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boards: remove deprecated SPI + I2C defines from board_config.h 

chip-selects are deselected in stm32_spiinitialize()
sbg
Beat Küng 5 years ago committed by Daniel Agar
parent
f4ab1b8a78
commit
b156fe5787
41 changed files with 276 additions and 2069 deletions
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  1. 17
      boards/aerotenna/ocpoc/src/board_config.h
  2. 75
      boards/airmind/mindpx-v2/src/board_config.h
  3. 8
      boards/airmind/mindpx-v2/src/init.c
  4. 8
      boards/atlflight/eagle/src/board_config.h
  5. 8
      boards/atlflight/excelsior/src/board_config.h
  6. 95
      boards/av/x-v1/src/board_config.h
  7. 4
      boards/av/x-v1/src/init.c
  8. 3
      boards/beaglebone/blue/src/board_config.h
  9. 39
      boards/bitcraze/crazyflie/src/board_config.h
  10. 11
      boards/emlid/navio2/src/board_config.h
  11. 114
      boards/holybro/durandal-v1/src/board_config.h
  12. 40
      boards/holybro/kakutef7/src/board_config.h
  13. 21
      boards/intel/aerofc-v1/src/board_config.h
  14. 2
      boards/modalai/fc-v1/init/rc.board_sensors
  15. 127
      boards/modalai/fc-v1/src/board_config.h
  16. 60
      boards/mro/ctrl-zero-f7/src/board_config.h
  17. 44
      boards/mro/x21-777/src/board_config.h
  18. 44
      boards/mro/x21/src/board_config.h
  19. 3
      boards/mro/x21/src/init.c
  20. 60
      boards/nxp/fmuk66-v3/src/board_config.h
  21. 6
      boards/nxp/fmurt1062-v1/default.cmake
  22. 93
      boards/nxp/fmurt1062-v1/src/board_config.h
  23. 1
      boards/nxp/rddrone-uavcan146/src/CMakeLists.txt
  24. 4
      boards/nxp/rddrone-uavcan146/src/board_config.h
  25. 40
      boards/nxp/rddrone-uavcan146/src/i2c.cpp
  26. 81
      boards/omnibus/f4sd/src/board_config.h
  27. 2
      boards/omnibus/f4sd/src/init.c
  28. 261
      boards/px4/fmu-v2/src/board_config.h
  29. 110
      boards/px4/fmu-v2/src/spi.cpp
  30. 261
      boards/px4/fmu-v3/src/board_config.h
  31. 110
      boards/px4/fmu-v3/src/spi.cpp
  32. 97
      boards/px4/fmu-v4/src/board_config.h
  33. 9
      boards/px4/fmu-v4/src/init.c
  34. 88
      boards/px4/fmu-v4pro/src/board_config.h
  35. 8
      boards/px4/fmu-v4pro/src/init.c
  36. 124
      boards/px4/fmu-v5/src/board_config.h
  37. 154
      boards/px4/fmu-v5x/src/board_config.h
  38. 7
      boards/px4/raspberrypi/src/board_config.h
  39. 2
      boards/px4/sitl/src/board_config.h
  40. 99
      boards/uvify/core/src/board_config.h
  41. 5
      boards/uvify/core/src/init.c

17
boards/aerotenna/ocpoc/src/board_config.h
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@ -49,27 +49,10 @@
#define BOARD_MAX_LEDS 1 // Number of external LED's this board has #define BOARD_MAX_LEDS 1 // Number of external LED's this board has
// I2C
#define PX4_I2C_BUS_EXPANSION 2 // i2c-2: Air Data Probe or I2C Splitter
#define PX4_I2C_BUS_EXPANSION1 4 // i2c-4: GPS/Compass #1
#define PX4_I2C_BUS_EXPANSION2 5 // i2c-5: GPS/Compass #2
#define PX4_I2C_BUS_EXPANSION3 3 // i2c-3: GPS/Compass #3
#define PX4_NUMBER_I2C_BUSES 4 #define PX4_NUMBER_I2C_BUSES 4
#define PX4_I2C_BUS_LED 1 #define PX4_I2C_BUS_LED 1
// SPI
#include <drivers/drv_sensor.h>
#define PX4_SPI_BUS_SENSORS 1
#define PX4_SPIDEV_MPU PX4_MK_SPI_SEL(0, DRV_IMU_DEVTYPE_MPU9250) // spidev1.0 - mpu9250
#define PX4_SPIDEV_BARO PX4_MK_SPI_SEL(0, DRV_BARO_DEVTYPE_MS5611) // spidev1.1 - ms5611
//#define PX4_SPIDEV_MPU2 PX4_MK_SPI_SEL(0, 2) // TODO: where is the 2nd mpu9250?
#define PX4_SPI_BUS_BARO PX4_SPI_BUS_SENSORS
// ADC channels: // ADC channels:
#define ADC_CHANNELS (1 << 8) #define ADC_CHANNELS (1 << 8)

75
boards/airmind/mindpx-v2/src/board_config.h
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@ -58,81 +58,6 @@
#define GPIO_LED1 (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN8) #define GPIO_LED1 (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN8)
#define BOARD_OVERLOAD_LED LED_RED #define BOARD_OVERLOAD_LED LED_RED
/* External interrupts */
#define GPIO_EXTI_GYRO_DRDY (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTE|GPIO_PIN4)
#define GPIO_EXTI_MAG_DRDY (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTC|GPIO_PIN14)
#define GPIO_EXTI_ACCEL_DRDY (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTC|GPIO_PIN13)
#define GPIO_EXTI_MPU_DRDY (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTE|GPIO_PIN10)
/* Data ready pins off */
#define GPIO_GYRO_DRDY_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_25MHz|GPIO_PORTE|GPIO_PIN14)
#define GPIO_MAG_DRDY_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_25MHz|GPIO_PORTC|GPIO_PIN14)
#define GPIO_ACCEL_DRDY_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_25MHz|GPIO_PORTC|GPIO_PIN13)
#define GPIO_EXTI_MPU_DRDY_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_25MHz|GPIO_PORTE|GPIO_PIN10)
/* SPI1 off */
#define GPIO_SPI1_SCK_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN5)
#define GPIO_SPI1_MISO_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN6)
#define GPIO_SPI1_MOSI_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTB|GPIO_PIN5)
/*SPI1 chip selects off */
#define GPIO_SPI_CS_FRAM_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_25MHz|GPIO_PORTE|GPIO_PIN12)
/* SPI1 chip selects */
#define GPIO_SPI_CS_FRAM (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_25MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN12)
/* SPI4 off */
#define GPIO_SPI4_SCK_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTE|GPIO_PIN2)
#define GPIO_SPI4_MISO_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTE|GPIO_PIN5)
#define GPIO_SPI4_MOSI_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTE|GPIO_PIN6)
/* SPI4 chip selects off */
#define GPIO_SPI_CS_GYRO_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_25MHz|GPIO_PORTB|GPIO_PIN2)
#define GPIO_SPI_CS_ACCEL_MAG_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_25MHz|GPIO_PORTD|GPIO_PIN11)
#define GPIO_SPI_CS_BARO_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_25MHz|GPIO_PORTC|GPIO_PIN15)
#define GPIO_SPI_CS_MPU_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_25MHz|GPIO_PORTE|GPIO_PIN3)
/* SPI4 chip selects */
#define GPIO_SPI_CS_GYRO (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_25MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN2)
#define GPIO_SPI_CS_ACCEL_MAG (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_25MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN11)
#define GPIO_SPI_CS_BARO (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_25MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN15)
#define GPIO_SPI_CS_MPU (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_25MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN3)
/* SPI2 off */
#define GPIO_SPI2_SCK_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTB|GPIO_PIN13)
#define GPIO_SPI2_MISO_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTB|GPIO_PIN14)
#define GPIO_SPI2_MOSI_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTB|GPIO_PIN15)
/* SPI2 chip selects off */
#define GPIO_SPI_CS_EXT0_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_25MHz|GPIO_PORTD|GPIO_PIN7)
/* SPI2 chip selects */
#define GPIO_SPI_CS_EXT0 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_25MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN7)
#define PX4_SPI_BUS_SENSORS 4
#define PX4_SPI_BUS_RAMTRON 1
#define PX4_SPI_BUS_EXT 2
#define PX4_SPI_BUS_BARO PX4_SPI_BUS_SENSORS
/* Use these in place of the uint32_t enumeration to select a specific SPI device on SPI4 */
#include <drivers/drv_sensor.h>
#define PX4_SPIDEV_GYRO PX4_MK_SPI_SEL(0, DRV_GYR_DEVTYPE_L3GD20)
#define PX4_SPIDEV_ACCEL_MAG PX4_MK_SPI_SEL(0, DRV_ACC_DEVTYPE_LSM303D)
#define PX4_SPIDEV_BARO PX4_MK_SPI_SEL(0, DRV_BARO_DEVTYPE_MS5611)
#define PX4_SPIDEV_MPU PX4_MK_SPI_SEL(0, DRV_IMU_DEVTYPE_MPU6000)
/* External bus */
#define PX4_SPIDEV_EXT0 PX4_MK_SPI_SEL(0, 0)
/* I2C busses */
#define PX4_I2C_BUS_ONBOARD 1
#define PX4_I2C_BUS_EXPANSION 2
#define PX4_I2C_BUS_LED PX4_I2C_BUS_EXPANSION
/* /*
* ADC channels * ADC channels
* *

