zrzk
/
px4_autopilot
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

Bring up BMI160 for px4fmu-v4 targets

sbg
Michael Schaeuble 8 years ago committed by Lorenz Meier
parent
126172d70c
commit
10867131fa
3 changed files with 26 additions and 0 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 5
      ROMFS/px4fmu_common/init.d/rc.sensors
  2. 2
      src/drivers/boards/px4fmu-v4/board_config.h
  3. 19
      src/drivers/boards/px4fmu-v4/px4fmu_spi.c

5
ROMFS/px4fmu_common/init.d/rc.sensors
Unescape View File

@ -187,6 +187,11 @@ then @@ -187,6 +187,11 @@ then
if mpu9250 -R 2 start
then
fi
# Internal SPI bus BMI160
if bmi160 start
then
fi
fi
if ver hwcmp PX4FMU_V1

2
src/drivers/boards/px4fmu-v4/board_config.h
Unescape View File

@ -84,6 +84,7 @@ @@ -84,6 +84,7 @@
#define GPIO_SPI_CS_LIS3MDL (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN15)
#define GPIO_SPI_CS_MS5611 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN7)
#define GPIO_SPI_CS_ICM_20608_G (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN15)
#define GPIO_SPI_CS_BMI160 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN2)
#define GPIO_SPI_CS_FRAM (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN10)
@ -106,6 +107,7 @@ @@ -106,6 +107,7 @@
#define GPIO_SPI_CS_OFF_LIS3MDL _PIN_OFF(GPIO_SPI_CS_LIS3MDL)
#define GPIO_SPI_CS_OFF_MS5611 _PIN_OFF(GPIO_SPI_CS_MS5611)
#define GPIO_SPI_CS_OFF_ICM_20608_G _PIN_OFF(GPIO_SPI_CS_ICM_20608_G)
#define GPIO_SPI_CS_OFF_BMI160 _PIN_OFF(GPIO_SPI_CS_BMI160)
#define GPIO_DRDY_OFF_MPU9250 _PIN_OFF(GPIO_DRDY_MPU9250)
#define GPIO_DRDY_OFF_HMC5983 _PIN_OFF(GPIO_DRDY_HMC5983)

19
src/drivers/boards/px4fmu-v4/px4fmu_spi.c
Unescape View File

@ -76,6 +76,7 @@ __EXPORT void stm32_spiinitialize(void) @@ -76,6 +76,7 @@ __EXPORT void stm32_spiinitialize(void)
px4_arch_configgpio(GPIO_SPI_CS_HMC5983);
px4_arch_configgpio(GPIO_SPI_CS_MS5611);
px4_arch_configgpio(GPIO_SPI_CS_ICM_20608_G);
px4_arch_configgpio(GPIO_SPI_CS_BMI160);
/* De-activate all peripherals,
* required for some peripheral
@ -85,6 +86,7 @@ __EXPORT void stm32_spiinitialize(void) @@ -85,6 +86,7 @@ __EXPORT void stm32_spiinitialize(void)
px4_arch_gpiowrite(GPIO_SPI_CS_HMC5983, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_MS5611, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_ICM_20608_G, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_BMI160, 1);
px4_arch_configgpio(GPIO_DRDY_MPU9250);
px4_arch_configgpio(GPIO_DRDY_HMC5983);
@ -105,6 +107,7 @@ __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, @@ -105,6 +107,7 @@ __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid,
switch (devid) {
case PX4_SPIDEV_ICM:
/* Making sure the other peripherals are not selected */
px4_arch_gpiowrite(GPIO_SPI_CS_BMI160, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_MPU9250, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_HMC5983, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_MS5611, 1);
@ -117,6 +120,7 @@ __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, @@ -117,6 +120,7 @@ __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid,
case PX4_SPIDEV_BARO:
/* Making sure the other peripherals are not selected */
px4_arch_gpiowrite(GPIO_SPI_CS_BMI160, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_MPU9250, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_HMC5983, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_MS5611, !selected);
@ -125,6 +129,7 @@ __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, @@ -125,6 +129,7 @@ __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid,
case PX4_SPIDEV_HMC:
/* Making sure the other peripherals are not selected */
px4_arch_gpiowrite(GPIO_SPI_CS_BMI160, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_MPU9250, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_HMC5983, !selected);
px4_arch_gpiowrite(GPIO_SPI_CS_MS5611, 1);
@ -133,12 +138,22 @@ __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, @@ -133,12 +138,22 @@ __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid,
case PX4_SPIDEV_MPU:
/* Making sure the other peripherals are not selected */
px4_arch_gpiowrite(GPIO_SPI_CS_BMI160, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_MPU9250, !selected);
px4_arch_gpiowrite(GPIO_SPI_CS_HMC5983, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_MS5611, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_ICM_20608_G, 1);
break;
case PX4_SPIDEV_BMI:
/* Making sure the other peripherals are not selected */
px4_arch_gpiowrite(GPIO_SPI_CS_MPU9250, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_HMC5983, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_MS5611, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_ICM_20608_G, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_BMI160, !selected);
break;
default:
break;
}
@ -187,11 +202,13 @@ __EXPORT void board_spi_reset(int ms) @@ -187,11 +202,13 @@ __EXPORT void board_spi_reset(int ms)
px4_arch_configgpio(GPIO_SPI_CS_OFF_HMC5983);
px4_arch_configgpio(GPIO_SPI_CS_OFF_MS5611);
px4_arch_configgpio(GPIO_SPI_CS_OFF_ICM_20608_G);
px4_arch_configgpio(GPIO_SPI_CS_OFF_BMI160);
px4_arch_gpiowrite(GPIO_SPI_CS_OFF_MPU9250, 0);
px4_arch_gpiowrite(GPIO_SPI_CS_OFF_HMC5983, 0);
px4_arch_gpiowrite(GPIO_SPI_CS_OFF_MS5611, 0);
px4_arch_gpiowrite(GPIO_SPI_CS_OFF_ICM_20608_G, 0);
px4_arch_gpiowrite(GPIO_SPI_CS_OFF_BMI160, 0);
px4_arch_configgpio(GPIO_SPI1_SCK_OFF);
px4_arch_configgpio(GPIO_SPI1_MISO_OFF);
@ -231,6 +248,7 @@ __EXPORT void board_spi_reset(int ms) @@ -231,6 +248,7 @@ __EXPORT void board_spi_reset(int ms)
px4_arch_configgpio(GPIO_SPI_CS_HMC5983);
px4_arch_configgpio(GPIO_SPI_CS_MS5611);
px4_arch_configgpio(GPIO_SPI_CS_ICM_20608_G);
px4_arch_configgpio(GPIO_SPI_CS_BMI160);
/* De-activate all peripherals,
* required for some peripheral
@ -240,6 +258,7 @@ __EXPORT void board_spi_reset(int ms) @@ -240,6 +258,7 @@ __EXPORT void board_spi_reset(int ms)
px4_arch_gpiowrite(GPIO_SPI_CS_HMC5983, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_MS5611, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_ICM_20608_G, 1);
px4_arch_gpiowrite(GPIO_SPI_CS_BMI160, 1);
px4_arch_configgpio(GPIO_SPI1_SCK);
px4_arch_configgpio(GPIO_SPI1_MISO);

Write Preview
Loading…
Cancel
Save