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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-24 05:03:34 +08:00
166 lines
4.4 KiB
C
166 lines
4.4 KiB
C
/************************************************************************************
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* Included Files
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************************************************************************************/
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#include <px4_config.h>
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#include <px4_log.h>
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#include <stdint.h>
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#include <stdbool.h>
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#include <debug.h>
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#include <unistd.h>
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#include <nuttx/spi/spi.h>
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#include <arch/board/board.h>
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#include <systemlib/px4_macros.h>
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#include <nuttx/mmcsd.h>
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#include <up_arch.h>
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#include <chip.h>
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#include <stm32_gpio.h>
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#include "board_config.h"
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/****************************************************************************
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* Pre-Processor Definitions
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****************************************************************************/
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/* Configuration ************************************************************/
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/* Debug ********************************************************************/
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/* Define CS GPIO array */
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static const uint32_t spi1selects_gpio[] = PX4_FLOW_BUS_CS_GPIO;
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/************************************************************************************
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* Public Functions
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************************************************************************************/
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/************************************************************************************
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* Name: stm32_spiinitialize
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*
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* Description:
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* Called to configure SPI chip select GPIO pins for the PX4FMU board.
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*
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************************************************************************************/
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__EXPORT void stm32_spiinitialize(void)
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{
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#ifdef CONFIG_STM32_SPI1
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board_gpio_init(spi1selects_gpio, arraySize(spi1selects_gpio));
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#endif
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}
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/************************************************************************************
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* Name: stm32_spi_bus_initialize
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*
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* Description:
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* Called to configure SPI buses on PX4FMU board.
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*
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************************************************************************************/
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static struct spi_dev_s *spi_expansion;
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__EXPORT int stm32_spi_bus_initialize(void)
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{
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/* Configure SPI-based devices */
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/* Get the external SPI port */
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spi_expansion = stm32_spibus_initialize(PX4_SPI_BUS_EXPANSION);
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if (!spi_expansion) {
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PX4_ERR("[boot] FAILED to initialize SPI port %d\n", PX4_SPI_BUS_EXPANSION);
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return -ENODEV;
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}
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#ifdef CONFIG_MMCSD
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int ret = mmcsd_spislotinitialize(CONFIG_NSH_MMCSDMINOR, CONFIG_NSH_MMCSDSLOTNO, spi_expansion);
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if (ret != OK) {
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PX4_ERR("[boot] FAILED to bind SPI port 1 to the MMCSD driver\n");
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return -ENODEV;
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}
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#endif
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return OK;
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}
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/************************************************************************************
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* Name: stm32_spi1select and stm32_spi1status
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*
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* Description:
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* Called by stm32 spi driver on bus 1.
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*
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************************************************************************************/
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__EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
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{
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/* SPI select is active low, so write !selected to select the device */
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int sel = (int) devid;
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/* Making sure the other peripherals are not selected */
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for (size_t cs = 0; arraySize(spi1selects_gpio) > 1 && cs < arraySize(spi1selects_gpio); cs++) {
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if (spi1selects_gpio[cs] != 0) {
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stm32_gpiowrite(spi1selects_gpio[cs], 1);
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}
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}
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uint32_t gpio = spi1selects_gpio[PX4_SPI_DEV_ID(sel)];
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if (gpio) {
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stm32_gpiowrite(gpio, !selected);
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}
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}
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__EXPORT uint8_t stm32_spi1status(FAR struct spi_dev_s *dev, uint32_t devid)
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{
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return SPI_STATUS_PRESENT;
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}
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/************************************************************************************
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* Name: board_spi_reset
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*
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* Description:
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*
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*
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************************************************************************************/
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__EXPORT void board_spi_reset(int ms)
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{
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/* disable SPI bus */
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for (size_t cs = 0; arraySize(spi1selects_gpio) > 1 && cs < arraySize(spi1selects_gpio); cs++) {
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if (spi1selects_gpio[cs] != 0) {
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stm32_configgpio(_PIN_OFF(spi1selects_gpio[cs]));
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}
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}
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stm32_configgpio(GPIO_SPI1_SCK_OFF);
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stm32_configgpio(GPIO_SPI1_MISO_OFF);
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stm32_configgpio(GPIO_SPI1_MOSI_OFF);
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/* wait for the sensor rail to reach GND */
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usleep(ms * 1000);
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syslog(LOG_DEBUG, "reset done, %d ms\n", ms);
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/* wait a bit before starting SPI, different times didn't influence results */
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usleep(100);
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/* reconfigure the SPI pins */
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for (size_t cs = 0; arraySize(spi1selects_gpio) > 1 && cs < arraySize(spi1selects_gpio); cs++) {
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if (spi1selects_gpio[cs] != 0) {
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stm32_configgpio(spi1selects_gpio[cs]);
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}
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}
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stm32_configgpio(GPIO_SPI1_SCK);
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stm32_configgpio(GPIO_SPI1_MISO);
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stm32_configgpio(GPIO_SPI1_MOSI);
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}
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