8
boards/airmind/mindpx-v2/src/init.c
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@ -259,10 +259,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
SPI_SETFREQUENCY(spi4, 10000000); SPI_SETFREQUENCY(spi4, 10000000);
SPI_SETBITS(spi4, 8); SPI_SETBITS(spi4, 8);
SPI_SETMODE(spi4, SPIDEV_MODE3); SPI_SETMODE(spi4, SPIDEV_MODE3);
SPI_SELECT(spi4, PX4_SPIDEV_GYRO, false);
SPI_SELECT(spi4, PX4_SPIDEV_ACCEL_MAG, false);
SPI_SELECT(spi4, PX4_SPIDEV_BARO, false);
SPI_SELECT(spi4, PX4_SPIDEV_MPU, false);
up_udelay(20); up_udelay(20);
/* Get the SPI port for the FRAM */ /* Get the SPI port for the FRAM */
@ -281,8 +277,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
// XXX start with 10.4 MHz in FRAM usage and go up to 37.5 once validated // XXX start with 10.4 MHz in FRAM usage and go up to 37.5 once validated
SPI_SETFREQUENCY(spi1, 24 * 1000 * 1000); SPI_SETFREQUENCY(spi1, 24 * 1000 * 1000);
SPI_SETBITS(spi1, 8); SPI_SETBITS(spi1, 8);
SPI_SETMODE(spi1, SPIDEV_MODE3);
SPI_SELECT(spi1, SPIDEV_FLASH(0), false);
spi2 = px4_spibus_initialize(2); spi2 = px4_spibus_initialize(2);
@ -290,8 +284,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
/* Default SPI2 to 10MHz and de-assert the known chip selects. */ /* Default SPI2 to 10MHz and de-assert the known chip selects. */
SPI_SETFREQUENCY(spi2, 10000000); SPI_SETFREQUENCY(spi2, 10000000);
SPI_SETBITS(spi2, 8); SPI_SETBITS(spi2, 8);
SPI_SETMODE(spi2, SPIDEV_MODE3);
SPI_SELECT(spi2, PX4_SPIDEV_EXT0, false);
#ifdef CONFIG_MMCSD #ifdef CONFIG_MMCSD

8
boards/atlflight/eagle/src/board_config.h
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@ -48,16 +48,8 @@
/* /*
* I2C busses * I2C busses
*/ */
#define PX4_I2C_BUS_EXPANSION1 2 // I2C2: J9 / GPS
#define PX4_I2C_BUS_EXPANSION 3 // I2C3: J14 / Power
#define PX4_I2C_BUS_EXPANSION2 9 // I2C9: J15 / Radio Receiver / Sensors
#define PX4_NUMBER_I2C_BUSES 3 #define PX4_NUMBER_I2C_BUSES 3
// SPI
#define PX4_SPI_BUS_SENSORS 1
#define PX4_SPIDEV_MPU PX4_MK_SPI_SEL(0, DRV_IMU_DEVTYPE_MPU9250) // spi-1 - mpu9250
// Battery ADC channels // Battery ADC channels
#include <system_config.h> #include <system_config.h>

8
boards/atlflight/excelsior/src/board_config.h
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@ -48,15 +48,7 @@
/* /*
* I2C busses * I2C busses
*/ */
#define PX4_I2C_BUS_EXPANSION1 2 // I2C2: J9 / GPS
#define PX4_I2C_BUS_EXPANSION 3 // I2C3: J14 / Power
#define PX4_I2C_BUS_EXPANSION2 9 // I2C9: J15 / Radio Receiver / Sensors
#define PX4_NUMBER_I2C_BUSES 3 #define PX4_NUMBER_I2C_BUSES 3
// SPI
#define PX4_SPI_BUS_SENSORS 1
#define PX4_SPIDEV_MPU PX4_MK_SPI_SEL(0, DRV_IMU_DEVTYPE_MPU9250)
#include <system_config.h> #include <system_config.h>
#include <px4_platform_common/board_common.h> #include <px4_platform_common/board_common.h>

