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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-22 15:03:34 +08:00
463 lines
13 KiB
C
463 lines
13 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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/**
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* @file px4fmu_spi.c
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*
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* Board-specific SPI functions.
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*/
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/************************************************************************************
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* Included Files
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************************************************************************************/
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#include <px4_config.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 <up_arch.h>
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#include <chip.h>
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#include <stm32.h>
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#include "board_config.h"
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#include <systemlib/err.h>
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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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#ifdef CONFIG_STM32_SPI1
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/* Verification
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* PA5 PA6 PA7 PB0 PB1 PB4 PC1 PC2 PC13 PC14 PC15 PD7 PD15 PE2 PE4 PE5 PE6
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* driver X X X X X X
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* local V2 v2 V2 V3 a V2 V2M V2x a a 4
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*/
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static void stm32_spi1_initialize(void)
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{
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stm32_configgpio(GPIO_SPI1_CS_PC2);
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stm32_configgpio(GPIO_SPI1_CS_PD7);
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stm32_configgpio(GPIO_SPI1_EXTI_DRDY_PD15);
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if (HW_VER_FMUV2MINI == board_get_hw_version()) {
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stm32_configgpio(GPIO_SPI1_EXTI_20608_DRDY_PC14);
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stm32_configgpio(GPIO_SPI1_CS_PC15);
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} else if (HW_VER_FMUV3 == board_get_hw_version()) {
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stm32_configgpio(GPIO_SPI1_CS_PC1);
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} else {
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stm32_configgpio(GPIO_SPI1_EXTI_DRDY_PB0);
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stm32_configgpio(GPIO_SPI1_EXTI_DRDY_PB1);
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stm32_configgpio(GPIO_SPI1_EXTI_DRDY_PB4);
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stm32_configgpio(GPIO_SPI1_CS_PC13);
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stm32_configgpio(GPIO_SPI1_CS_PC15);
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}
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}
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#endif // CONFIG_STM32_SPI1
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#ifdef CONFIG_STM32_SPI4
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/* Verification
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* PA5 PA6 PA7 PB0 PB1 PB4 PC1 PC2 PC13 PC14 PC15 PD7 PD15 PE2 PE4 PE5 PE6
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* driver X X X X X X
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* local V3 V3 - V3 a V3 V23 V3 - -
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*/
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static void stm32_spi4_initialize(void)
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{
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stm32_configgpio(GPIO_SPI4_NSS_PE4);
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if (HW_VER_FMUV3 == board_get_hw_version()) {
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stm32_configgpio(GPIO_SPI4_EXTI_DRDY_PB0);
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stm32_configgpio(GPIO_SPI4_CS_PB1);
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stm32_configgpio(GPIO_SPI4_CS_PC13);
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stm32_configgpio(GPIO_SPI4_CS_PC15);
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}
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if (HW_VER_FMUV2MINI != board_get_hw_version()) {
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stm32_configgpio(GPIO_SPI4_GPIO_PC14);
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}
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}
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#endif //CONFIG_STM32_SPI4
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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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stm32_spi1_initialize();
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#endif
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#ifdef CONFIG_STM32_SPI2
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stm32_configgpio(GPIO_SPI2_CS_PD10);
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#endif
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#ifdef CONFIG_STM32_SPI4
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stm32_spi4_initialize();
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#endif
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}
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#ifdef CONFIG_STM32_SPI1
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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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/* Verification
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* PA5 PA6 PA7 PB0 PB1 PB4 PC1 PC2 PC13 PC14 PC15 PD7 PD15 PE2 PE4 PE5 PE6
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* driver X X X X X X
