px4fmu-v2 and px4fmu-v3 boards cleanup

Makefile

@@ -184,7 +184,6 @@ excelsior_legacy_default: posix_excelsior_legacy qurt_excelsior_legacy
 
 .PHONY: qgc_firmware px4fmu_firmware misc_qgc_extra_firmware alt_firmware
 .PHONY: sizes check quick_check
-.PHONY: check_posix_sitl_default check_px4fmu-v3_default
 
 # QGroundControl flashable NuttX firmware
 qgc_firmware: px4fmu_firmware misc_qgc_extra_firmware sizes

src/drivers/boards/px4fmu-v2/CMakeLists.txt

@@ -34,11 +34,11 @@ px4_add_module(
 	MODULE drivers__boards__px4fmu-v2
 	SRCS
 		px4fmu_can.c
-		px4fmu2_init.c
-		px4fmu_timer_config.c
+		px4fmu_init.c
+		px4fmu_led.c
 		px4fmu_spi.c
+		px4fmu_timer_config.c
 		px4fmu_usb.c
-		px4fmu2_led.c
 	DEPENDS
 		platforms__common
 	)

src/drivers/boards/px4fmu-v2/px4fmu_usb.c

@@ -105,4 +105,3 @@ __EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume)
 {
 	uinfo("resume: %d\n", resume);
 }
-

src/drivers/boards/px4fmu-v3/CMakeLists.txt

@@ -33,9 +33,9 @@
 px4_add_module(
 	MODULE drivers__boards__px4fmu-v3
 	SRCS
-		px4fmu3_led.c
-		px4fmu3_init.c
 		px4fmu_can.c
+		px4fmu_init.c
+		px4fmu_led.c
 		px4fmu_spi.c
 		px4fmu_timer_config.c
 		px4fmu_usb.c

src/drivers/boards/px4fmu-v3/px4fmu_init.c

@@ -119,17 +119,10 @@ __END_DECLS
 /****************************************************************************
  * Private Data
  ****************************************************************************/
-#if defined(BOARD_HAS_SIMPLE_HW_VERSIONING)
 static int hw_version = 0;
 static int hw_revision = 0;
 static char hw_type[4] = HW_VER_TYPE_INIT;
-#endif
-/****************************************************************************
- * Protected Functions
- ****************************************************************************/
-/****************************************************************************
- * Public Functions
- ****************************************************************************/
+
 /************************************************************************************
  * Name: board_peripheral_reset
  *
@@ -226,7 +219,6 @@ __EXPORT void board_on_reset(int status)
  *
  ************************************************************************************/
 
-#if defined(BOARD_HAS_SIMPLE_HW_VERSIONING)
 static int determin_hw_version(int *version, int *revision)
 {
 	*revision = 0; /* default revision */
@@ -309,7 +301,6 @@ __EXPORT int board_get_hw_revision()
 {
 	return  hw_revision;
 }
-#endif // BOARD_HAS_SIMPLE_HW_VERSIONING
 
 /************************************************************************************
  * Name: stm32_boardinitialize
@@ -404,7 +395,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 #  error platform is dependent on c++ both CONFIG_HAVE_CXX and CONFIG_HAVE_CXXINITIALIZE must be defined.
 #endif
 
-#if defined(BOARD_HAS_SIMPLE_HW_VERSIONING)
 
 	if (OK == determin_hw_version(&hw_version, & hw_revision)) {
 		switch (hw_version) {
@@ -425,7 +415,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 		PX4_INFO("Ver 0x%1X : Rev %x %s", hw_version, hw_revision, hw_type);
 	}
 
-#endif // BOARD_HAS_SIMPLE_HW_VERSIONING
 
 	/* Bring up the Sensor power */
 

src/drivers/boards/px4fmu-v3/px4fmu_spi.c

@@ -82,14 +82,6 @@ static void stm32_spi1_initialize(void)
 
 	stm32_configgpio(GPIO_SPI1_EXTI_DRDY_PD15);
 