95
boards/av/x-v1/src/board_config.h
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@ -54,101 +54,6 @@
#define BOARD_HAS_NBAT_V 1 // Only one Vbat to ADC #define BOARD_HAS_NBAT_V 1 // Only one Vbat to ADC
#define BOARD_HAS_NBAT_I 0 // No Ibat ADC #define BOARD_HAS_NBAT_I 0 // No Ibat ADC
#define PX4_SPI_BUS_SENSOR1 1
#define PX4_SPI_BUS_EXTERNAL1 2
#define PX4_SPI_BUS_SENSOR4 4
#define PX4_SPI_BUS_SENSOR5 5
/* Define the Chip Selects, Data Ready and Control signals per SPI bus */
/* SPI 1 CS */
#define GPIO_SPI1_CS1_ADIS16477 /* PG10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN10)
#define GPIO_SPI1_RESET_ADIS16477 /* PB15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN15)
/* SPI 2 CS */
#define GPIO_SPI2_CS1_ADIS16497 /* PI0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN0)
/* SPI 4 CS */
#define GPIO_SPI4_CS1_LPS22HB /* PE4 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN4)
/* SPI 5 CS */
#define GPIO_SPI5_CS1_LSM303A_M /* PH5 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTH|GPIO_PIN5)
#define GPIO_SPI5_CS1_LSM303A_X /* PB0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN0)
/* Define the SPI1 Data Ready interrupts */
#define GPIO_SPI1_DRDY1_ADIS16477 /* PJ0 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTJ|GPIO_PIN0)
/* Define the SPI2 Data Ready interrupts */
#define GPIO_SPI2_DRDY1_ADIS16497 /* PJ5 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTJ|GPIO_PIN5)
#define SPI2_CS1_EXTERNAL1 GPIO_SPI2_DRDY1_ADIS16497
/* Define the SPI4 Data Ready interrupts */
#define GPIO_SPI4_DRDY1_LPS22HB /* PK1 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTK|GPIO_PIN1)
/* Define the SPI5 Data Ready interrupts */
#define GPIO_SPI5_DRDY1_LSM303A_M /* PK7 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTK|GPIO_PIN7)
#define GPIO_SPI5_DRDY2_LSM303A_X /* PD12 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN12)
/* SPI1 off */
#define GPIO_SPI1_SCK_OFF _PIN_OFF(GPIO_SPI1_SCK)
#define GPIO_SPI1_MISO_OFF _PIN_OFF(GPIO_SPI1_MISO)
#define GPIO_SPI1_MOSI_OFF _PIN_OFF(GPIO_SPI1_MOSI)
/* SPI2 off */
#define GPIO_SPI2_SCK_OFF _PIN_OFF(GPIO_SPI2_SCK)
#define GPIO_SPI2_MISO_OFF _PIN_OFF(GPIO_SPI2_MISO)
#define GPIO_SPI2_MOSI_OFF _PIN_OFF(GPIO_SPI2_MOSI)
/* SPI4 off */
#define GPIO_SPI4_SCK_OFF _PIN_OFF(GPIO_SPI4_SCK)
#define GPIO_SPI4_MISO_OFF _PIN_OFF(GPIO_SPI4_MISO)
#define GPIO_SPI4_MOSI_OFF _PIN_OFF(GPIO_SPI4_MOSI)
/* SPI5 off */
#define GPIO_SPI5_SCK_OFF _PIN_OFF(GPIO_SPI5_SCK)
#define GPIO_SPI5_MISO_OFF _PIN_OFF(GPIO_SPI5_MISO)
#define GPIO_SPI5_MOSI_OFF _PIN_OFF(GPIO_SPI5_MOSI)
#define GPIO_DRDY_OFF_SPI1_DRDY1_ADIS16477 _PIN_OFF(GPIO_SPI1_DRDY1_ADIS16477)
#define GPIO_DRDY_OFF_SPI2_DRDY1_ADIS16497 _PIN_OFF(GPIO_SPI2_DRDY1_ADIS16497)
#define GPIO_DRDY_OFF_SPI4_DRDY1_LPS22HB _PIN_OFF(GPIO_SPI4_DRDY1_LPS22HB)
#define GPIO_DRDY_OFF_SPI5_DRDY1_LSM303A_M _PIN_OFF(GPIO_SPI5_DRDY1_LSM303A_M)
#define GPIO_DRDY_OFF_SPI5_DRDY2_LSM303A_X _PIN_OFF(GPIO_SPI5_DRDY1_LSM303A_X)
/*
* Define the ability to shut off off the sensor signals
* by changing the signals to inputs
*/
#define _PIN_OFF(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz))
#include <drivers/drv_sensor.h>
/* SPI1 */
#define PX4_SPIDEV_ADIS16477 PX4_MK_SPI_SEL(0,DRV_IMU_DEVTYPE_ADIS16477)
#define PX4_SENSOR1_BUS_CS_GPIO {GPIO_SPI1_CS1_ADIS16477}
/* SPI2 */
#define PX4_SPIDEV_EXTERNAL1_1 PX4_MK_SPI_SEL(0,0)
#define PX4_EXTERNAL1_BUS_CS_GPIO {SPI2_CS1_EXTERNAL1}
/* SPI4 */
#define PX4_SPIDEV_LPS22HB PX4_MK_SPI_SEL(0,DRV_BARO_DEVTYPE_LPS22HB)
#define PX4_SENSOR4_BUS_CS_GPIO {GPIO_SPI4_CS1_LPS22HB}
/* SPI5 */
#define PX4_SPIDEV_LSM303A_M PX4_MK_SPI_SEL(0,DRV_MAG_DEVTYPE_LSM303AGR)
#define PX4_SPIDEV_LSM303A_X PX4_MK_SPI_SEL(0,DRV_ACC_DEVTYPE_LSM303AGR)
#define PX4_SENSOR5_BUS_CS_GPIO {GPIO_SPI5_CS1_LSM303A_M, GPIO_SPI5_CS1_LSM303A_X}
/* I2C busses */
#define PX4_I2C_BUS_EXPANSION 2
#define PX4_I2C_BUS_EXPANSION1 4
#define PX4_I2C_BUS_ONBOARD 3
#define BOARD_NUMBER_I2C_BUSES 4
#define BOARD_I2C_BUS_CLOCK_INIT {100000, 100000, 100000, 100000}
/* /*
* ADC channels * ADC channels
* *

4
boards/av/x-v1/src/init.c
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@ -206,8 +206,8 @@ static int configure_switch(void)
{ {
int ret = PX4_ERROR; int ret = PX4_ERROR;
// attach to the i2c bus // attach to the i2c bus (internal)
struct i2c_master_s *i2c = px4_i2cbus_initialize(PX4_I2C_BUS_ONBOARD); struct i2c_master_s *i2c = px4_i2cbus_initialize(3);
if (i2c == NULL) { if (i2c == NULL) {
syslog(LOG_ERR, "[boot] I2C device not opened\n"); syslog(LOG_ERR, "[boot] I2C device not opened\n");

3
boards/beaglebone/blue/src/board_config.h
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@ -50,9 +50,6 @@
// I2C // I2C
#define PX4_I2C_BUS_EXPANSION 1 // i2c-1: pins P9 17,18
#define PX4_I2C_BUS_ONBOARD 2 // i2c-2: pins P9 19,20 - bmp280, mpu9250
#define PX4_NUMBER_I2C_BUSES 2 #define PX4_NUMBER_I2C_BUSES 2
#define PX4_I2C_OBDEV_MPU9250 0x68 #define PX4_I2C_OBDEV_MPU9250 0x68

39
boards/bitcraze/crazyflie/src/board_config.h
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@ -88,52 +88,15 @@
/* /*
* I2C busses * I2C busses
*/ */
#define PX4_I2C_BUS_ONBOARD 3
#define PX4_I2C_BUS_EXPANSION 1
#define PX4_I2C_BUS_ONBOARD_HZ 400000 #define PX4_I2C_BUS_ONBOARD_HZ 400000
#define PX4_I2C_BUS_EXPANSION_HZ 400000 #define PX4_I2C_BUS_EXPANSION_HZ 400000
#define PX4_I2C_BUS_MTD PX4_I2C_BUS_EXPANSION #define PX4_I2C_BUS_MTD 1
#define BOARD_NUMBER_I2C_BUSES 3 #define BOARD_NUMBER_I2C_BUSES 3
#define BOARD_I2C_BUS_CLOCK_INIT {PX4_I2C_BUS_ONBOARD_HZ, 100000, PX4_I2C_BUS_EXPANSION_HZ} #define BOARD_I2C_BUS_CLOCK_INIT {PX4_I2C_BUS_ONBOARD_HZ, 100000, PX4_I2C_BUS_EXPANSION_HZ}
/*
* Define the ability to shut off off the sensor signals
* by changing the signals to inputs
*/
#define _PIN_OFF(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz))
/* SPI Busses */
/* SPI1 Bus */
#define PX4_SPI_BUS_EXPANSION 1
/* SPI1 CS */
#define GPIO_SPI1_CS0_EXT /* PC12 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN12)
#define GPIO_SPI1_CS1_EXT /* PB4 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN4)
#define GPIO_SPI1_CS2_EXT /* PB5 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN5)
#define PX4_FLOW_BUS_CS_GPIO { GPIO_SPI1_CS0_EXT, GPIO_SPI1_CS1_EXT, GPIO_SPI1_CS2_EXT }
/* SPI1 Devices */
#define PX4_SPIDEV_EXPANSION_1 SPIDEV_MMCSD(0) // SD CARD BREAKOUT
#define PX4_SPIDEV_EXPANSION_2 PX4_MK_SPI_SEL(0, DRV_FLOW_DEVTYPE_PMW3901) // OPTICAL FLOW BREAKOUT
#define PX4_SPIDEV_EXPANSION_3 PX4_MK_SPI_SEL(0, DRV_DEVTYPE_UNUSED)
#define PX4_FLOW_BUS_FIRST_CS PX4_SPIDEV_EXPANSION_1
#define PX4_FLOW_BUS_LAST_CS PX4_SPIDEV_EXPANSION_3
/* SPI1 off */
#define GPIO_SPI1_SCK_OFF _PIN_OFF(GPIO_SPI1_SCK)
#define GPIO_SPI1_MISO_OFF _PIN_OFF(GPIO_SPI1_MISO)
#define GPIO_SPI1_MOSI_OFF _PIN_OFF(GPIO_SPI1_MOSI)
/* Devices on the onboard bus. /* Devices on the onboard bus.
* *
* Note that these are unshifted addresses. * Note that these are unshifted addresses.