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* local - - - V3 a V2 - V2M a - -
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*/
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switch (devid) {
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case PX4_SPIDEV_GYRO:
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/* Making sure the other peripherals are not selected */
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if (HW_VER_FMUV2 == board_get_hw_version()) {
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stm32_gpiowrite(GPIO_SPI1_CS_PC13, !selected);
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}
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if (HW_VER_FMUV3 != board_get_hw_version()) {
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stm32_gpiowrite(GPIO_SPI1_CS_PC15, 1);
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}
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stm32_gpiowrite(GPIO_SPI1_CS_PD7, 1);
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stm32_gpiowrite(GPIO_SPI1_CS_PC2, 1);
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if (HW_VER_FMUV3 == board_get_hw_version()) {
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stm32_gpiowrite(GPIO_SPI1_CS_PC1, 1);
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}
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break;
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case PX4_SPIDEV_ICM_20608:
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case PX4_SPIDEV_ACCEL_MAG:
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/* Making sure the other peripherals are not selected */
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if (HW_VER_FMUV2 == board_get_hw_version()) {
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stm32_gpiowrite(GPIO_SPI1_CS_PC13, 1);
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}
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if (HW_VER_FMUV3 != board_get_hw_version()) {
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stm32_gpiowrite(GPIO_SPI1_CS_PC15, !selected);
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}
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stm32_gpiowrite(GPIO_SPI1_CS_PD7, 1);
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stm32_gpiowrite(GPIO_SPI1_CS_PC2, 1);
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if (HW_VER_FMUV3 == board_get_hw_version()) {
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stm32_gpiowrite(GPIO_SPI1_CS_PC1, 1);
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}
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break;
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case PX4_SPIDEV_BARO:
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/* Making sure the other peripherals are not selected */
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if (HW_VER_FMUV2 == board_get_hw_version()) {
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stm32_gpiowrite(GPIO_SPI1_CS_PC13, 1);
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}
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if (HW_VER_FMUV3 != board_get_hw_version()) {
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stm32_gpiowrite(GPIO_SPI1_CS_PC15, 1);
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}
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stm32_gpiowrite(GPIO_SPI1_CS_PD7, !selected);
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stm32_gpiowrite(GPIO_SPI1_CS_PC2, 1);
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if (HW_VER_FMUV3 == board_get_hw_version()) {
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stm32_gpiowrite(GPIO_SPI1_CS_PC1, 1);
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}
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break;
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case PX4_SPIDEV_MPU:
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/* Making sure the other peripherals are not selected */
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if (HW_VER_FMUV2 == board_get_hw_version()) {
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stm32_gpiowrite(GPIO_SPI1_CS_PC13, 1);
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}
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if (HW_VER_FMUV3 != board_get_hw_version()) {
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stm32_gpiowrite(GPIO_SPI1_CS_PC15, 1);
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}
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stm32_gpiowrite(GPIO_SPI1_CS_PD7, 1);
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stm32_gpiowrite(GPIO_SPI1_CS_PC2, !selected);
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if (HW_VER_FMUV3 == board_get_hw_version()) {
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stm32_gpiowrite(GPIO_SPI1_CS_PC1, 1);
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}
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break;
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case PX4_SPIDEV_HMC:
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if (HW_VER_FMUV2 == board_get_hw_version()) {
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stm32_gpiowrite(GPIO_SPI1_CS_PC13, 1);
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}
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if (HW_VER_FMUV3 != board_get_hw_version()) {
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stm32_gpiowrite(GPIO_SPI1_CS_PC15, 1);
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}
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stm32_gpiowrite(GPIO_SPI1_CS_PD7, 1);
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stm32_gpiowrite(GPIO_SPI1_CS_PC2, 1);
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if (HW_VER_FMUV3 == board_get_hw_version()) {
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stm32_gpiowrite(GPIO_SPI1_CS_PC1, !selected);
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}
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break;
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default:
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break;
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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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#endif // CONFIG_STM32_SPI1
