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FMUv2: added defines for FMUv3 sensors 

this enables EXT0 to EXT3 on external SPI bus, and gives correct names
for FMUv3 board
sbg
Andrew Tridgell 11 years ago committed by Lorenz Meier
parent
db304480d9
commit
644d4bb3dc
2 changed files with 34 additions and 0 deletions
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  1. 10
      src/drivers/boards/px4fmu-v2/board_config.h
  2. 24
      src/drivers/boards/px4fmu-v2/px4fmu_spi.c

10
src/drivers/boards/px4fmu-v2/board_config.h
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@ -108,6 +108,8 @@ __BEGIN_DECLS @@ -108,6 +108,8 @@ __BEGIN_DECLS
#define GPIO_SPI_CS_MPU (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN2)
#define GPIO_SPI_CS_EXT0 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN4)
#define GPIO_SPI_CS_EXT1 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN14)
#define GPIO_SPI_CS_EXT2 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN15)
#define GPIO_SPI_CS_EXT3 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN13)
#define PX4_SPI_BUS_SENSORS 1
#define PX4_SPI_BUS_EXT 4
@ -121,6 +123,14 @@ __BEGIN_DECLS @@ -121,6 +123,14 @@ __BEGIN_DECLS
/* External bus */
#define PX4_SPIDEV_EXT0 1
#define PX4_SPIDEV_EXT1 2
#define PX4_SPIDEV_EXT2 3
#define PX4_SPIDEV_EXT3 4
/* FMUv3 SPI on external bus */
#define PX4_SPIDEV_EXT_MPU PX4_SPIDEV_EXT0
#define PX4_SPIDEV_EXT_BARO PX4_SPIDEV_EXT1
#define PX4_SPIDEV_EXT_ACCEL_MAG PX4_SPIDEV_EXT2
#define PX4_SPIDEV_EXT_GYRO PX4_SPIDEV_EXT3
/* I2C busses */
#define PX4_I2C_BUS_EXPANSION 1

24
src/drivers/boards/px4fmu-v2/px4fmu_spi.c
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@ -98,8 +98,12 @@ __EXPORT void weak_function stm32_spiinitialize(void) @@ -98,8 +98,12 @@ __EXPORT void weak_function stm32_spiinitialize(void)
#ifdef CONFIG_STM32_SPI4
stm32_configgpio(GPIO_SPI_CS_EXT0);
stm32_configgpio(GPIO_SPI_CS_EXT1);
stm32_configgpio(GPIO_SPI_CS_EXT2);
stm32_configgpio(GPIO_SPI_CS_EXT3);
stm32_gpiowrite(GPIO_SPI_CS_EXT0, 1);
stm32_gpiowrite(GPIO_SPI_CS_EXT1, 1);
stm32_gpiowrite(GPIO_SPI_CS_EXT2, 1);
stm32_gpiowrite(GPIO_SPI_CS_EXT3, 1);
#endif
}
@ -174,12 +178,32 @@ __EXPORT void stm32_spi4select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, @@ -174,12 +178,32 @@ __EXPORT void stm32_spi4select(FAR struct spi_dev_s *dev, enum spi_dev_e devid,
/* Making sure the other peripherals are not selected */
stm32_gpiowrite(GPIO_SPI_CS_EXT0, !selected);
stm32_gpiowrite(GPIO_SPI_CS_EXT1, 1);
stm32_gpiowrite(GPIO_SPI_CS_EXT2, 1);
stm32_gpiowrite(GPIO_SPI_CS_EXT3, 1);
break;
case PX4_SPIDEV_EXT1:
/* Making sure the other peripherals are not selected */
stm32_gpiowrite(GPIO_SPI_CS_EXT0, 1);
stm32_gpiowrite(GPIO_SPI_CS_EXT1, !selected);
stm32_gpiowrite(GPIO_SPI_CS_EXT2, 1);
stm32_gpiowrite(GPIO_SPI_CS_EXT3, 1);
break;
case PX4_SPIDEV_EXT2:
/* Making sure the other peripherals are not selected */
stm32_gpiowrite(GPIO_SPI_CS_EXT0, 1);
stm32_gpiowrite(GPIO_SPI_CS_EXT1, 1);
stm32_gpiowrite(GPIO_SPI_CS_EXT2, !selected);
stm32_gpiowrite(GPIO_SPI_CS_EXT3, 1);
break;
case PX4_SPIDEV_EXT3:
/* Making sure the other peripherals are not selected */
stm32_gpiowrite(GPIO_SPI_CS_EXT0, 1);
stm32_gpiowrite(GPIO_SPI_CS_EXT1, 1);
stm32_gpiowrite(GPIO_SPI_CS_EXT2, 1);
stm32_gpiowrite(GPIO_SPI_CS_EXT3, !selected);
break;
default:

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