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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-11-03 19:21:37 +08:00
291 lines
8.6 KiB
C
291 lines
8.6 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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__EXPORT void stm32_spiinitialize(void)
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{
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#ifdef CONFIG_STM32_SPI1
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stm32_configgpio(GPIO_SPI_CS_MPU9250);
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stm32_configgpio(GPIO_SPI_CS_LIS3MDL);
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stm32_configgpio(GPIO_SPI_CS_MS5611);
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stm32_configgpio(GPIO_SPI_CS_ICM_2060X);
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stm32_configgpio(GPIO_SPI_CS_TEMPCAL_EEPROM);
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stm32_configgpio(GPIO_DRDY_MPU9250);
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stm32_configgpio(GPIO_DRDY_LIS3MDL);
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stm32_configgpio(GPIO_DRDY_ICM_2060X);
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#endif
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#ifdef CONFIG_STM32_SPI2
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stm32_configgpio(GPIO_SPI_CS_FRAM);
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#endif
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#ifdef CONFIG_STM32_SPI5
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stm32_configgpio(GPIO_SPI5_CS);
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#endif
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#ifdef CONFIG_STM32_SPI6
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stm32_configgpio(GPIO_SPI6_CS);
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#endif
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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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switch (devid) {
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case PX4_SPIDEV_ICM:
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/* Intended fallthrough */
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case PX4_SPIDEV_ICM_20602:
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/* Intended fallthrough */
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case PX4_SPIDEV_ICM_20608:
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/* Making sure the other peripherals are not selected */
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stm32_gpiowrite(GPIO_SPI_CS_MPU9250, 1);
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stm32_gpiowrite(GPIO_SPI_CS_LIS3MDL, 1);
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stm32_gpiowrite(GPIO_SPI_CS_MS5611, 1);
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stm32_gpiowrite(GPIO_SPI_CS_ICM_2060X, !selected);
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stm32_gpiowrite(GPIO_SPI_CS_TEMPCAL_EEPROM, 1);
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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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stm32_gpiowrite(GPIO_SPI_CS_MPU9250, 1);
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stm32_gpiowrite(GPIO_SPI_CS_LIS3MDL, 1);
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stm32_gpiowrite(GPIO_SPI_CS_MS5611, !selected);
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stm32_gpiowrite(GPIO_SPI_CS_ICM_2060X, 1);
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stm32_gpiowrite(GPIO_SPI_CS_TEMPCAL_EEPROM, 1);
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break;
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case PX4_SPIDEV_LIS:
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/* Making sure the other peripherals are not selected */
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stm32_gpiowrite(GPIO_SPI_CS_MPU9250, 1);
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stm32_gpiowrite(GPIO_SPI_CS_LIS3MDL, !selected);
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stm32_gpiowrite(GPIO_SPI_CS_MS5611, 1);
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stm32_gpiowrite(GPIO_SPI_CS_ICM_2060X, 1);
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stm32_gpiowrite(GPIO_SPI_CS_TEMPCAL_EEPROM, 1);
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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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stm32_gpiowrite(GPIO_SPI_CS_MPU9250, !selected);
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stm32_gpiowrite(GPIO_SPI_CS_LIS3MDL, 1);
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stm32_gpiowrite(GPIO_SPI_CS_MS5611, 1);
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stm32_gpiowrite(GPIO_SPI_CS_ICM_2060X, 1);
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stm32_gpiowrite(GPIO_SPI_CS_TEMPCAL_EEPROM, 1);
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break;
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case PX4_SPIDEV_EEPROM:
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/* Making sure the other peripherals are not selected */
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stm32_gpiowrite(GPIO_SPI_CS_MPU9250, 1);
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stm32_gpiowrite(GPIO_SPI_CS_LIS3MDL, 1);
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stm32_gpiowrite(GPIO_SPI_CS_MS5611, 1);
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stm32_gpiowrite(GPIO_SPI_CS_ICM_2060X, 1);
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stm32_gpiowrite(GPIO_SPI_CS_TEMPCAL_EEPROM, !selected);
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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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#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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stm32_gpiowrite(GPIO_SPI_CS_FRAM, !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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/************************************************************************************
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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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#ifdef CONFIG_STM32_SPI5
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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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stm32_gpiowrite(GPIO_SPI5_CS, !selected);
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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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#endif
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/************************************************************************************
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* Name: stm32_spi6select and stm32_spi6status
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*
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* Description:
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* Called by stm32 spi driver on bus 6.
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*
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************************************************************************************/
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#ifdef CONFIG_STM32_SPI6
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__EXPORT void stm32_spi6select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
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{
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stm32_gpiowrite(GPIO_SPI6_CS, !selected);
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}
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__EXPORT uint8_t stm32_spi6status(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
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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(GPIO_SPI_CS_OFF_MPU9250);
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stm32_configgpio(GPIO_SPI_CS_OFF_LIS3MDL);
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stm32_configgpio(GPIO_SPI_CS_OFF_MS5611);
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stm32_configgpio(GPIO_SPI_CS_OFF_ICM_2060X);
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stm32_configgpio(GPIO_SPI_CS_TEMPCAL_EEPROM);
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stm32_gpiowrite(GPIO_SPI_CS_OFF_MPU9250, 0);
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stm32_gpiowrite(GPIO_SPI_CS_OFF_LIS3MDL, 0);
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stm32_gpiowrite(GPIO_SPI_CS_OFF_MS5611, 0);
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stm32_gpiowrite(GPIO_SPI_CS_OFF_ICM_2060X, 0);
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stm32_gpiowrite(GPIO_SPI_CS_TEMPCAL_EEPROM, 0);
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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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stm32_gpiowrite(GPIO_SPI1_SCK_OFF, 0);
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stm32_gpiowrite(GPIO_SPI1_MISO_OFF, 0);
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stm32_gpiowrite(GPIO_SPI1_MOSI_OFF, 0);
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stm32_configgpio(GPIO_DRDY_OFF_MPU9250);
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stm32_configgpio(GPIO_DRDY_OFF_LIS3MDL);
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stm32_configgpio(GPIO_DRDY_OFF_ICM_2060X);
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stm32_gpiowrite(GPIO_DRDY_OFF_MPU9250, 0);
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stm32_gpiowrite(GPIO_DRDY_OFF_LIS3MDL, 0);
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stm32_gpiowrite(GPIO_DRDY_OFF_ICM_2060X, 0);
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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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#ifdef CONFIG_STM32_SPI1
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stm32_configgpio(GPIO_SPI_CS_MPU9250);
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stm32_configgpio(GPIO_SPI_CS_LIS3MDL);
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stm32_configgpio(GPIO_SPI_CS_MS5611);
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stm32_configgpio(GPIO_SPI_CS_ICM_2060X);
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stm32_configgpio(GPIO_SPI_CS_TEMPCAL_EEPROM);
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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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/* bring up the EXTI pins again */
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stm32_configgpio(GPIO_DRDY_MPU9250);
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stm32_configgpio(GPIO_DRDY_LIS3MDL);
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stm32_configgpio(GPIO_DRDY_ICM_2060X);
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#endif
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}
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