px4:platform support SPI configuration selection on HW REV

platforms/common/include/px4_platform_common/board_common.h

@@ -262,6 +262,7 @@
 
 #if defined(BOARD_HAS_HW_VERSIONING)
 #  define BOARD_HAS_VERSIONING 1
+#  define HW_VER_REV(v,r)       ((uint32_t)((v) & 0xff) << 8) | ((uint32_t)(r) & 0xff)
 #endif
 
 /* Default LED logical to color mapping */

platforms/common/include/px4_platform_common/spi.h

@@ -71,7 +71,7 @@ struct px4_spi_bus_t {
 
 struct px4_spi_bus_all_hw_t {
 	px4_spi_bus_t buses[SPI_BUS_MAX_BUS_ITEMS];
-	int board_hw_version{-1}; ///< 0=default, >0 for a specific revision (see board_get_hw_version), -1=unused
+	int board_hw_version_revision{-1}; ///< 0=default, >0 for a specific revision (see board_get_hw_version & board_get_hw_revision), -1=unused
 };
 
 #if BOARD_NUM_SPI_CFG_HW_VERSIONS > 1

platforms/common/spi.cpp

@@ -39,14 +39,19 @@
 #if BOARD_NUM_SPI_CFG_HW_VERSIONS > 1
 void px4_set_spi_buses_from_hw_version()
 {
-	int hw_version = board_get_hw_version();
+#if defined(BOARD_HAS_SIMPLE_HW_VERSIONING)
+	int hw_version_revision = board_get_hw_version();
+#else
+	int hw_version_revision = board_get_hw_revision();
+#endif
+
 
 	for (int i = 0; i < BOARD_NUM_SPI_CFG_HW_VERSIONS; ++i) {
-		if (!px4_spi_buses && px4_spi_buses_all_hw[i].board_hw_version == 0) {
+		if (!px4_spi_buses && px4_spi_buses_all_hw[i].board_hw_version_revision == 0) {
 			px4_spi_buses = px4_spi_buses_all_hw[i].buses;
 		}
 
-		if (px4_spi_buses_all_hw[i].board_hw_version == hw_version) {
+		if (px4_spi_buses_all_hw[i].board_hw_version_revision == hw_version_revision) {
 			px4_spi_buses = px4_spi_buses_all_hw[i].buses;
 		}
 	}

platforms/nuttx/src/px4/stm/stm32_common/include/px4_arch/spi_hw_description.h

@@ -129,7 +129,8 @@ static inline constexpr SPI::bus_device_external_cfg_t initSPIConfigExternal(SPI
 struct px4_spi_bus_array_t {
 	px4_spi_bus_t item[SPI_BUS_MAX_BUS_ITEMS];
 };
-static inline constexpr px4_spi_bus_all_hw_t initSPIHWVersion(int hw_version, const px4_spi_bus_array_t &bus_items)
+static inline constexpr px4_spi_bus_all_hw_t initSPIHWVersion(int hw_version_revision,
+		const px4_spi_bus_array_t &bus_items)
 {
 	px4_spi_bus_all_hw_t ret{};
 
@@ -137,7 +138,7 @@ static inline constexpr px4_spi_bus_all_hw_t initSPIHWVersion(int hw_version, co
 		ret.buses[i] = bus_items.item[i];
 	}
 
-	ret.board_hw_version = hw_version;
+	ret.board_hw_version_revision = hw_version_revision;
 	return ret;
 }
 constexpr bool validateSPIConfig(const px4_spi_bus_t spi_buses_conf[SPI_BUS_MAX_BUS_ITEMS]);