-#  if !defined(BOARD_HAS_VERSIONING)
-	stm32_configgpio(GPIO_SPI1_EXTI_DRDY_PB0);
-	stm32_configgpio(GPIO_SPI1_EXTI_DRDY_PB1);
-	stm32_configgpio(GPIO_SPI1_EXTI_DRDY_PB4);
-	stm32_configgpio(GPIO_SPI1_CS_PC13);
-	stm32_configgpio(GPIO_SPI1_CS_PC15);
-#  else
-
 	if (HW_VER_FMUV2 == board_get_hw_version()) {
 		stm32_configgpio(GPIO_SPI1_EXTI_DRDY_PB0);
 		stm32_configgpio(GPIO_SPI1_EXTI_DRDY_PB1);
@@ -104,8 +96,6 @@ static void stm32_spi1_initialize(void)
 	} else if (HW_VER_FMUV3 == board_get_hw_version()) {
 		stm32_configgpio(GPIO_SPI1_CS_PC1);
 	}
-
-#  endif
 }
 #endif // CONFIG_STM32_SPI1
 
@@ -119,10 +109,6 @@ static void stm32_spi4_initialize(void)
 {
 	stm32_configgpio(GPIO_SPI4_NSS_PE4);
 
-#  if !defined(BOARD_HAS_VERSIONING)
-	stm32_configgpio(GPIO_SPI4_GPIO_PC14);
-#  else
-
 	if (HW_VER_FMUV3 == board_get_hw_version()) {
 		stm32_configgpio(GPIO_SPI4_EXTI_DRDY_PB0);
 		stm32_configgpio(GPIO_SPI4_CS_PB1);
@@ -133,8 +119,6 @@ static void stm32_spi4_initialize(void)
 	if (HW_VER_FMUV2MINI != board_get_hw_version()) {
 		stm32_configgpio(GPIO_SPI4_GPIO_PC14);
 	}
-
-#  endif
 }
 #endif //CONFIG_STM32_SPI4
 
@@ -157,52 +141,6 @@ __EXPORT void stm32_spiinitialize(void)
 __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
 {
 	/* SPI select is active low, so write !selected to select the device */
-
-#  if !defined(BOARD_HAS_VERSIONING)
-	switch (devid) {
-	case PX4_SPIDEV_GYRO:
-		/* Making sure the other peripherals are not selected */
-		stm32_gpiowrite(GPIO_SPI1_CS_PC13, !selected);
-		stm32_gpiowrite(GPIO_SPI1_CS_PC15, 1);
-		stm32_gpiowrite(GPIO_SPI1_CS_PD7, 1);
-		stm32_gpiowrite(GPIO_SPI1_CS_PC2, 1);
-		break;
-
-#    if defined(PX4_SPIDEV_ICM_20608)
-
-	case PX4_SPIDEV_ICM_20608:
-#    endif
-	case PX4_SPIDEV_ACCEL_MAG:
-		/* Making sure the other peripherals are not selected */
-		stm32_gpiowrite(GPIO_SPI1_CS_PC13, 1);
-		stm32_gpiowrite(GPIO_SPI1_CS_PC15, !selected);
-		stm32_gpiowrite(GPIO_SPI1_CS_PD7, 1);
-		stm32_gpiowrite(GPIO_SPI1_CS_PC2, 1);
-		break;
-
-	case PX4_SPIDEV_BARO:
-		/* Making sure the other peripherals are not selected */
-		stm32_gpiowrite(GPIO_SPI1_CS_PC13, 1);
-		stm32_gpiowrite(GPIO_SPI1_CS_PC15, 1);
-		stm32_gpiowrite(GPIO_SPI1_CS_PD7, !selected);
-		stm32_gpiowrite(GPIO_SPI1_CS_PC2, 1);
-		break;
-
-	case PX4_SPIDEV_MPU:
-		/* Making sure the other peripherals are not selected */
-		stm32_gpiowrite(GPIO_SPI1_CS_PC13, 1);
-		stm32_gpiowrite(GPIO_SPI1_CS_PC15, 1);
-		stm32_gpiowrite(GPIO_SPI1_CS_PD7, 1);
-		stm32_gpiowrite(GPIO_SPI1_CS_PC2, !selected);
-		break;
-
-	default:
-		break;
-	}
-
-#  else // defined(BOARD_HAS_VERSIONING)
-
-	/* SPI select is active low, so write !selected to select the device */
 	/*   Verification
 	 *        PA5 PA6 PA7 PB0 PB1 PB4 PC1 PC2 PC13 PC14 PC15 PD7 PD15 PE2 PE4 PE5 PE6
 	 * driver  X   X   X                                               X       X   X
@@ -315,8 +253,6 @@ __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, uint32_t devid, bool s
 	default:
 		break;
 	}
-
-#  endif // defined(BOARD_HAS_VERSIONING)
 }
 
