mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-10 02:48:53 +08:00
tropic: Support split HW version for IMU detection
This commit is contained in:
Peter van der Perk
@@ -44,8 +44,25 @@ then
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i2c_launcher start -b 1
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fi
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if ver hwtypecmp 000
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then
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# Internal SPI bus icm45686
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icm45686 -R 2 -b 3 -s start
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fi
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if ver hwtypecmp 001
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then
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# Internal SPI bus ICM42688p
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icm42688p -R 2 -b 3 -s start
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fi
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if ver hwtypecmp 002
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then
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# Internal SPI bus ICM42686p
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icm42688p -6 -R 2 -b 3 -s start
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fi
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# Internal on IMU SPI BMI088
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bmi088 -A -R 2 -b 4 -s start
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@@ -43,6 +43,8 @@ px4_add_library(drivers_board
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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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# Force compiler not to use builtin functions (like memcpy)
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@@ -51,6 +53,7 @@ set_source_files_properties(imxrt_ocram_initialize.c PROPERTIES COMPILE_FLAGS -f
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target_link_libraries(drivers_board
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PRIVATE
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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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@@ -266,6 +266,18 @@
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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) // ICM45686
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#define TROPIC_1 HW_FMUM_ID(0x1) // ICM42688
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#define TROPIC_2 HW_FMUM_ID(0x2) // ICM42686
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__BEGIN_DECLS
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/****************************************************************************************************
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@@ -320,6 +332,8 @@ 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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@@ -0,0 +1,207 @@
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/****************************************************************************
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*
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* Copyright (C) 2023 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
|
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file hw_rev_ver_canhubk3.c
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* CANHUBK3 Hardware Revision and Version ID API
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*/
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#include <drivers/drv_adc.h>
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#include <px4_arch/adc.h>
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#include <px4_platform_common/micro_hal.h>
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#include <px4_platform_common/px4_config.h>
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#include <px4_platform/board_determine_hw_info.h>
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#include <stdio.h>
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#include <board_config.h>
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#include <drivers/drv_sensor.h>
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#include <systemlib/px4_macros.h>
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#include <nuttx/spi/spi.h>
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#if defined(BOARD_HAS_HW_VERSIONING)
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#define DIR_READ 0x80
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#define WHO_AMI_I 0x75
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#define REG_BANK_SEL 0x76
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#define HW_INFO_SIZE HW_INFO_VER_DIGITS + HW_INFO_REV_DIGITS
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#define DEFAULT_SPI ((1 << 28) | DRV_IMU_DEVTYPE_ICM45686)
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/****************************************************************************
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* Private Data
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****************************************************************************/
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static int hw_revision = 0;
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static char hw_info[HW_INFO_SIZE] = {0};
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#if defined(BOARD_HAS_HW_SPLIT_VERSIONING)
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static char hw_base_info[HW_INFO_SIZE] = {0};
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#endif
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/****************************************************************************
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* Public Functions
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****************************************************************************/
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/************************************************************************************
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* Name: board_get_hw_type
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*
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* Description:
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* Optional returns a 0 terminated string defining the HW type.
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*
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* Input Parameters:
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* None
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*
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* Returned Value:
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* a 0 terminated string defining the HW type. This my be a 0 length string ""
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*
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************************************************************************************/
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__EXPORT const char *board_get_hw_type_name()
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{
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return (const char *) hw_info;
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}
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#if defined(BOARD_HAS_HW_SPLIT_VERSIONING)
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/************************************************************************************
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* Name: board_get_hw_base_type_name
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*
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* Description:
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* Optional returns a 0 terminated string defining the base type.
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*
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* Input Parameters:
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* None
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*
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* Returned Value:
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* a 0 terminated string defining the HW type. This my be a 0 length string ""
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*
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************************************************************************************/
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__EXPORT const char *board_get_hw_base_type_name()
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{
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return (const char *) hw_base_info;
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}
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#endif
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/************************************************************************************
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* Name: board_get_hw_version
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*
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* Description:
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* Optional returns a integer HW version
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*
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* Input Parameters:
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* None
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*
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* Returned Value:
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* An integer value of this boards hardware version.
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* A value of -1 is the default for boards not supporting the BOARD_HAS_VERSIONING API.
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* A value of 0 is the default for boards supporting the API but not having version.
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*
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************************************************************************************/
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__EXPORT int board_get_hw_version()
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{
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return 0;
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}
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/************************************************************************************
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* Name: board_get_hw_revision
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*
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* Description:
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* Optional returns a integer HW revision
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*
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* Input Parameters:
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* None
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*
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* Returned Value:
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* An integer value of this boards hardware revision.