11
boards/emlid/navio2/src/board_config.h
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@ -52,20 +52,9 @@
// I2C // I2C
#define PX4_I2C_BUS_EXPANSION 1
#define PX4_NUMBER_I2C_BUSES 1 #define PX4_NUMBER_I2C_BUSES 1
// SPI
#include <drivers/drv_sensor.h>
#define PX4_SPI_BUS_SENSORS 0
#define PX4_SPIDEV_UBLOX PX4_MK_SPI_SEL(0, 0) // spidev0.0 - ublox m8n
#define PX4_SPIDEV_MPU PX4_MK_SPI_SEL(0, DRV_IMU_DEVTYPE_MPU9250) // spidev0.1 - mpu9250
#define PX4_SPIDEV_LSM9DS1_M PX4_MK_SPI_SEL(0, DRV_MAG_DEVTYPE_ST_LSM9DS1_M) // spidev0.2 - lsm9ds1 mag
#define PX4_SPIDEV_LSM9DS1_AG PX4_MK_SPI_SEL(0, DRV_IMU_DEVTYPE_ST_LSM9DS1_AG) // spidev0.3 - lsm9ds1 accel/gyro
// ADC channels: // ADC channels:
// A0 - board voltage (shows 5V) // A0 - board voltage (shows 5V)
// A1 - servo rail voltage // A1 - servo rail voltage

114
boards/holybro/durandal-v1/src/board_config.h
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@ -87,120 +87,6 @@
#define BOARD_OVERLOAD_LED LED_RED #define BOARD_OVERLOAD_LED LED_RED
#define BOARD_ARMED_STATE_LED LED_BLUE #define BOARD_ARMED_STATE_LED LED_BLUE
/* SENSORS are on SPI1, 5, 6
* MEMORY is on bus SPI2
* MS5611 is on bus SPI4
*/
#define PX4_SPI_BUS_SENSORS 1
#define PX4_SPI_BUS_SENSORS3 PX4_SPI_BUS_SENSORS // for BMI088
#define PX4_SPI_BUS_MEMORY 2
#define PX4_SPI_BUS_BARO 4
#define PX4_SPI_BUS_EXTERNAL1 5
#define PX4_SPI_BUS_EXTERNAL2 6
/* Define the Chip Selects, Data Ready and Control signals per SPI bus */
/* SPI 1 CS */
#define GPIO_SPI1_CS1_ICM20689 /* PF2 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTF|GPIO_PIN2)
#define GPIO_SPI1_CS3_BMI088_GYRO /* PF4 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTF|GPIO_PIN4)
#define GPIO_SPI1_CS4_BMI088_ACC /* PG10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN10)
#define GPIO_SPI1_CS5_AUX_MEM /* PH5 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTH|GPIO_PIN5)
/* Define the SPI1 Data Ready interrupts */
#define GPIO_SPI1_DRDY1_ICM20689 /* PB4 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN4)
#define GPIO_SPI1_DRDY2_BMI088_GYRO /* PB14 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN14)
#define GPIO_SPI1_DRDY3_BMI088_ACC /* PB15 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN15)
#define GPIO_SPI1_DRDY5_BMI088_GYRO /* PC13 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTC|GPIO_PIN13)
#define GPIO_SPI1_DRDY6_BMI088_ACC /* PD10 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN10)
/* SPI1 off */
#define GPIO_SPI1_SCK_OFF _PIN_OFF(GPIO_SPI1_SCK)
#define GPIO_SPI1_MISO_OFF _PIN_OFF(GPIO_SPI1_MISO)
#define GPIO_SPI1_MOSI_OFF _PIN_OFF(GPIO_SPI1_MOSI)
#define GPIO_DRDY_OFF_SPI1_DRDY1_ICM20689 _PIN_OFF(GPIO_SPI1_DRDY1_ICM20689)
#define GPIO_DRDY_OFF_SPI1_DRDY2_BMI088_GYRO _PIN_OFF(GPIO_SPI1_DRDY2_BMI088_GYRO)
#define GPIO_DRDY_OFF_SPI1_DRDY3_BMI088_ACC _PIN_OFF(GPIO_SPI1_DRDY3_BMI088_ACC)
#define GPIO_DRDY_OFF_SPI1_DRDY5_BMI088_GYRO _PIN_OFF(GPIO_SPI1_DRDY5_BMI088_GYRO)
#define GPIO_DRDY_OFF_SPI1_DRDY6_BMI088_ACC _PIN_OFF(GPIO_SPI1_DRDY6_BMI088_ACC)
/* SPI 2 CS */
#define GPIO_SPI2_CS_FRAM /* PF5 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTF|GPIO_PIN5)
/* SPI 4 CS */
#define GPIO_SPI4_CS1_MS5611 /* PF10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTF|GPIO_PIN10)
/* SPI 5 CS */
#define SPI5_CS1_EXTERNAL1 /* PI4 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN4)
#define SPI5_CS2_EXTERNAL1 /* PI10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN10)
/* Define the SPI1 Data Ready and Control signals */
#define GPIO_SPI5_DRDY7_EXTERNAL1 /* PD15 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN15)
/* SPI 6 */
#define SPI6_CS1_EXTERNAL2 /* PI6 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN6)
#define SPI6_CS2_EXTERNAL2 /* PI7 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN7)
#define SPI6_CS3_EXTERNAL2 /* PI8 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN8)
/*
* Define the ability to shut off off the sensor signals
* by changing the signals to inputs
*/
#define _PIN_OFF(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz))
#define GPIO_DRDY_OFF_SPI5_DRDY7_EXTERNAL1 _PIN_OFF(GPIO_SPI5_DRDY7_EXTERNAL1)
/* v BEGIN Legacy SPI defines TODO: fix this with enumeration */
#define PX4_SPI_BUS_RAMTRON PX4_SPI_BUS_MEMORY
/* ^ END Legacy SPI defines TODO: fix this with enumeration */
#include <drivers/drv_sensor.h>
#define PX4_SPIDEV_ICM_20689 PX4_MK_SPI_SEL(0,DRV_IMU_DEVTYPE_ICM20689)
#define PX4_SPIDEV_BMI088_GYR PX4_MK_SPI_SEL(0,DRV_GYR_DEVTYPE_BMI088)
#define PX4_SPIDEV_BMI088_ACC PX4_MK_SPI_SEL(0,DRV_ACC_DEVTYPE_BMI088)
#define PX4_SPIDEV_AUX_MEM PX4_MK_SPI_SEL(0,DRV_DEVTYPE_UNUSED)
#define PX4_SENSOR_BUS_CS_GPIO {GPIO_SPI1_CS1_ICM20689, GPIO_SPI1_CS3_BMI088_GYRO, GPIO_SPI1_CS4_BMI088_ACC, GPIO_SPI1_CS5_AUX_MEM}
#define PX4_SPIDEV_MEMORY SPIDEV_FLASH(0)
#define PX4_MEMORY_BUS_CS_GPIO {GPIO_SPI2_CS_FRAM}
#define PX4_SPIDEV_BARO PX4_MK_SPI_SEL(0,DRV_BARO_DEVTYPE_MS5611)
#define PX4_BARO_BUS_CS_GPIO {GPIO_SPI4_CS1_MS5611}
#define PX4_SPIDEV_EXTERNAL1_1 PX4_MK_SPI_SEL(0,0)
#define PX4_SPIDEV_EXTERNAL1_2 PX4_MK_SPI_SEL(0,1)
#define PX4_EXTERNAL1_BUS_CS_GPIO {SPI5_CS1_EXTERNAL1, SPI5_CS2_EXTERNAL1}
#define PX4_SPIDEV_EXTERNAL2_1 PX4_MK_SPI_SEL(PX4_SPI_BUS_EXTERNAL2,0)
#define PX4_SPIDEV_EXTERNAL2_2 PX4_MK_SPI_SEL(PX4_SPI_BUS_EXTERNAL2,1)
#define PX4_SPIDEV_EXTERNAL2_3 PX4_MK_SPI_SEL(PX4_SPI_BUS_EXTERNAL2,2)
#define PX4_EXTERNAL2_BUS_CS_GPIO {SPI6_CS1_EXTERNAL2, SPI6_CS2_EXTERNAL2, SPI6_CS3_EXTERNAL2}
/* I2C busses */
#define PX4_I2C_BUS_EXPANSION 1
#define PX4_I2C_BUS_EXPANSION1 2
#define PX4_I2C_BUS_ONBOARD 3
#define PX4_I2C_BUS_EXPANSION2 4
#define PX4_I2C_BUS_LED PX4_I2C_BUS_EXPANSION
#define BOARD_NUMBER_I2C_BUSES 4
#define BOARD_I2C_BUS_CLOCK_INIT {100000, 100000, 100000, 100000}
/* /*
* ADC channels * ADC channels
* *

