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203 lines
11 KiB
C++
203 lines
11 KiB
C++
/****************************************************************************
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*
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* Copyright (C) 2012 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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#include <nuttx/spi/spi.h>
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#include <px4_arch/spi_hw_description.h>
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#include <drivers/drv_sensor.h>
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/* Due to inconsistent use of chip select and data ready signal on
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* different board that use this build, we are using different
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* versions.
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*
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* --------------- SPI1 -------------------- SPI4 -------------- Incompatibilities ---------
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* FMUv2: FmuV3 Cube PixhawkMini
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* Power Domain: VDD_3V3_SENSORS_EN nVDD_5V_PERIPH_EN V3V:SPI1&SPI4 V3V:SPI1 No SPI4
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* PA5 SPI_INT_SCK
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* PA6 SPI_INT_MISO
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* PA7 SPI_INT_MOSI
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* PB0 GYRO_DRDY SPI4:EXTERN_DRDY NC
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* PB1 MAG_DRDY +SPI4:nEXTERN_CS NC
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* PB4 ACCEL_DRDY NC NC
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* PC1 Spare ADC ( NC ) +SPI1:SPI_INT_MAG_!CS
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* PC2 nMPU_CS @MPU6000|MPU9250 @MPU9250
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* PC13 nGYRO_CS SPI4:nGYRO_EXT_CS NC
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* PC14 GPIO_EXT_1 nBARO_EXT_CS -20608_DRDY
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* PC15 nACCEL_MAG_CS SPI4:nACCEL_MAG_EXT_CS 20608_CS
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* PD7 nBARO_CS
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* PD15 nMPU_DRDY @MPU6000|MPU9250 @MPU9250
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* PE2 SPI_EXT_SCK NC
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* PE4 nSPI_EXT_NSS SPI4:nMPU_EXT_CS NC
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* PE5 SPI_EXT_MISO NC
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* PE6 SPI_EXT_MOSI NC
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*
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* Notes: Prefixed with @ Does not effect board control
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* Prefixed with + Input used as Output
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* Prefixed with - Output used as Input
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* Prefixed with SPIn: Bus changed
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*
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* The board API provides for mechanism to perform a SPI bus reset.
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* To facilitate a SPI bus reset
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*
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* 1) All the pins: SPIn, CD, DRDY associated with the SPI bus are turned to inputs
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* with outputs driven low. (OFFIng)
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* 2) The power domain of that bus is turned off.
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* 3) A usleep it done for ms.
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* 4) The power domain of that bus is turned back on.
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* 5) The SPIn pins are re-initialized.
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* 6) The SPI CS, DRDY pins are re-initialized.
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*
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* To insure the complete net is de-energized and is not bing back fed, it is important to
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* note the all signals in the net list of the parts/bus.
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*
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* I.E. Not OFFIng PC1 on V3 would leave that pin back feeding the HMC part. As would not
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* OFFIng PE4, not associated with SPI1 on V2, but would back feed an MPUxxxx on V3
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*
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*/
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/*
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*
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* --------------- SPI1 -------------------- SPI4 -------------- Incompatibilities ---------
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* FMUv3 Cube: FmuV2 PixhawkMini
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* Power Domain: VDD_3V3_SENSORS_EN NA V3V:SPI V5:SPI4 V3V:SPI1 No SPI4
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* PA5 SPI_INT_SCK
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* PA6 SPI_INT_MISO
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* PA7 SPI_INT_MOSI
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* PB0 EXTERN_DRDY SPI1:GYRO_DRDY NC
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* PB1 MAG_DRDY nEXTERN_CS -SPI1:MAG_DRDY NC
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* PB4 NC SPI1:ACCEL_DRDY NC
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* PC1 SPI_INT_MAG_!CS -ADC1_IN11 NC
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* PC2 nMPU_CS @MPU6000 @MPU9250
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* PC13 nGYRO_EXT_CS SPI1:nGYRO_CS NC
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* PC14 nBARO_EXT_CS GPIO_EXT_1 -20608_DRDY
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* PC15 nACCEL_MAG_EXT_CS SPI1:nACCEL_MAG_CS 20608_CS
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* PD7 nBARO_CS
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* PD15 nMPU_DRDY @MPU6000 @MPU9250
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* PE2 SPI_EXT_SCK NC
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* PE4 MPU_EXT_CS SPI4:nSPI_EXT_NSS NC
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* PE5 SPI_EXT_MISO NC
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* PE6 SPI_EXT_MOSI NC
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*
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*
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* Notes: Prefixed with @ Does not effect board control
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* Prefixed with + Input used as Output
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* Prefixed with - Output used as Input
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* Prefixed with SPIn: Bus changed
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*
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*/
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/*----------------------------------------------------------*/
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/*
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* --------------- SPI1 -------------------- SPI4 -------------- Incompatibilities ---------
