Improve SPI bus implementation

Make possible to define chip-select pin for internal SPI.
By defining chip-select pin, it's possible to start specific SPI device only.
This allows to have several same type of sensors on the same bus with different orientation.

Tools/px4moduledoc/srcparser.py

@@ -137,8 +137,8 @@ class ModuleDocumentation(object):
             "\"board-specific bus (default=all) (external SPI: n-th bus (default=1))\"", 'true'])
 
         if self._is_bool_true(args[1]):
-            self._handle_usage_param_int(['\'c\'', '1', '1', '10',
-                "\"chip-select index (for external SPI)\"", 'true'])
+            self._handle_usage_param_int(['\'c\'', '-1', '0', '31',
+                "\"chip-select pin (for internal SPI) or index (for external SPI)\"", 'true'])
             self._handle_usage_param_int(['\'m\'', '-1', '0', '3', "\"SPI mode\"", 'true'])
 
         self._handle_usage_param_int(['\'f\'', '-1', '0', '1000000', "\"bus frequency in kHz\"", 'true'])

platforms/common/i2c_spi_buses.cpp

@@ -187,7 +187,7 @@ int BusCLIArguments::getOpt(int argc, char *argv[], const char *options)
 			break;
 
 		case 'c':
-			chipselect_index = atoi(_optarg);
+			chipselect = atoi(_optarg);
 			break;
 #endif // CONFIG_SPI
 
@@ -286,7 +286,7 @@ BusInstanceIterator::BusInstanceIterator(const char *module_name,
 #endif // CONFIG_I2C
 #if defined(CONFIG_SPI)
 	  _spi_bus_iterator(spiFilter(cli_arguments.bus_option),
-			    cli_arguments.bus_option == I2CSPIBusOption::SPIExternal ? cli_arguments.chipselect_index : devid_driver_index,
+			    devid_driver_index, cli_arguments.chipselect,
 			    cli_arguments.requested_bus),
 #endif // CONFIG_SPI
 #if defined(CONFIG_I2C)

platforms/common/include/px4_platform_common/i2c_spi_buses.h

@@ -176,7 +176,7 @@ public:
 	int requested_bus{-1};
 	int bus_frequency{0};
 #if defined(CONFIG_SPI)
-	int chipselect_index {1};
+	int chipselect {-1};
 	spi_mode_e spi_mode{SPIDEV_MODE3};
 #endif // CONFIG_SPI
 #if defined(CONFIG_I2C)

platforms/common/include/px4_platform_common/spi.h

@@ -141,12 +141,14 @@ public:
 	 * Constructor
 	 * Note: only for devices of type PX4_SPI_DEVICE_ID
 	 * @param filter
-	 * @param devid_driver_index DRV_* or chip-select index starting from 1
+	 * @param devid_driver_index DRV_*
+	 * @param chipselect pin of SPIInternal (-1=all) or chip-select index of SPIExternal starting from 1 (optional)
 	 * @param bus starts with 1 (-1=all, but only for internal). Numbering for internal is arch-specific, for external
 	 *            it is the n-th external bus.
 	 */
-	SPIBusIterator(FilterType filter, uint16_t devid_driver_index, int bus = -1)
+	SPIBusIterator(FilterType filter, uint16_t devid_driver_index, int16_t chipselect = -1, int bus = -1)
 		: _filter(filter), _devid_driver_index(devid_driver_index),
+		  _chipselect(chipselect),
 		  _bus(filter == FilterType::ExternalBus && bus == -1 ? 1 : bus) {}
 
 	bool next();
@@ -165,6 +167,7 @@ public:
 private:
 	const FilterType _filter;
 	const uint16_t _devid_driver_index;
+	const int16_t _chipselect;
 	const int _bus;
 	int _index{0};
 	int _external_bus_counter{1};

platforms/common/module.cpp

@@ -120,7 +120,7 @@ void PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(bool i2c_support, bool spi_support
 				     true);
 
 	if (spi_support) {
-		PRINT_MODULE_USAGE_PARAM_INT('c', 1, 1, 10, "chip-select index (for external SPI)", true);
+		PRINT_MODULE_USAGE_PARAM_INT('c', -1, 0, 31, "chip-select pin (for internal SPI) or index (for external SPI)", true);
 		PRINT_MODULE_USAGE_PARAM_INT('m', -1, 0, 3, "SPI mode", true);
 	}
 

platforms/common/spi.cpp

@@ -37,6 +37,10 @@
 
 #include <px4_platform_common/spi.h>
 
+#ifndef GPIO_PIN_MASK
+#define GPIO_PIN_MASK 0
+#endif
+
 #if BOARD_NUM_SPI_CFG_HW_VERSIONS > 1
 void px4_set_spi_buses_from_hw_version()
 {
@@ -124,10 +128,12 @@ bool SPIBusIterator::next()
 			case FilterType::InternalBus:
 				if (!bus_data.is_external) {
 					if (_bus == bus_data.bus || _bus == -1) {
-						// find device id
+						// Note: if chipselect < 0, it's not defined and used in filter
+						// find device
 						for (int i = _bus_device_index + 1; i < SPI_BUS_MAX_DEVICES; ++i) {
 							if (PX4_SPI_DEVICE_ID == PX4_SPIDEVID_TYPE(bus_data.devices[i].devid) &&
-							    _devid_driver_index == bus_data.devices[i].devtype_driver) {
+							    _devid_driver_index == bus_data.devices[i].devtype_driver &&
+							    (_chipselect < 0 || _chipselect == (int16_t)(bus_data.devices[i].cs_gpio & GPIO_PIN_MASK))) {
 								_bus_device_index = i;
 								return true;
 							}
@@ -139,7 +145,8 @@ bool SPIBusIterator::next()
 
 			case FilterType::ExternalBus:
 				if (bus_data.is_external) {
-					uint16_t cs_index = _devid_driver_index - 1;
+					// Note: chip-select index is starting from 1 in CLI, -1 means not defined
+					uint16_t cs_index = _chipselect < 1 ? 0 : _chipselect - 1;
 
 					if (_bus == _external_bus_counter && cs_index < SPI_BUS_MAX_DEVICES &&
 					    bus_data.devices[cs_index].cs_gpio != 0 && cs_index != _bus_device_index) {