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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-23 14:13:35 +08:00
494 lines
13 KiB
C++
494 lines
13 KiB
C++
/****************************************************************************
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*
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* Copyright (C) 2019 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 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 <board_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 <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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/* Define CS GPIO array */
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#ifdef CONFIG_STM32F7_SPI1
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static constexpr uint32_t spi1selects_gpio[] = PX4_SENSORS1_BUS_CS_GPIO;
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#endif
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#ifdef CONFIG_STM32F7_SPI2
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static constexpr uint32_t spi2selects_gpio[] = PX4_SENSORS2_BUS_CS_GPIO;
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#endif
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#ifdef CONFIG_STM32F7_SPI3
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static constexpr uint32_t spi3selects_gpio[] = 0; // Not used
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#endif
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#ifdef CONFIG_STM32F7_SPI4
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static constexpr uint32_t spi4selects_gpio[] = 0; // Not used
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#endif
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#ifdef CONFIG_STM32F7_SPI5
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static constexpr uint32_t spi5selects_gpio[] = PX4_MEMORY_BUS_CS_GPIO;
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#endif
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#ifdef CONFIG_STM32F7_SPI6
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static constexpr uint32_t spi6selects_gpio[] = PX4_SENSORS3_BUS_CS_GPIO;
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#endif
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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()
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{
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#ifdef CONFIG_STM32F7_SPI1
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for (auto gpio : spi1selects_gpio) {
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px4_arch_configgpio(gpio);
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}
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#endif // CONFIG_STM32F7_SPI1
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#if defined(CONFIG_STM32F7_SPI2)
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for (auto gpio : spi2selects_gpio) {
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px4_arch_configgpio(gpio);
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}
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#endif // CONFIG_STM32F7_SPI2
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#if defined(CONFIG_STM32F7_SPI3)
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for (auto gpio : spi3selects_gpio) {
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px4_arch_configgpio(gpio);
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}
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#endif // CONFIG_STM32F7_SPI3
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#ifdef CONFIG_STM32F7_SPI4
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for (auto gpio : spi4selects_gpio) {
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px4_arch_configgpio(gpio);
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}
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#endif // CONFIG_STM32F7_SPI4
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#ifdef CONFIG_STM32F7_SPI5
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for (auto gpio : spi5selects_gpio) {
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px4_arch_configgpio(gpio);
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}
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#endif // CONFIG_STM32F7_SPI5
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#ifdef CONFIG_STM32F7_SPI6
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for (auto gpio : spi6selects_gpio) {
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px4_arch_configgpio(gpio);
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}
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#endif // CONFIG_STM32F7_SPI6
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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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#ifdef CONFIG_STM32F7_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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ASSERT(PX4_SPI_BUS_ID(devid) == PX4_SPI_BUS_SENSORS1);
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// Making sure the other peripherals are not selected
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for (auto cs : spi1selects_gpio) {
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stm32_gpiowrite(cs, 1);
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}
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// SPI select is active low, so write !selected to select the device
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stm32_gpiowrite(spi1selects_gpio[PX4_SPI_DEV_ID(devid)], !selected);
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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_STM32F7_SPI1
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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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#if defined(CONFIG_STM32F7_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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ASSERT(PX4_SPI_BUS_ID(devid) == PX4_SPI_BUS_SENSORS2);
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// Making sure the other peripherals are not selected
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for (auto cs : spi2selects_gpio) {
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stm32_gpiowrite(cs, 1);
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}
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// SPI select is active low, so write !selected to select the device
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stm32_gpiowrite(spi2selects_gpio[PX4_SPI_DEV_ID(devid)], !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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return SPI_STATUS_PRESENT;
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}
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#endif // CONFIG_STM32F7_SPI2
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/************************************************************************************
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* Name: stm32_spi3select and stm32_spi3status
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*
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* Description:
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* Called by stm32 spi driver on bus 3.
