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430 lines
13 KiB
C
430 lines
13 KiB
C
/****************************************************************************
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*
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* Copyright (C) 2018 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 <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 <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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#include <systemlib/err.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_SENSOR1_BUS_CS_GPIO;
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static const uint32_t spi2selects_gpio[] = PX4_SENSOR2_BUS_CS_GPIO;
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static const uint32_t spi4selects_gpio[] = PX4_SENSOR4_BUS_CS_GPIO;
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static const uint32_t spi5selects_gpio[] = PX4_SENSOR5_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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board_gpio_init(spi1selects_gpio, arraySize(spi1selects_gpio));
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board_gpio_init(spi2selects_gpio, arraySize(spi2selects_gpio));
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board_gpio_init(spi4selects_gpio, arraySize(spi4selects_gpio));
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board_gpio_init(spi5selects_gpio, arraySize(spi5selects_gpio));
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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_sensor1;
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static struct spi_dev_s *spi_sensor2;
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static struct spi_dev_s *spi_sensor4;
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static struct spi_dev_s *spi_sensor5;
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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 SPI port for the Sensors */
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spi_sensor1 = stm32_spibus_initialize(PX4_SPI_BUS_SENSOR1);
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if (!spi_sensor1) {
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PX4_ERR("[boot] FAILED to initialize SPI port %d\n", PX4_SPI_BUS_SENSOR1);
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return -ENODEV;
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}
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/* Default PX4_SPI_BUS_SENSORS to 1MHz and de-assert the known chip selects. */
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SPI_SETFREQUENCY(spi_sensor1, 1000000);
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SPI_SETBITS(spi_sensor1, 16);
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SPI_SETMODE(spi_sensor1, SPIDEV_MODE3);
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for (int cs = PX4_SENSOR1_BUS_FIRST_CS; cs <= PX4_SENSOR1_BUS_LAST_CS; cs++) {
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SPI_SELECT(spi_sensor1, cs, false);
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}
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/* Get the SPI port for the Memory */
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spi_sensor2 = stm32_spibus_initialize(PX4_SPI_BUS_SENSOR2);
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if (!spi_sensor2) {
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PX4_ERR("[boot] FAILED to initialize SPI port %d\n", PX4_SPI_BUS_SENSOR2);
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return -ENODEV;
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}
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/* Default PX4_SPI_BUS_SENSOR2 to 1MHz and de-assert the known chip selects. */
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SPI_SETFREQUENCY(spi_sensor2, 1000000);
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SPI_SETBITS(spi_sensor2, 8);
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SPI_SETMODE(spi_sensor2, SPIDEV_MODE3);
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for (int cs = PX4_SENSOR2_BUS_FIRST_CS; cs <= PX4_SENSOR2_BUS_LAST_CS; cs++) {
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SPI_SELECT(spi_sensor2, cs, false);
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}
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/* Get the SPI port for the BARO */
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spi_sensor4 = stm32_spibus_initialize(PX4_SPI_BUS_SENSOR4);
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if (!spi_sensor4) {
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PX4_ERR("[boot] FAILED to initialize SPI port %d\n", PX4_SPI_BUS_SENSOR4);
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return -ENODEV;
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}
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SPI_SETFREQUENCY(spi_sensor4, 1 * 1000 * 1000);
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SPI_SETBITS(spi_sensor4, 8);
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SPI_SETMODE(spi_sensor4, SPIDEV_MODE3);
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for (int cs = PX4_SENSOR4_BUS_FIRST_CS; cs <= PX4_SENSOR4_BUS_LAST_CS; cs++) {
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SPI_SELECT(spi_sensor4, cs, false);
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}
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/* Get the SPI port for the PX4_SPI_EXTERNAL1 */
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spi_sensor5 = stm32_spibus_initialize(PX4_SPI_BUS_SENSOR5);
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if (!spi_sensor5) {
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PX4_ERR("[boot] FAILED to initialize SPI port %d\n", PX4_SPI_BUS_SENSOR5);
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return -ENODEV;
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}
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SPI_SETFREQUENCY(spi_sensor5, 1 * 1000 * 1000);
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SPI_SETBITS(spi_sensor5, 8);
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SPI_SETMODE(spi_sensor5, SPIDEV_MODE3);
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for (int cs = PX4_SENSOR5_BUS_FIRST_CS; cs <= PX4_SENSOR5_BUS_LAST_CS; cs++) {
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SPI_SELECT(spi_sensor5, cs, false);
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}
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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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ASSERT(PX4_SPI_BUS_ID(sel) == PX4_SPI_BUS_SENSOR1);
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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: stm32_spi2select and stm32_spi2status
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*
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* Description:
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* Called by stm32 spi driver on bus 2.
