFIG_FS_MQUEUE_MPATH="/var/mqueue"
# CONFIG_FS_RAMMAP is not set
CONFIG_FS_FAT=y
# CONFIG_FAT_LCNAMES is not set
# CONFIG_FAT_LFN is not set
CONFIG_FAT_LCNAMES=y
CONFIG_FAT_LFN=y
CONFIG_FAT_MAXFNAME=32
# CONFIG_FS_FATTIME is not set
# CONFIG_FAT_FORCE_INDIRECT is not set
# CONFIG_FAT_DMAMEMORY is not set
@ -1490,6 +1501,8 @@ CONFIG_NSH_DISABLE_UNAME=y
CONFIG_NSH_DISABLE_WGET=y
CONFIG_NSH_DISABLE_XD=y
CONFIG_NSH_MMCSDMINOR=0
CONFIG_NSH_MMCSDSLOTNO=0
CONFIG_NSH_MMCSDSPIPORTNO=1
#
# Configure Command Options

6
src/drivers/boards/crazyflie/board_config.h
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@ -111,9 +111,9 @@
#define PX4_SPI_BUS_EXPANSION 1
/* SPI1 CS */
#define GPIO_SPI1_CS0_EXT /* PC12 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN12)
#define GPIO_SPI1_CS1_EXT /* PB4 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN4)
#define GPIO_SPI1_CS2_EXT /* PB5 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN5)
#define GPIO_SPI1_CS0_EXT /* PC12 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN12)
#define GPIO_SPI1_CS1_EXT /* PB4 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN4)
#define GPIO_SPI1_CS2_EXT /* PB5 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN5)
#define PX4_FLOW_BUS_CS_GPIO { GPIO_SPI1_CS0_EXT, GPIO_SPI1_CS1_EXT, GPIO_SPI1_CS2_EXT }

23
src/drivers/boards/crazyflie/spi.c
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@ -13,6 +13,7 @@
#include <nuttx/spi/spi.h>
#include <arch/board/board.h>
#include <systemlib/px4_macros.h>
#include <nuttx/mmcsd.h>
#include <up_arch.h>
#include <chip.h>
@ -20,6 +21,8 @@
#include "board_config.h"
#include <systemlib/err.h>
//#include "stm32.h"
/****************************************************************************
* Pre-Processor Definitions
****************************************************************************/
@ -65,8 +68,7 @@ __EXPORT int stm32_spi_bus_initialize(void)
{
/* Configure SPI-based devices */
/* Get the SPI port for the Sensors */
/* Get the external SPI port */
spi_expansion = stm32_spibus_initialize(PX4_SPI_BUS_EXPANSION);
if (!spi_expansion) {
@ -74,16 +76,17 @@ __EXPORT int stm32_spi_bus_initialize(void)
return -ENODEV;
}
/* Default PX4_SPI_BUS_SENSORS to 1MHz and de-assert the known chip selects. */
//#ifdef CONFIG_MMCSD
int ret = mmcsd_spislotinitialize(CONFIG_NSH_MMCSDMINOR, CONFIG_NSH_MMCSDSLOTNO, spi_expansion);
SPI_SETFREQUENCY(spi_expansion, 10000000);
SPI_SETBITS(spi_expansion, 8);
SPI_SETMODE(spi_expansion, SPIDEV_MODE3);
for (int cs = PX4_FLOW_BUS_FIRST_CS; cs <= PX4_FLOW_BUS_LAST_CS; cs++) {
SPI_SELECT(spi_expansion, cs, false);
if (ret != OK) {
//message("[boot] FAILED to bind SPI port 1 to the MMCSD driver\n");
return -ENODEV;
}
//#endif
return OK;
}
@ -101,7 +104,7 @@ __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, uint32_t devid, bool s
/* SPI select is active low, so write !selected to select the device */
int sel = (int) devid;
ASSERT(PX4_SPI_BUS_ID(sel) == PX4_SPI_BUS_EXPANSION);
//ASSERT(PX4_SPI_BUS_ID(sel) == PX4_SPI_BUS_EXPANSION);
/* Making sure the other peripherals are not selected */

5
src/drivers/pmw3901/pmw3901.cpp
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@ -77,8 +77,13 @@
#include <board_config.h>
/* Configuration Constants */
#ifdef PX4_SPI_BUS_EXPANSION
#define PMW3901_BUS PX4_SPI_BUS_EXPANSION /* fmu-v4pro: PX4_SPI_BUS_EXT1 | fmu-v5: PX4_SPI_BUS_EXTERNAL1 */
#endif
#ifdef PX4_SPIDEV_EXPANSION_2
#define PMW3901_SPIDEV PX4_SPIDEV_EXPANSION_2 /* fmu-v4pro: PX4_SPIDEV_EXT0 | fmu-v5: PX4_SPIDEV_EXTERNAL1_1 */
#endif
#define PMW3901_SPI_BUS_SPEED (2000000L) // 2MHz