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*
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************************************************************************************/
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#if defined(CONFIG_STM32F7_SPI3)
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__EXPORT void stm32_spi3select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
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{
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ASSERT(PX4_SPI_BUS_ID(devid) == PX4_SPI_BUS_SENSORS3);
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// Making sure the other peripherals are not selected
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for (auto cs : spi3selects_gpio) {
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stm32_gpiowrite(cs, 1);
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}
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// SPI select is active low, so write !selected to select the device
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stm32_gpiowrite(spi3selects_gpio[PX4_SPI_DEV_ID(devid)], !selected);
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}
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__EXPORT uint8_t stm32_spi3status(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_STM32F7_SPI3
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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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#ifdef CONFIG_STM32F7_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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ASSERT(PX4_SPI_BUS_ID(devid) == PX4_SPI_BUS_SENSORS3);
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// Making sure the other peripherals are not selected
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for (auto cs : spi4selects_gpio) {
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stm32_gpiowrite(cs, 1);
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}
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// SPI select is active low, so write !selected to select the device
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stm32_gpiowrite(spi4selects_gpio[PX4_SPI_DEV_ID(devid)], !selected);
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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_STM32F7_SPI4
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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_STM32F7_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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if (devid == SPIDEV_FLASH(0)) {
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devid = PX4_SPIDEV_MEMORY;
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}
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ASSERT(PX4_SPI_BUS_ID(devid) == PX4_SPI_BUS_MEMORY);
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// Making sure the other peripherals are not selected
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for (auto cs : spi5selects_gpio) {
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stm32_gpiowrite(cs, 1);
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}
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// SPI select is active low, so write !selected to select the device
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stm32_gpiowrite(spi5selects_gpio[PX4_SPI_DEV_ID(devid)], !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 // CONFIG_STM32F7_SPI5
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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_STM32F7_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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ASSERT(PX4_SPI_BUS_ID(devid) == PX4_SPI_BUS_SENSORS3);
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// Making sure the other peripherals are not selected
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for (auto cs : spi6selects_gpio) {
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stm32_gpiowrite(cs, 1);
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}
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// SPI select is active low, so write !selected to select the device
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stm32_gpiowrite(spi6selects_gpio[PX4_SPI_DEV_ID(devid)], !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 // CONFIG_STM32F7_SPI6
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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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* TODO:Add 4 bit MASK active LOW for Bus 1-4
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*
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************************************************************************************/
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__EXPORT void board_spi_reset(int mask_ms)
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{
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int ms = mask_ms & 0x00ffffff;
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int mask = ((mask_ms & 0xff000000) >> 24) ^ 0xff;
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// disable SPI bus
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#ifdef CONFIG_STM32F7_SPI1
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if (mask & 1) {
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for (auto cs : spi1selects_gpio) {
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stm32_configgpio(_PIN_OFF(cs));
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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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#if BOARD_USE_DRDY
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stm32_configgpio(GPIO_DRDY_OFF_SPI1_DRDY1_ICM20602);
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#endif
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/* set the sensor rail off */
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// NA, not controlling rails in ModalAI FC-v1
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}
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#endif
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#ifdef CONFIG_STM32F7_SPI2
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if (mask & 2) {
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for (auto cs : spi2selects_gpio) {
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stm32_configgpio(_PIN_OFF(cs));
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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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#if BOARD_USE_DRDY
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stm32_configgpio(GPIO_DRDY_OFF_SPI2_DRDY1_ISM330);
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#endif
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/* set the sensor rail off */
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// NA, not controlling rails in ModalAI FC-v1
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}
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#endif
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#ifdef CONFIG_STM32F7_SPI3
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if (mask & 4) {
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for (auto cs : spi3selects_gpio) {
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stm32_configgpio(_PIN_OFF(cs));
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}
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stm32_configgpio(GPIO_SPI3_SCK_OFF);
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stm32_configgpio(GPIO_SPI3_MISO_OFF);
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stm32_configgpio(GPIO_SPI3_MOSI_OFF);
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#if BOARD_USE_DRDY
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stm32_configgpio(GPIO_DRDY_OFF_SPI3_DRDY1_BMI088);
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stm32_configgpio(GPIO_DRDY_OFF_SPI3_DRDY2_BMI088);
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#endif
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/* set the sensor rail off */
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// NA, not controlling rails in ModalAI FC-v1
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}
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#endif
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#ifdef CONFIG_STM32F7_SPI4
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if (mask & 8) {
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for (auto cs : spi4selects_gpio) {
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stm32_configgpio(_PIN_OFF(cs));
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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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#if BOARD_USE_DRDY
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stm32_configgpio(GPIO_DRDY_OFF_SPI4_DRDY1_BMM150);
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#endif
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/* set the sensor rail off */
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// NA, not controlling rails in ModalAI FC-v1
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}
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#endif
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/* wait for the sensor rail to reach GND */
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usleep(ms * 1000);
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syslog(LOG_DEBUG, "reset done, %d ms\n", ms);
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/* re-enable power */
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// NA, not controlling rails in ModalAI FC-v1
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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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#ifdef CONFIG_STM32F7_SPI1
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if (mask & 1) {
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/* reconfigure the SPI pins */
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for (auto cs : spi1selects_gpio) {
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stm32_configgpio(cs);
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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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#if BOARD_USE_DRDY
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stm32_configgpio(GPIO_SPI1_DRDY1_ICM20602);
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#endif
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}
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#endif
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#ifdef CONFIG_STM32F7_SPI2
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if (mask & 2) {
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/* reconfigure the SPI pins */
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for (auto cs : spi2selects_gpio) {
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stm32_configgpio(cs);
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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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#if BOARD_USE_DRDY
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stm32_configgpio(GPIO_SPI2_DRDY1_ISM330);
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#endif
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}
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#endif
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#ifdef CONFIG_STM32F7_SPI3
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if (mask & 4) {
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/* reconfigure the SPI pins */
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for (auto cs : spi3selects_gpio) {
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stm32_configgpio(cs);
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}
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stm32_configgpio(GPIO_SPI3_SCK);
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stm32_configgpio(GPIO_SPI3_MISO);
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stm32_configgpio(GPIO_SPI3_MOSI);
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#if BOARD_USE_DRDY
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stm32_configgpio(GPIO_SPI3_DRDY1_BMI088);
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stm32_configgpio(GPIO_SPI3_DRDY2_BMI088);
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#endif
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}
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#endif
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#ifdef CONFIG_STM32F7_SPI4
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if (mask & 8) {
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/* reconfigure the SPI pins */
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for (auto cs : spi4selects_gpio) {
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stm32_configgpio(cs);
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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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#if BOARD_USE_DRDY
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stm32_configgpio(GPIO_SPI4_DRDY1_BMM150);
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#endif
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}
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#endif
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}
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