/**************************************************************************** * * Copyright (C) 2012 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 auav_spi.c * * Board-specific SPI functions. */ /************************************************************************************ * Included Files ************************************************************************************/ #include #include #include #include #include #include #include #include #include #include #include "board_config.h" /************************************************************************************ * Public Functions ************************************************************************************/ /************************************************************************************ * Name: stm32_spiinitialize * * Description: * Called to configure SPI chip select GPIO pins for the PX4FMU board. * ************************************************************************************/ __EXPORT void stm32_spiinitialize(void) { #ifdef CONFIG_STM32_SPI1 px4_arch_configgpio(GPIO_SPI_CS_ICM_2060X); px4_arch_configgpio(GPIO_SPI_CS_BARO); px4_arch_configgpio(GPIO_SPI_CS_MPU); px4_arch_configgpio(GPIO_EXTI_MPU_DRDY); px4_arch_configgpio(GPIO_EXTI_ICM_2060X_DRDY); #endif #ifdef CONFIG_STM32_SPI2 px4_arch_configgpio(GPIO_SPI_CS_FRAM); #endif } __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected) { /* SPI select is active low, so write !selected to select the device */ switch (devid) { /* intended fallthrough */ case PX4_SPIDEV_ICM_20602: /* intended fallthrough */ case PX4_SPIDEV_ICM_20608: /* Making sure the other peripherals are not selected */ px4_arch_gpiowrite(GPIO_SPI_CS_ICM_2060X, !selected); px4_arch_gpiowrite(GPIO_SPI_CS_BARO, 1); px4_arch_gpiowrite(GPIO_SPI_CS_MPU, 1); break; case PX4_SPIDEV_BARO: /* Making sure the other peripherals are not selected */ px4_arch_gpiowrite(GPIO_SPI_CS_ICM_2060X, 1); px4_arch_gpiowrite(GPIO_SPI_CS_BARO, !selected); px4_arch_gpiowrite(GPIO_SPI_CS_MPU, 1); break; case PX4_SPIDEV_MPU: /* Making sure the other peripherals are not selected */ px4_arch_gpiowrite(GPIO_SPI_CS_ICM_2060X, 1); px4_arch_gpiowrite(GPIO_SPI_CS_BARO, 1); px4_arch_gpiowrite(GPIO_SPI_CS_MPU, !selected); break; default: break; } } __EXPORT uint8_t stm32_spi1status(FAR struct spi_dev_s *dev, uint32_t devid) { return SPI_STATUS_PRESENT; } #ifdef CONFIG_STM32_SPI2 __EXPORT void stm32_spi2select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected) { /* there can only be one device on this bus, so always select it */ px4_arch_gpiowrite(GPIO_SPI_CS_FRAM, !selected); } __EXPORT uint8_t stm32_spi2status(FAR struct spi_dev_s *dev, uint32_t devid) { /* FRAM is always present */ return SPI_STATUS_PRESENT; } #endif __EXPORT void board_spi_reset(int ms) { /* disable SPI bus */ px4_arch_configgpio(GPIO_SPI_CS_ICM_2060X_OFF); px4_arch_configgpio(GPIO_SPI_CS_BARO_OFF); px4_arch_configgpio(GPIO_SPI_CS_MPU_OFF); px4_arch_gpiowrite(GPIO_SPI_CS_ICM_2060X_OFF, 0); px4_arch_gpiowrite(GPIO_SPI_CS_BARO_OFF, 0); px4_arch_gpiowrite(GPIO_SPI_CS_MPU_OFF, 0); px4_arch_configgpio(GPIO_SPI1_SCK_OFF); px4_arch_configgpio(GPIO_SPI1_MISO_OFF); px4_arch_configgpio(GPIO_SPI1_MOSI_OFF); px4_arch_gpiowrite(GPIO_SPI1_SCK_OFF, 0); px4_arch_gpiowrite(GPIO_SPI1_MISO_OFF, 0); px4_arch_gpiowrite(GPIO_SPI1_MOSI_OFF, 0); px4_arch_configgpio(GPIO_EXTI_ICM_2060X_DRDY_OFF); px4_arch_configgpio(GPIO_EXTI_MPU_DRDY_OFF); px4_arch_gpiowrite(GPIO_EXTI_ICM_2060X_DRDY_OFF, 0); px4_arch_gpiowrite(GPIO_EXTI_MPU_DRDY_OFF, 0); /* set the sensor rail off */ px4_arch_configgpio(GPIO_VDD_3V3_SENSORS_EN); px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, 0); /* wait for the sensor rail to reach GND */ usleep(ms * 1000); syslog(LOG_DEBUG, "reset done, %d ms\n", ms); /* re-enable power */ /* switch the sensor rail back on */ px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, 1); /* wait a bit before starting SPI, different times didn't influence results */ usleep(100); /* reconfigure the SPI pins */ #ifdef CONFIG_STM32_SPI1 px4_arch_configgpio(GPIO_SPI_CS_ICM_2060X); px4_arch_configgpio(GPIO_SPI_CS_BARO); px4_arch_configgpio(GPIO_SPI_CS_MPU); px4_arch_configgpio(GPIO_SPI1_SCK); px4_arch_configgpio(GPIO_SPI1_MISO); px4_arch_configgpio(GPIO_SPI1_MOSI); // // XXX bring up the EXTI pins again // px4_arch_configgpio(GPIO_EXTI_MPU_DRDY); // px4_arch_configgpio(GPIO_EXTI_ICM_2060X_DRDY); #endif }