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* FMUv2 Pixhawk Mini FmuV2 FmuV3 Cube
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* Power Domain: VDD_3V3_SENSORS_EN NA V3V:SPI V5:SPI4 V3V:SPI1&SPI4
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* PA5 SPI_INT_SCK
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* PA6 SPI_INT_MISO
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* PA7 SPI_INT_MOSI
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* PB0 NC SPI1:GYRO_DRDY SPI4:EXTERN_DRDY
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* PB1 NC -SPI1:MAG_DRDY +SPI4:nEXTERN_CS
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* PB4 NC SPI1:ACCEL_DRDY NC
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* PC1 Spare ADC ( NC ) +SPI1:SPI_INT_MAG_!CS
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* PC2 nMPU_CS @MPU6000 @MPU6000|MPU9250
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* PC13 NC SPI1:nGYRO_CS SPI4:nGYRO_EXT_CS
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* PC14 20608_DRDY +GPIO_EXT_1 nBARO_EXT_CS
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* PC15 20608_CS nACCEL_MAG_CS SPI4:nACCEL_MAG_EXT_CS
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* PD7 nBARO_CS
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* PD15 nMPU_DRDY @MPU6000 @MPU6000|MPU9250
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* PE2 NC SPI_EXT_SCK SPI_EXT_SCK
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* PE4 NC SPI4:nSPI_EXT_NSS SPI4:nMPU_EXT_CS
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* PE5 NC SPI_EXT_MISO SPI_EXT_MISO
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* PE6 NC SPI_EXT_MOSI SPI_EXT_MOSI
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*
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* Notes: Prefixed with @ Does not effect board control
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* Prefixed with + Input used as Output
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* Prefixed with - Output used as Input
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* Prefixed with SPIn: Bus changed
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*
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*/
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constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSIONS] = {
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initSPIHWVersion(HW_VER_FMUV2, {
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initSPIBus(SPI::Bus::SPI1, {
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initSPIDevice(DRV_IMU_DEVTYPE_MPU6000, SPI::CS{GPIO::PortC, GPIO::Pin2}, SPI::DRDY{GPIO::PortD, GPIO::Pin15}),
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initSPIDevice(DRV_IMU_DEVTYPE_MPU9250, SPI::CS{GPIO::PortC, GPIO::Pin2}, SPI::DRDY{GPIO::PortD, GPIO::Pin15}),
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initSPIDevice(DRV_GYR_DEVTYPE_L3GD20, SPI::CS{GPIO::PortC, GPIO::Pin13}, SPI::DRDY{GPIO::PortB, GPIO::Pin0}),
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initSPIDevice(DRV_IMU_DEVTYPE_LSM303D, SPI::CS{GPIO::PortC, GPIO::Pin15}),
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initSPIDevice(DRV_BARO_DEVTYPE_MS5611, SPI::CS{GPIO::PortD, GPIO::Pin7}),
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initSPIDevice(DRV_BARO_DEVTYPE_MS5607, SPI::CS{GPIO::PortD, GPIO::Pin7}),
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}, {GPIO::PortE, GPIO::Pin3}),
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initSPIBus(SPI::Bus::SPI2, {
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initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortD, GPIO::Pin10})
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}),
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initSPIBusExternal(SPI::Bus::SPI4, {
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initSPIConfigExternal(SPI::CS{GPIO::PortC, GPIO::Pin14}),
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initSPIConfigExternal(SPI::CS{GPIO::PortE, GPIO::Pin4}),
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}),
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}),
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initSPIHWVersion(HW_VER_FMUV3, {
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initSPIBus(SPI::Bus::SPI1, {
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initSPIDevice(DRV_IMU_DEVTYPE_MPU6000, SPI::CS{GPIO::PortC, GPIO::Pin2}, SPI::DRDY{GPIO::PortD, GPIO::Pin15}),
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initSPIDevice(DRV_IMU_DEVTYPE_MPU9250, SPI::CS{GPIO::PortC, GPIO::Pin2}, SPI::DRDY{GPIO::PortD, GPIO::Pin15}),
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initSPIDevice(DRV_MAG_DEVTYPE_HMC5883, SPI::CS{GPIO::PortC, GPIO::Pin1}), // HMC5983
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initSPIDevice(DRV_BARO_DEVTYPE_MS5611, SPI::CS{GPIO::PortD, GPIO::Pin7}),
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initSPIDevice(DRV_BARO_DEVTYPE_MS5607, SPI::CS{GPIO::PortD, GPIO::Pin7}),
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}, {GPIO::PortE, GPIO::Pin3}),
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initSPIBus(SPI::Bus::SPI2, {
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initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortD, GPIO::Pin10})
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}),
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initSPIBus(SPI::Bus::SPI4, {
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initSPIDevice(DRV_IMU_DEVTYPE_MPU6000, SPI::CS{GPIO::PortE, GPIO::Pin4}),
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initSPIDevice(DRV_IMU_DEVTYPE_MPU9250, SPI::CS{GPIO::PortE, GPIO::Pin4}),
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initSPIDevice(DRV_GYR_DEVTYPE_L3GD20, SPI::CS{GPIO::PortC, GPIO::Pin13}),
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initSPIDevice(DRV_BARO_DEVTYPE_MS5611, SPI::CS{GPIO::PortC, GPIO::Pin14}),
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initSPIDevice(DRV_IMU_DEVTYPE_LSM303D, SPI::CS{GPIO::PortC, GPIO::Pin15}),
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}),
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}),
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initSPIHWVersion(HW_VER_FMUV2MINI, {
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initSPIBus(SPI::Bus::SPI1, {
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initSPIDevice(DRV_IMU_DEVTYPE_ICM20608G, SPI::CS{GPIO::PortC, GPIO::Pin15}, SPI::DRDY{GPIO::PortC, GPIO::Pin14}),
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initSPIDevice(DRV_BARO_DEVTYPE_MS5611, SPI::CS{GPIO::PortD, GPIO::Pin7}),
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initSPIDevice(DRV_DEVTYPE_UNUSED, SPI::CS{GPIO::PortC, GPIO::Pin2}, SPI::DRDY{GPIO::PortD, GPIO::Pin15}), // unused MPU9250
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}, {GPIO::PortE, GPIO::Pin3}),
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initSPIBus(SPI::Bus::SPI2, {
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initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortD, GPIO::Pin10})
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}),
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initSPIBusExternal(SPI::Bus::SPI4, { // unused, but we must at least define it here
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}),
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}),
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// HW_VER_FMUV2X: treat as HW_VER_FMUV2
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};
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static constexpr bool unused = validateSPIConfig(px4_spi_buses_all_hw);
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