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boards/holybro/kakutef7/src/board_config.h
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@ -64,46 +64,6 @@
#define FLASH_BASED_PARAMS #define FLASH_BASED_PARAMS
/* SPI busses
*/
#define PX4_SPI_BUS_SD_CARD 1
#define PX4_SPI_BUS_OSD 2
#define PX4_SPI_BUS_SENSORS 4
#include <drivers/drv_sensor.h>
/* Define the Chip Selects, Data Ready and Control signals per SPI bus */
#define GPIO_SPI1_CS1_SD_CARD /* PA4 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN4)
#define PX4_SD_CARD_BUS_CS_GPIO {GPIO_SPI1_CS1_SD_CARD}
#define GPIO_SPI2_CS1_OSD /* PB12 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN12)
#define PX4_SPIDEV_OSD PX4_MK_SPI_SEL(0,DRV_OSD_DEVTYPE_ATXXXX)
#define PX4_OSD_BUS_CS_GPIO {GPIO_SPI2_CS1_OSD}
/* SPI 4 CS (SPI4_SS) */
#define GPIO_SPI4_CS1_ICM20689 /* PE4 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN4)
/* Define the SPI4 Data Ready interrupts */
#define GPIO_SPI4_DRDY1_ICM20689 /* PE1 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTE|GPIO_PIN1)
#define PX4_SPIDEV_MPU PX4_MK_SPI_SEL(0,DRV_IMU_DEVTYPE_MPU6000)
#define PX4_SPIDEV_ICM_20689 PX4_MK_SPI_SEL(0,DRV_IMU_DEVTYPE_ICM20689)
#define PX4_SENSOR_BUS_CS_GPIO {GPIO_SPI4_CS1_ICM20689}
/* I2C busses */
#define PX4_I2C_BUS_EXPANSION 1
#define PX4_I2C_BUS_LED PX4_I2C_BUS_EXPANSION
#define BOARD_NUMBER_I2C_BUSES 1
#define BOARD_I2C_BUS_CLOCK_INIT {100000}
/* /*
* ADC channels * ADC channels

21
boards/intel/aerofc-v1/src/board_config.h
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@ -71,26 +71,7 @@
#define GPIO_FORCE_BOOTLOADER (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_50MHz|GPIO_PORTA|GPIO_PIN11|GPIO_EXTI) #define GPIO_FORCE_BOOTLOADER (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_50MHz|GPIO_PORTA|GPIO_PIN11|GPIO_EXTI)
/* #define PX4_I2C_BUS_MTD 3
* I2C busses
*
* Peripheral Port
* I2C1_SDA PB9
* I2C1_SCL PB8
*
* I2C3_SDA PC9
* I2C3_SCL PA8
*
*/
#define PX4_I2C_BUS_EXPANSION 1
#define PX4_I2C_BUS_EXPANSION1 2
#define PX4_I2C_BUS_ONBOARD 3
#include <drivers/drv_sensor.h>
#define GPIO_SPI_CS_MPU6500 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN4)
#define PX4_SPI_BUS_SENSORS 1
#define PX4_SPIDEV_MPU PX4_MK_SPI_SEL(0, DRV_IMU_DEVTYPE_MPU9250)
/* /*
* STM32 ADC channels * STM32 ADC channels

2
boards/modalai/fc-v1/init/rc.board_sensors
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@ -13,7 +13,7 @@ voxlpm -X -b 3 -T P5VDC start
mpu6000 -R 6 -s -T 20602 start mpu6000 -R 6 -s -T 20602 start
# Internal SPI bus ICM-42688 # Internal SPI bus ICM-42688
icm42688p -R 12 start icm42688p -R 12 -s start
# Internal SPI bus BMI088 accel # Internal SPI bus BMI088 accel
bmi088 -A -R 4 -s start bmi088 -A -R 4 -s start