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#ifdef CONFIG_STM32_SPI2
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__EXPORT void stm32_spi2select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
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{
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/* there can only be one device on this bus, so always select it */
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stm32_gpiowrite(GPIO_SPI2_CS_PD10, !selected);
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}
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__EXPORT uint8_t stm32_spi2status(FAR struct spi_dev_s *dev, uint32_t devid)
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{
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/* FRAM is always present */
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return SPI_STATUS_PRESENT;
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}
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#endif
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#ifdef CONFIG_STM32_SPI4
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__EXPORT void stm32_spi4select(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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/* Verification
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* PA5 PA6 PA7 PB0 PB1 PB4 PC1 PC2 PC13 PC14 PC15 PD7 PD15 PE2 PE4 PE5 PE6
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* driver X X X X X X
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* local - - - - - V3 !V2M V3 - - a
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*/
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switch (devid) {
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case PX4_SPIDEV_EXT_MPU:
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/* Making sure the other peripherals are not selected */
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stm32_gpiowrite(GPIO_SPI4_NSS_PE4, !selected);
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if (HW_VER_FMUV2MINI != board_get_hw_version()) {
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stm32_gpiowrite(GPIO_SPI4_GPIO_PC14, 1);
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}
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if (HW_VER_FMUV3 == board_get_hw_version()) {
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stm32_gpiowrite(GPIO_SPI4_CS_PC15, 1);
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stm32_gpiowrite(GPIO_SPI4_CS_PC13, 1);
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}
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break;
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case PX4_SPIDEV_EXT_BARO:
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/* Making sure the other peripherals are not selected */
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stm32_gpiowrite(GPIO_SPI4_NSS_PE4, 1);
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if (HW_VER_FMUV2MINI != board_get_hw_version()) {
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stm32_gpiowrite(GPIO_SPI4_GPIO_PC14, !selected);
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}
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if (HW_VER_FMUV3 == board_get_hw_version()) {
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stm32_gpiowrite(GPIO_SPI4_CS_PC15, 1);
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stm32_gpiowrite(GPIO_SPI4_CS_PC13, 1);
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}
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break;
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case PX4_SPIDEV_ICM_20608:
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case PX4_SPIDEV_EXT_ACCEL_MAG:
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/* Making sure the other peripherals are not selected */
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stm32_gpiowrite(GPIO_SPI4_NSS_PE4, 1);
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if (HW_VER_FMUV2MINI != board_get_hw_version()) {
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stm32_gpiowrite(GPIO_SPI4_GPIO_PC14, 1);
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}
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if (HW_VER_FMUV3 == board_get_hw_version()) {
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stm32_gpiowrite(GPIO_SPI4_CS_PC15, !selected);
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stm32_gpiowrite(GPIO_SPI4_CS_PC13, 1);
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}
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break;
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case PX4_SPIDEV_EXT_BMI:
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case PX4_SPIDEV_EXT_GYRO:
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/* Making sure the other peripherals are not selected */
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stm32_gpiowrite(GPIO_SPI4_NSS_PE4, 1);
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if (HW_VER_FMUV2MINI != board_get_hw_version()) {
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stm32_gpiowrite(GPIO_SPI4_GPIO_PC14, 1);
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}
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if (HW_VER_FMUV3 == board_get_hw_version()) {
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stm32_gpiowrite(GPIO_SPI4_CS_PC15, 1);
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stm32_gpiowrite(GPIO_SPI4_CS_PC13, !selected);
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}
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break;
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default:
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break;
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}
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}
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__EXPORT uint8_t stm32_spi4status(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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#endif // CONFIG_STM32_SPI4
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/* V2, V2M SPI1 All signals SPI4, V3 ALL signals */
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/* Verification
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* PA5 PA6 PA7 PB0 PB1 PB4 PC1 PC2 PC13 PC14 PC15 PD7 PD15 PE2 PE4 PE5 PE6