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*
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************************************************************************************/
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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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/* SPI select is active low, so write !selected to select the device */
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int sel = (int) devid;
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ASSERT(PX4_SPI_BUS_ID(sel) == PX4_SPI_BUS_SENSOR2);
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/* Making sure the other peripherals are not selected */
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for (int cs = 0; arraySize(spi2selects_gpio) > 1 && cs < arraySize(spi2selects_gpio); cs++) {
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if (spi2selects_gpio[cs] != 0) {
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stm32_gpiowrite(spi2selects_gpio[cs], 1);
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}
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}
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uint32_t gpio = spi2selects_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_spi2status(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: stm32_spi4select and stm32_spi4status
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*
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* Description:
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* Called by stm32 spi driver on bus 4.
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*
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************************************************************************************/
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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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int sel = (int) devid;
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ASSERT(PX4_SPI_BUS_ID(sel) == PX4_SPI_BUS_SENSOR4);
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/* Making sure the other peripherals are not selected */
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for (size_t cs = 0; arraySize(spi4selects_gpio) > 1 && cs < arraySize(spi4selects_gpio); cs++) {
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stm32_gpiowrite(spi4selects_gpio[cs], 1);
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}
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uint32_t gpio = spi4selects_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_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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/************************************************************************************
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* Name: stm32_spi5select and stm32_spi5status
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*
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* Description:
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* Called by stm32 spi driver on bus 5.
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*
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************************************************************************************/
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__EXPORT void stm32_spi5select(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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ASSERT(PX4_SPI_BUS_ID(sel) == PX4_SPI_BUS_SENSOR5);
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/* Making sure the other peripherals are not selected */
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for (size_t cs = 0; arraySize(spi5selects_gpio) > 1 && cs < arraySize(spi5selects_gpio); cs++) {
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stm32_gpiowrite(spi5selects_gpio[cs], 1);
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}
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uint32_t gpio = spi5selects_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_spi5status(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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// SPI1
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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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// SPI2
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for (size_t cs = 0; arraySize(spi2selects_gpio) > 1 && cs < arraySize(spi2selects_gpio); cs++) {
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if (spi2selects_gpio[cs] != 0) {
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stm32_configgpio(_PIN_OFF(spi2selects_gpio[cs]));
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}
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}
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stm32_configgpio(GPIO_SPI2_SCK_OFF);
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stm32_configgpio(GPIO_SPI2_MISO_OFF);
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stm32_configgpio(GPIO_SPI2_MOSI_OFF);
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// SPI4
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for (size_t cs = 0; arraySize(spi4selects_gpio) > 1 && cs < arraySize(spi4selects_gpio); cs++) {
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if (spi4selects_gpio[cs] != 0) {
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stm32_configgpio(_PIN_OFF(spi4selects_gpio[cs]));
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}
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}
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stm32_configgpio(GPIO_SPI4_SCK_OFF);
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stm32_configgpio(GPIO_SPI4_MISO_OFF);
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stm32_configgpio(GPIO_SPI4_MOSI_OFF);
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// SPI5
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for (size_t cs = 0; arraySize(spi5selects_gpio) > 1 && cs < arraySize(spi5selects_gpio); cs++) {
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if (spi5selects_gpio[cs] != 0) {
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stm32_configgpio(_PIN_OFF(spi5selects_gpio[cs]));
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}
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}
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stm32_configgpio(GPIO_SPI5_SCK_OFF);
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stm32_configgpio(GPIO_SPI5_MISO_OFF);
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stm32_configgpio(GPIO_SPI5_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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PX4_INFO("reset done, %d ms", ms);
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/* re-enable power */
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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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// SPI1
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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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// SPI2
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for (size_t cs = 0; arraySize(spi2selects_gpio) > 1 && cs < arraySize(spi2selects_gpio); cs++) {
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if (spi2selects_gpio[cs] != 0) {
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stm32_configgpio(spi2selects_gpio[cs]);
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}
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}
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stm32_configgpio(GPIO_SPI2_SCK);
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stm32_configgpio(GPIO_SPI2_MISO);
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stm32_configgpio(GPIO_SPI2_MOSI);
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// SPI4
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for (size_t cs = 0; arraySize(spi4selects_gpio) > 1 && cs < arraySize(spi4selects_gpio); cs++) {
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if (spi4selects_gpio[cs] != 0) {
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stm32_configgpio(spi4selects_gpio[cs]);
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}
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}
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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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// SPI5
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for (size_t cs = 0; arraySize(spi5selects_gpio) > 1 && cs < arraySize(spi5selects_gpio); cs++) {
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if (spi5selects_gpio[cs] != 0) {
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stm32_configgpio(spi5selects_gpio[cs]);
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}
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}
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stm32_configgpio(GPIO_SPI5_SCK);
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stm32_configgpio(GPIO_SPI5_MISO);
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stm32_configgpio(GPIO_SPI5_MOSI);
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}
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