127
boards/modalai/fc-v1/src/board_config.h
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@ -77,141 +77,14 @@
# define BOARD_ARMED_STATE_LED LED_BLUE # define BOARD_ARMED_STATE_LED LED_BLUE
#endif #endif
/* SPI
*
* SPI1 is sensors1
* ICM-20602
* CS PI9
* DRDY PF2
*
* SPI2 is sensors2
* ICM-42688
* CS PH5
* DRDY PH12
*
* SPI3 is not used
*
* SPI4 is not used
*
* SPI5 is FRAM
* FM25V02A
* CS PG7
*
* SPI6 is sensors3
* BMI088
* CS1 PI10
* CS2 PA15
* DRDY1 PI6
* DRDY2 PI7
*/
#define PX4_SPI_BUS_SENSORS1 1
#define PX4_SPI_BUS_SENSORS2 2
// SPI 3 not used
// SPI 4 not used
#define PX4_SPI_BUS_MEMORY 5
#define PX4_SPI_BUS_SENSORS3 6
/* Define the Chip Selects, Data Ready and Control signals per SPI bus */
/* SPI 1 CS */
#define GPIO_SPI1_nCS1_ICM20602 /* PI9 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN9)
/* Define the SPI1 Data Ready interrupts */
#define GPIO_SPI1_DRDY1_ICM20602 /* PF2 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTF|GPIO_PIN2)
/* SPI1 off */
#define GPIO_SPI1_SCK_OFF _PIN_OFF(GPIO_SPI1_SCK)
#define GPIO_SPI1_MISO_OFF _PIN_OFF(GPIO_SPI1_MISO)
#define GPIO_SPI1_MOSI_OFF _PIN_OFF(GPIO_SPI1_MOSI)
#define GPIO_DRDY_OFF_SPI1_DRDY1_ICM20602 _PIN_OFF(GPIO_SPI1_DRDY1_ICM20602)
/* SPI 2 CS */
#define GPIO_SPI2_nCS1_ICM_42688 /* PH5 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTH|GPIO_PIN5)
/* Define the SPI2 Data Ready interrupts */
#define GPIO_SPI2_DRDY1_ICM_42688 /* PH12 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTH|GPIO_PIN12) // IMU_2_INT -> PH12
#define GPIO_SPI2_DRDY2_ICM_42688 /* PA0 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTA|GPIO_PIN0) // IMU_2_FSYNC <- PA0/TIM5_CH1
/* SPI2 off */
#define GPIO_SPI2_SCK_OFF _PIN_OFF(GPIO_SPI2_SCK)
#define GPIO_SPI2_MISO_OFF _PIN_OFF(GPIO_SPI2_MISO)
#define GPIO_SPI2_MOSI_OFF _PIN_OFF(GPIO_SPI2_MOSI)
/* SPI 5 CS */
#define GPIO_SPI5_nCS1_FRAM /* PG7 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN7)
/* SPI 6 CS */
#define GPIO_SPI6_nCS1_BMI088 /* PI10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN10)
#define GPIO_SPI6_nCS2_BMI088 /* PA15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN15)
/* Define the SPI6 Data Ready interrupts */
#define GPIO_SPI6_DRDY1_BMI088_INT1_ACCEL /* PI6 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTI|GPIO_PIN6)
#define GPIO_SPI6_DRDY2_BMI088_INT3_GYRO /* PI7 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTI|GPIO_PIN7)
/* Define the SPI6 Data Ready interrupts */
#define GPIO_DRDY_OFF_SPI6_DRDY1_BMI088 _PIN_OFF(GPIO_SPI6_DRDY1_BMI088_INT1_ACCEL)
#define GPIO_DRDY_OFF_SPI6_DRDY2_BMI088 _PIN_OFF(GPIO_SPI6_DRDY2_BMI088_INT3_GYRO)
/* SPI6 off */
#define GPIO_SPI6_SCK_OFF _PIN_OFF(GPIO_SPI6_SCK)
#define GPIO_SPI6_MISO_OFF _PIN_OFF(GPIO_SPI6_MISO)
#define GPIO_SPI6_MOSI_OFF _PIN_OFF(GPIO_SPI6_MOSI)
#define GPIO_DRDY_OFF_SPI6_DRDY1 _PIN_OFF(GPIO_DRDY_OFF_SPI6_DRDY1_BMI088)
#define GPIO_DRDY_OFF_SPI6_DRDY2 _PIN_OFF(GPIO_DRDY_OFF_SPI6_DRDY2_BMI088)
/*
* Define the ability to shut off off the sensor signals
* by changing the signals to inputs
*/
#define _PIN_OFF(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz))
#define PX4_SPI_BUS_RAMTRON PX4_SPI_BUS_MEMORY
#include <drivers/drv_sensor.h>
#define PX4_SPIDEV_ICM_20602 PX4_MK_SPI_SEL(0,DRV_IMU_DEVTYPE_ICM20602)
#define PX4_SENSORS1_BUS_CS_GPIO {GPIO_SPI1_nCS1_ICM20602}
#define PX4_SPIDEV_ICM_42688 PX4_MK_SPI_SEL(0,DRV_IMU_DEVTYPE_ICM42688P)
#define PX4_SENSORS2_BUS_CS_GPIO {GPIO_SPI2_nCS1_ICM_42688}
#define PX4_SPIDEV_MEMORY SPIDEV_FLASH(0)
#define PX4_MEMORY_BUS_CS_GPIO {GPIO_SPI5_nCS1_FRAM}
#define PX4_SPIDEV_BMI088_GYR PX4_MK_SPI_SEL(0,DRV_GYR_DEVTYPE_BMI088)
#define PX4_SPIDEV_BMI088_ACC PX4_MK_SPI_SEL(0,DRV_ACC_DEVTYPE_BMI088)
#define PX4_SENSORS3_BUS_CS_GPIO {GPIO_SPI6_nCS2_BMI088, GPIO_SPI6_nCS1_BMI088}
/* I2C busses */ /* I2C busses */
#define PX4_I2C_BUS_EXPANSION 1
#define PX4_I2C_BUS_EXPANSION1 2
#define PX4_I2C_BUS_EXPANSION2 3
#define PX4_I2C_BUS_ONBOARD 4
#define PX4_I2C_BUS_LED PX4_I2C_BUS_EXPANSION
/* Devices on the onboard bus. /* Devices on the onboard bus.
* *
* Note that these are unshifted addresses. * Note that these are unshifted addresses.
*/ */
#define PX4_I2C_OBDEV_A71CH 0x49 #define PX4_I2C_OBDEV_A71CH 0x49
#define BOARD_NUMBER_I2C_BUSES 4
#define BOARD_I2C_BUS_CLOCK_INIT {100000, 100000, 100000, 100000}
#define GPIO_I2C4_DRDY1_BMP388 /* PG5 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTG|GPIO_PIN5) #define GPIO_I2C4_DRDY1_BMP388 /* PG5 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTG|GPIO_PIN5)
#define GPIO_A71CH_nRST /* PH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTH|GPIO_PIN3) #define GPIO_A71CH_nRST /* PH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTH|GPIO_PIN3)

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boards/mro/ctrl-zero-f7/src/board_config.h
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@ -65,66 +65,6 @@
#define BOARD_OVERLOAD_LED LED_RED #define BOARD_OVERLOAD_LED LED_RED
#define BOARD_ARMED_STATE_LED LED_BLUE #define BOARD_ARMED_STATE_LED LED_BLUE
#define PX4_SPI_BUS_1 1
#define PX4_SPI_BUS_2 2
#define PX4_SPI_BUS_5 5
/*
* Define the ability to shut off off the sensor signals
* by changing the signals to inputs
*/
#define _PIN_OFF(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz))
/* Define the Chip Selects, Data Ready and Control signals per SPI bus */
/* SPI 1 CS */
#define GPIO_SPI1_CS1_ICM20602 /* PC2 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN2)
#define GPIO_SPI1_CS2_ICM20948 /* PE15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN15)
/* Define the SPI1 Data Ready interrupts */
#define GPIO_SPI1_DRDY1_ICM20602 /* PD15 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN15)
#define GPIO_SPI1_DRDY2_ICM20948 /* PE12 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTE|GPIO_PIN12)
/* SPI 2 CS */
#define GPIO_SPI2_CS1_FRAM /* PD10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN10)
#define GPIO_SPI2_CS2_BARO /* PD7 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN7)
/* SPI 5 CS */
#define GPIO_SPI5_CS1_BMI088_ACCEL /* PF6 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTF|GPIO_PIN6)
#define GPIO_SPI5_CS2_BMI088_GYRO /* PF10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTF|GPIO_PIN10)
/* SPI 5 BMI088 Data Ready interrupts */
#define GPIO_DRDY_BMI088_INT1_ACCEL /* PF1 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTF|GPIO_PIN1)
#define GPIO_DRDY_BMI088_INT2_ACCEL /* PF2 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTF|GPIO_PIN2)
#define GPIO_DRDY_BMI088_INT3_GYRO /* PF3 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTF|GPIO_PIN3)
#define GPIO_DRDY_BMI088_INT4_GYRO /* PF4 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTF|GPIO_PIN4)
/* v BEGIN Legacy SPI defines TODO: fix this with enumeration */
#define PX4_SPI_BUS_RAMTRON PX4_SPI_BUS_2
/* ^ END Legacy SPI defines TODO: fix this with enumeration */
#include <drivers/drv_sensor.h>
#define PX4_SPIDEV_ICM_20602 PX4_MK_SPI_SEL(0,DRV_IMU_DEVTYPE_ICM20602)
#define PX4_SPIDEV_ICM_20948 PX4_MK_SPI_SEL(0,DRV_DEVTYPE_UNUSED)
#define PX4_SPI_BUS_1_CS_GPIO {GPIO_SPI1_CS1_ICM20602, GPIO_SPI1_CS2_ICM20948}
#define PX4_SPIDEV_MEMORY SPIDEV_FLASH(0)
#define PX4_SPIDEV_BARO PX4_MK_SPI_SEL(0,DRV_BARO_DEVTYPE_DPS310)
#define PX4_SPI_BUS_2_CS_GPIO {GPIO_SPI2_CS1_FRAM, GPIO_SPI2_CS2_BARO}
#define PX4_SPIDEV_BMI088_ACC PX4_MK_SPI_SEL(0,DRV_ACC_DEVTYPE_BMI088)
#define PX4_SPIDEV_BMI088_GYR PX4_MK_SPI_SEL(0,DRV_GYR_DEVTYPE_BMI088)
#define PX4_SPI_BUS_5_CS_GPIO {GPIO_SPI5_CS1_BMI088_ACCEL, GPIO_SPI5_CS2_BMI088_GYRO}
/* I2C busses */
#define PX4_I2C_BUS_EXPANSION 1
#define PX4_I2C_BUS_LED PX4_I2C_BUS_EXPANSION
#define BOARD_NUMBER_I2C_BUSES 1
#define BOARD_I2C_BUS_CLOCK_INIT {100000}
/* /*
* ADC channels * ADC channels
* *