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* local A A A A A A V3 A A !V2 A A A V3 V3 V3 V3
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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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stm32_configgpio(_PIN_OFF(GPIO_SPI1_CS_PC2));
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stm32_configgpio(_PIN_OFF(GPIO_SPI1_CS_PC13));
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stm32_configgpio(_PIN_OFF(GPIO_SPI1_CS_PC15));
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stm32_configgpio(_PIN_OFF(GPIO_SPI1_CS_PD7));
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stm32_gpiowrite(_PIN_OFF(GPIO_SPI1_CS_PC2), 0);
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stm32_gpiowrite(_PIN_OFF(GPIO_SPI1_CS_PC13), 0);
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stm32_gpiowrite(_PIN_OFF(GPIO_SPI1_CS_PC15), 0);
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stm32_gpiowrite(_PIN_OFF(GPIO_SPI1_CS_PD7), 0);
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stm32_configgpio(_PIN_OFF(GPIO_SPI1_SCK));
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stm32_configgpio(_PIN_OFF(GPIO_SPI1_MISO));
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stm32_configgpio(_PIN_OFF(GPIO_SPI1_MOSI));
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stm32_gpiowrite(_PIN_OFF(GPIO_SPI1_SCK), 0);
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stm32_gpiowrite(_PIN_OFF(GPIO_SPI1_MISO), 0);
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stm32_gpiowrite(_PIN_OFF(GPIO_SPI1_MOSI), 0);
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stm32_configgpio(_PIN_OFF(GPIO_SPI1_EXTI_DRDY_PB0));
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stm32_configgpio(_PIN_OFF(GPIO_SPI1_EXTI_DRDY_PB1));
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stm32_configgpio(_PIN_OFF(GPIO_SPI1_EXTI_DRDY_PB4));
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stm32_configgpio(_PIN_OFF(GPIO_SPI1_EXTI_DRDY_PD15));
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stm32_gpiowrite(_PIN_OFF(GPIO_SPI1_EXTI_DRDY_PB0), 0);
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stm32_gpiowrite(_PIN_OFF(GPIO_SPI1_EXTI_DRDY_PB1), 0);
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stm32_gpiowrite(_PIN_OFF(GPIO_SPI1_EXTI_DRDY_PB4), 0);
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stm32_gpiowrite(_PIN_OFF(GPIO_SPI1_EXTI_DRDY_PD15), 0);
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if (HW_VER_FMUV2 != board_get_hw_version()) {
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stm32_configgpio(_PIN_OFF(GPIO_SPI4_CS_PC14));
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stm32_gpiowrite(_PIN_OFF(GPIO_SPI4_CS_PC14), 0);
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}
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if (HW_VER_FMUV3 == board_get_hw_version()) {
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stm32_configgpio(_PIN_OFF(GPIO_SPI1_CS_PC1));
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stm32_gpiowrite(_PIN_OFF(GPIO_SPI1_CS_PC1), 0);
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stm32_configgpio(_PIN_OFF(GPIO_SPI4_NSS_PE4));
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stm32_gpiowrite(_PIN_OFF(GPIO_SPI4_NSS_PE4), 0);
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stm32_configgpio(_PIN_OFF(GPIO_SPI4_SCK));
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stm32_configgpio(_PIN_OFF(GPIO_SPI4_MISO));
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stm32_configgpio(_PIN_OFF(GPIO_SPI4_MOSI));
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stm32_gpiowrite(_PIN_OFF(GPIO_SPI4_SCK), 0);
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stm32_gpiowrite(_PIN_OFF(GPIO_SPI4_MISO), 0);
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stm32_gpiowrite(_PIN_OFF(GPIO_SPI4_MOSI), 0);
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}
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/* set the sensor rail off */
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stm32_configgpio(GPIO_VDD_3V3_SENSORS_EN);
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stm32_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, 0);
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/* wait for the sensor rail to reach GND */
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usleep(ms * 1000);
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warnx("reset done, %d ms", ms);
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/* re-enable power */
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/* switch the sensor rail back on */
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stm32_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, 1);
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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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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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if (HW_VER_FMUV3 == board_get_hw_version()) {
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stm32_configgpio(GPIO_SPI4_SCK);
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stm32_configgpio(GPIO_SPI4_MISO);
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stm32_configgpio(GPIO_SPI4_MOSI);
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stm32_spi4_initialize();
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}
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stm32_spi1_initialize();
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}
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__EXPORT bool px4_spi_bus_external(int bus)
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{
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if (HW_VER_FMUV3 == board_get_hw_version()) {
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/* all FMUv3 2.1 spi buses are internal */
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return false;
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} else {
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if (bus == PX4_SPI_BUS_EXT) {
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return true;
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}
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}
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return false;
|
|
}
|