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* A value of -1 is the default for boards not supporting the BOARD_HAS_VERSIONING API.
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* A value of 0 is the default for boards supporting the API but not having revision.
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*
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************************************************************************************/
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__EXPORT int board_get_hw_revision()
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{
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return hw_revision;
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}
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/************************************************************************************
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* Name: board_determine_hw_info
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*
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* Description:
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* Uses GPIO to detect MR-CANHUBK3-ADAP
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*
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************************************************************************************/
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int board_determine_hw_info()
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{
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struct spi_dev_s *spi = px4_spibus_initialize(3);
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SPI_SETFREQUENCY(spi, 8 * 1000 * 1000);
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SPI_SETMODE(spi, SPIDEV_MODE3);
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SPI_SETBITS(spi, 8);
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/* ICM Select bank 0 */
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SPI_SELECT(spi, DEFAULT_SPI, true);
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uint8_t cmd_bank_sel[2] = {0};
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cmd_bank_sel[0] = REG_BANK_SEL;
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cmd_bank_sel[1] = 0;
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SPI_EXCHANGE(spi, cmd_bank_sel, cmd_bank_sel, sizeof(cmd_bank_sel));
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SPI_SELECT(spi, DEFAULT_SPI, false);
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/* ICM Read WHOAM */
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SPI_SELECT(spi, DEFAULT_SPI, true);
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uint8_t cmd[2] = {0};
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cmd[0] = (WHO_AMI_I) | DIR_READ;
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SPI_EXCHANGE(spi, cmd, cmd, sizeof(cmd_bank_sel));
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SPI_SELECT(spi, DEFAULT_SPI, false);
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// Default is TROPIC_0 icm45686
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if (cmd[1] == 0x47) { // TROPIC_1 icm42688p
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hw_revision = 1;
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} else if (cmd[1] == 0x44) { // TROPIC_2 icm42686p
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hw_revision = 2;
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}
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/* Default bus 1 to 8MHz and de-assert the known chip selects.
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*/
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SPI_SETFREQUENCY(spi, 8 * 1000 * 1000);
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SPI_SETBITS(spi, 8);
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SPI_SETMODE(spi, SPIDEV_MODE3);
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sprintf(hw_info, "%03d", hw_revision);
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return 0;
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}
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#endif
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@@ -87,6 +87,7 @@
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#include <px4_platform_common/init.h>
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#include <px4_platform/gpio.h>
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#include <px4_platform/board_dma_alloc.h>
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#include <px4_platform/board_determine_hw_info.h>
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/* Configuration ************************************************************/
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@@ -218,10 +219,6 @@ __EXPORT void imxrt_boardinitialize(void)
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const uint32_t gpio[] = PX4_GPIO_INIT_LIST;
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px4_gpio_init(gpio, arraySize(gpio));
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/* configure SPI interfaces */
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imxrt_spidev_initialize();
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imxrt_usb_initialize();
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fmurt1062_timer_initialize();
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@@ -321,10 +318,12 @@ __EXPORT int board_app_initialize(uintptr_t arg)
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/* Power on Interfaces */
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board_spi_reset(10, 0xffff);
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px4_platform_init();
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imxrt_spiinitialize();
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board_determine_hw_info();
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/* configure the DMA allocator */
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if (board_dma_alloc_init() < 0) {
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@@ -342,9 +341,9 @@ __EXPORT int board_app_initialize(uintptr_t arg)
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ret = fmurt1062_usdhc_initialize();
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#endif
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/* Configure SPI-based devices */
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imxrt_spiinitialize();
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ret = imxrt1062_spi_bus_initialize();
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board_spi_reset(10, 0xffff);
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#ifdef CONFIG_IMXRT_ENET
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imxrt_gpio_write(GPIO_ENET_RST, true);
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@@ -0,0 +1,79 @@
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/****************************************************************************
|
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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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
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/**
|
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* @file manifest.c
|
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*
|
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* This module supplies the interface to the manifest of hardware that is
|
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* optional and dependent on the HW REV and HW VER IDs
|
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*
|
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* The manifest allows the system to know whether a hardware option
|
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* say for example the PX4IO is an no-pop option vs it is broken.
|
||||
*
|
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*/
|
||||
|
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/****************************************************************************
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* Included Files
|
||||
****************************************************************************/
|
||||
|
||||
#include <px4_platform_common/px4_config.h>
|
||||
#include <stdbool.h>
|
||||
#include <syslog.h>
|
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|
||||
#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 +60,36 @@
|
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#include "board_config.h"
|
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#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_ICM42686P, 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_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 */
|
||||
}),
|
||||
}),
|
||||
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_ICM42686P, 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