44
boards/mro/x21-777/src/board_config.h
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@ -75,50 +75,6 @@
#define GPIO_LED1 (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN12) #define GPIO_LED1 (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN12)
#define BOARD_OVERLOAD_LED LED_RED #define BOARD_OVERLOAD_LED LED_RED
/* External interrupts but on board*/
#define GPIO_EXTI_MPU_DRDY (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN15)
/* Data ready pins but on board */
#define GPIO_EXTI_ICM_2060X_DRDY (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTC|GPIO_PIN14)
/* Data ready pins off */
#define GPIO_EXTI_MPU_DRDY_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_EXTI|GPIO_PORTD|GPIO_PIN15)
#define GPIO_EXTI_ICM_2060X_DRDY_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_EXTI|GPIO_PORTC|GPIO_PIN14)
/* SPI1 off */
#define GPIO_SPI1_SCK_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN5)
#define GPIO_SPI1_MISO_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN6)
#define GPIO_SPI1_MOSI_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN7)
/* SPI1 chip selects off */
#define GPIO_SPI_CS_ICM_2060X_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN15)
#define GPIO_SPI_CS_BARO_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTD|GPIO_PIN7)
#define GPIO_SPI_CS_MPU_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN2)
/* SPI chip selects */
#define GPIO_SPI_CS_ICM_2060X (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN15)
#define GPIO_SPI_CS_BARO (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN7)
#define GPIO_SPI_CS_FRAM (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN10)
#define GPIO_SPI_CS_MPU (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN2)
#define PX4_SPI_BUS_SENSORS 1
#define PX4_SPI_BUS_RAMTRON 2
#define PX4_SPI_BUS_BARO PX4_SPI_BUS_SENSORS
/* Use these in place of the uint32_t enumeration to select a specific SPI device on SPI1 */
#include <drivers/drv_sensor.h>
#define PX4_SPIDEV_ICM_20602 PX4_MK_SPI_SEL(0, DRV_IMU_DEVTYPE_ICM20602)
#define PX4_SPIDEV_ICM_20608 PX4_MK_SPI_SEL(0, DRV_IMU_DEVTYPE_ICM20608)
#define PX4_SPIDEV_BARO PX4_MK_SPI_SEL(0, DRV_BARO_DEVTYPE_MS5611)
#define PX4_SPIDEV_MPU PX4_MK_SPI_SEL(0, DRV_IMU_DEVTYPE_MPU9250)
/* I2C busses */
/* There is no I2C2 so there is not notion of internal / external*/
#define PX4_I2C_BUS_EXPANSION 1
#define PX4_I2C_BUS_LED PX4_I2C_BUS_EXPANSION
/* /*
* ADC channels * ADC channels
* *

44
boards/mro/x21/src/board_config.h
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@ -73,50 +73,6 @@
#define GPIO_LED1 (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN12) #define GPIO_LED1 (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN12)
#define BOARD_OVERLOAD_LED LED_RED #define BOARD_OVERLOAD_LED LED_RED
/* External interrupts but on board*/
#define GPIO_EXTI_MPU_DRDY (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN15)
/* Data ready pins but on board */
#define GPIO_EXTI_ICM_2060X_DRDY (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTC|GPIO_PIN14)
/* Data ready pins off */
#define GPIO_EXTI_MPU_DRDY_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_EXTI|GPIO_PORTD|GPIO_PIN15)
#define GPIO_EXTI_ICM_2060X_DRDY_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_EXTI|GPIO_PORTC|GPIO_PIN14)
/* SPI1 off */
#define GPIO_SPI1_SCK_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN5)
#define GPIO_SPI1_MISO_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN6)
#define GPIO_SPI1_MOSI_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN7)
/* SPI1 chip selects off */
#define GPIO_SPI_CS_ICM_2060X_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN15)
#define GPIO_SPI_CS_BARO_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTD|GPIO_PIN7)
#define GPIO_SPI_CS_MPU_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN2)
/* SPI chip selects */
#define GPIO_SPI_CS_ICM_2060X (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN15)
#define GPIO_SPI_CS_BARO (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN7)
#define GPIO_SPI_CS_FRAM (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN10)
#define GPIO_SPI_CS_MPU (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN2)
#define PX4_SPI_BUS_SENSORS 1
#define PX4_SPI_BUS_RAMTRON 2
#define PX4_SPI_BUS_BARO PX4_SPI_BUS_SENSORS
/* Use these in place of the uint32_t enumeration to select a specific SPI device on SPI1 */
#include <drivers/drv_sensor.h>
#define PX4_SPIDEV_ICM_20602 PX4_MK_SPI_SEL(0, DRV_IMU_DEVTYPE_ICM20602)
#define PX4_SPIDEV_ICM_20608 PX4_MK_SPI_SEL(0, DRV_IMU_DEVTYPE_ICM20608)
#define PX4_SPIDEV_BARO PX4_MK_SPI_SEL(0, DRV_BARO_DEVTYPE_MS5611)
#define PX4_SPIDEV_MPU PX4_MK_SPI_SEL(0, DRV_IMU_DEVTYPE_MPU9250)
/* I2C busses */
/* There is no I2C2 so there is not notion of internal / external*/
#define PX4_I2C_BUS_EXPANSION 1
#define PX4_I2C_BUS_LED PX4_I2C_BUS_EXPANSION
/* /*
* ADC channels * ADC channels
* *

3
boards/mro/x21/src/init.c
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@ -279,9 +279,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
SPI_SETFREQUENCY(spi1, 10000000); SPI_SETFREQUENCY(spi1, 10000000);
SPI_SETBITS(spi1, 8); SPI_SETBITS(spi1, 8);
SPI_SETMODE(spi1, SPIDEV_MODE3); SPI_SETMODE(spi1, SPIDEV_MODE3);
SPI_SELECT(spi1, PX4_SPIDEV_ICM_20608, false);
SPI_SELECT(spi1, PX4_SPIDEV_BARO, false);
SPI_SELECT(spi1, PX4_SPIDEV_MPU, false);
up_udelay(20); up_udelay(20);
/* Get the SPI port for the FRAM */ /* Get the SPI port for the FRAM */