 __EXPORT uint8_t stm32_spi1status(FAR struct spi_dev_s *dev, uint32_t devid)
@@ -344,28 +280,6 @@ __EXPORT uint8_t stm32_spi2status(FAR struct spi_dev_s *dev, uint32_t devid)
 __EXPORT void stm32_spi4select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
 {
 	/* SPI select is active low, so write !selected to select the device */
-
-#  if !defined(BOARD_HAS_VERSIONING)
-	switch (devid) {
-	case PX4_SPIDEV_EXT_MPU:
-		/* Making sure the other peripherals are not selected */
-		stm32_gpiowrite(GPIO_SPI4_NSS_PE4, !selected);
-		stm32_gpiowrite(GPIO_SPI4_GPIO_PC14, 1);
-		break;
-
-	case PX4_SPIDEV_EXT_BARO:
-		/* Making sure the other peripherals are not selected */
-		stm32_gpiowrite(GPIO_SPI4_NSS_PE4, 1);
-		stm32_gpiowrite(GPIO_SPI4_GPIO_PC14, !selected);
-		break;
-
-	default:
-		break;
-
-	}
-
-#  else // defined(BOARD_HAS_VERSIONING)
-	/* SPI select is active low, so write !selected to select the device */
 	/*   Verification
 	 *        PA5 PA6 PA7 PB0 PB1 PB4 PC1 PC2 PC13 PC14 PC15 PD7 PD15 PE2 PE4 PE5 PE6
 	 * driver  X   X   X                                               X       X   X
@@ -442,9 +356,6 @@ __EXPORT void stm32_spi4select(FAR struct spi_dev_s *dev, uint32_t devid, bool s
 		break;
 
 	}
-
-#  endif // defined(BOARD_HAS_VERSIONING)
-
 }
 __EXPORT uint8_t stm32_spi4status(FAR struct spi_dev_s *dev, uint32_t devid)
 {
@@ -489,8 +400,6 @@ __EXPORT void board_spi_reset(int ms)
 	stm32_gpiowrite(_PIN_OFF(GPIO_SPI1_EXTI_DRDY_PB4), 0);
 	stm32_gpiowrite(_PIN_OFF(GPIO_SPI1_EXTI_DRDY_PD15), 0);
 
-#if defined(BOARD_HAS_VERSIONING)
-
 	if (HW_VER_FMUV2 != board_get_hw_version()) {
 		stm32_configgpio(_PIN_OFF(GPIO_SPI4_CS_PC14));
 		stm32_gpiowrite(_PIN_OFF(GPIO_SPI4_CS_PC14), 0);
@@ -510,11 +419,8 @@ __EXPORT void board_spi_reset(int ms)
 		stm32_gpiowrite(_PIN_OFF(GPIO_SPI4_SCK), 0);
 		stm32_gpiowrite(_PIN_OFF(GPIO_SPI4_MISO), 0);
 		stm32_gpiowrite(_PIN_OFF(GPIO_SPI4_MOSI), 0);
-
 	}
 
-#endif
-
 	/* set the sensor rail off */
 	stm32_configgpio(GPIO_VDD_3V3_SENSORS_EN);
 	stm32_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, 0);
@@ -536,8 +442,6 @@ __EXPORT void board_spi_reset(int ms)
 	stm32_configgpio(GPIO_SPI1_MISO);
 	stm32_configgpio(GPIO_SPI1_MOSI);
 
-#if defined(BOARD_HAS_VERSIONING)
-
 	if (HW_VER_FMUV3 == board_get_hw_version()) {
 		stm32_configgpio(GPIO_SPI4_SCK);
 		stm32_configgpio(GPIO_SPI4_MISO);
@@ -545,7 +449,5 @@ __EXPORT void board_spi_reset(int ms)
 		stm32_spi4_initialize();
 	}
 
-#endif
-
 	stm32_spi1_initialize();
 }