60
boards/nxp/fmuk66-v3/src/board_config.h
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@ -191,31 +191,6 @@ __END_DECLS
//#define GPIO_SD_CARDDETECT (GPIO_PULLUP | PIN_INT_BOTH | PIN_PORTD | PIN10) //#define GPIO_SD_CARDDETECT (GPIO_PULLUP | PIN_INT_BOTH | PIN_PORTD | PIN10)
/* SPI
*
* SD Card is on SPI 0
* FXOS8700CQ Accelerometer & Magnetometer is on SPI 1
* FXAS21002CQ Gyro is on SPI 2
*/
/* SPI Bus assignments */
#define PX4_SPI_BUS_MEMORY PX4_BUS_NUMBER_TO_PX4(0)
#define PX4_SPI_BUS_SENSORS PX4_BUS_NUMBER_TO_PX4(1)
#define PX4_SPI_BUS_EXTERNAL PX4_BUS_NUMBER_TO_PX4(2)
#define PX4_SPI_BUS_RAMTRON PX4_SPI_BUS_MEMORY
#define PX4_SPI_BUS_EXT PX4_SPI_BUS_EXTERNAL
/* SPI chip selects */
#define GPIO_SPI_CS_MEMORY (GPIO_LOWDRIVE | GPIO_OUTPUT_ONE | PIN_PORTC | PIN2)
#define GPIO_SPI_CS_FXAS21002CQ_GYRO (GPIO_LOWDRIVE | GPIO_OUTPUT_ONE | PIN_PORTB | PIN9)
#define GPIO_SPI_CS_FXOS8700CQ_ACCEL_MAG (GPIO_LOWDRIVE | GPIO_OUTPUT_ONE | PIN_PORTB | PIN10)
#define GPIO_SPI1_CS_CALMEM (GPIO_LOWDRIVE | GPIO_OUTPUT_ONE | PIN_PORTA | PIN19)
#define GPIO_SPI2_CS (GPIO_LOWDRIVE | GPIO_OUTPUT_ONE | PIN_PORTB | PIN20)
#define GPIO_SPI2_EXT (GPIO_LOWDRIVE | GPIO_OUTPUT_ONE | PIN_PORTD | PIN15)
/* SPI device reset signals /* SPI device reset signals
* In Active state * In Active state
*/ */
@ -233,41 +208,6 @@ __END_DECLS
#define GPIO_EXTI_BARO_INT1 (GPIO_PULLUP | PIN_INT_BOTH | PIN_PORTD | PIN11) #define GPIO_EXTI_BARO_INT1 (GPIO_PULLUP | PIN_INT_BOTH | PIN_PORTD | PIN11)
#define GPIO_EXTI_BARO_INT2 (GPIO_PULLUP | PIN_INT_BOTH | PIN_PORTD | PIN7) #define GPIO_EXTI_BARO_INT2 (GPIO_PULLUP | PIN_INT_BOTH | PIN_PORTD | PIN7)
/* Use these in place of the uint32_t enumeration to select a specific SPI device on SPI1 */
#include <drivers/drv_sensor.h>
#define PX4_SPIDEV_MEMORY SPIDEV_FLASH(0)
#define PX4_MEMORY_BUS_CS_GPIO {GPIO_SPI_CS_MEMORY}
#define PX4_MEMORY_BUS_FIRST_CS PX4_SPIDEV_MEMORY
#define PX4_MEMORY_BUS_LAST_CS PX4_SPIDEV_MEMORY
#define PX4_SPIDEV_ACCEL_MAG PX4_MK_SPI_SEL(0,DRV_ACC_DEVTYPE_FXOS8701C)
#define PX4_SPIDEV_GYRO PX4_MK_SPI_SEL(0,DRV_GYR_DEVTYPE_FXAS2100C)
#define PX4_SPIDEV_CALMEM PX4_MK_SPI_SEL(0,DRV_DEVTYPE_UNUSED)
#define PX4_SENSOR_BUS_CS_GPIO {GPIO_SPI_CS_FXOS8700CQ_ACCEL_MAG, GPIO_SPI_CS_FXAS21002CQ_GYRO, GPIO_SPI1_CS_CALMEM}
#define PX4_SENSOR_BUS_FIRST_CS PX4_SPIDEV_ACCEL_MAG
#define PX4_SENSOR_BUS_LAST_CS PX4_SPIDEV_CALMEM
#define PX4_SPIDEV_EXTERNAL1 PX4_MK_SPI_SEL(0,0)
#define PX4_SPIDEV_EXTERNAL2 PX4_MK_SPI_SEL(0,1)
#define PX4_EXTERNAL_BUS_CS_GPIO {GPIO_SPI2_CS, GPIO_SPI2_EXT}
#define PX4_EXTERNAL_BUS_FIRST_CS PX4_SPIDEV_EXTERNAL1
#define PX4_EXTERNAL_BUS_LAST_CS PX4_SPIDEV_EXTERNAL2
#define PX4_SPIDEV_ICM_20602 PX4_SPIDEV_EXTERNAL1
#define PX4_SPIDEV_ICM_20608 PX4_SPIDEV_EXTERNAL1
#define PX4_SPIDEV_ICM_20689 PX4_SPIDEV_EXTERNAL1
#define PX4_SPIDEV_EXT_MPU PX4_SPIDEV_EXTERNAL1
#define PX4_SPIDEV_MPU PX4_SPIDEV_EXTERNAL1
/* I2C busses */
#define PX4_I2C_BUS_ONBOARD PX4_BUS_NUMBER_TO_PX4(1)
#define PX4_I2C_BUS_EXPANSION PX4_BUS_NUMBER_TO_PX4(0)
#define PX4_I2C_BUS_LED PX4_I2C_BUS_EXPANSION
/* /*
* ADC channels * ADC channels
* *

6
boards/nxp/fmurt1062-v1/default.cmake
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@ -25,9 +25,9 @@ px4_add_board(
distance_sensor # all available distance sensor drivers distance_sensor # all available distance sensor drivers
# dshot not ported # dshot not ported
gps gps
imu/adis16448 #imu/adis16448
imu/adis16477 #imu/adis16477
imu/adis16497 #imu/adis16497
#imu # all available imu drivers #imu # all available imu drivers
imu/bmi055 imu/bmi055
imu/mpu6000 imu/mpu6000

93
boards/nxp/fmurt1062-v1/src/board_config.h
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@ -90,16 +90,6 @@
#define BOARD_OVERLOAD_LED LED_RED #define BOARD_OVERLOAD_LED LED_RED
#define BOARD_ARMED_STATE_LED LED_BLUE #define BOARD_ARMED_STATE_LED LED_BLUE
/* SENSORS are on SPI1, 3
* MEMORY is on bus SPI2
* MS5611 is on bus SPI4
*/
#define PX4_SPI_BUS_SENSORS 1
#define PX4_SPI_BUS_MEMORY 2
#define PX4_SPI_BUS_BARO 3
#define PX4_SPI_BUS_EXTERNAL1 4
/* /*
* Define the ability to shut off off the sensor signals * Define the ability to shut off off the sensor signals
* by changing the signals to inputs * by changing the signals to inputs
@ -112,24 +102,6 @@
#define CS_IOMUX (IOMUX_CMOS_OUTPUT | IOMUX_PULL_UP_100K | IOMUX_DRIVE_33OHM | IOMUX_SPEED_LOW | IOMUX_SLEW_FAST) #define CS_IOMUX (IOMUX_CMOS_OUTPUT | IOMUX_PULL_UP_100K | IOMUX_DRIVE_33OHM | IOMUX_SPEED_LOW | IOMUX_SLEW_FAST)
#define OUT_IOMUX (IOMUX_CMOS_OUTPUT | IOMUX_PULL_UP_100K | IOMUX_DRIVE_50OHM | IOMUX_SPEED_MEDIUM | IOMUX_SLEW_FAST) #define OUT_IOMUX (IOMUX_CMOS_OUTPUT | IOMUX_PULL_UP_100K | IOMUX_DRIVE_50OHM | IOMUX_SPEED_MEDIUM | IOMUX_SLEW_FAST)
/* SPI 1 CS */
#define GPIO_SPI1_CS1_ICM20689 /* GPIO_EMC_40 GPIO3_IO26 */ (GPIO_PORT3 | GPIO_PIN26 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | CS_IOMUX)
// GPIO_SPI1_CS2_ICM20602 is not wired from CPU
#define GPIO_SPI1_CS3_BMI055_GYRO /* GPIO_B1_10 GPIO2_IO26 */ (GPIO_PORT2 | GPIO_PIN26 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | CS_IOMUX)
#define GPIO_SPI1_CS4_BMI055_ACCEL /* GPIO_B1_15 GPIO2_IO31 */ (GPIO_PORT2 | GPIO_PIN31 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | CS_IOMUX)
#define SPI1_CS5_AUX_MEM /* GPIO_SD_B1_00 GPIO3_IO00 */ (GPIO_PORT3 | GPIO_PIN0 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | CS_IOMUX)
/* Define the SPI1 Data Ready interrupts */
#define DRDY_IOMUX (IOMUX_SCHMITT_TRIGGER | IOMUX_PULL_UP_47K | IOMUX_DRIVE_HIZ)
// todo add IRQ-ness!
#define GPIO_SPI1_DRDY1_ICM20689 /* GPIO_EMC_15 GPIO4_IO15 */ (GPIO_PORT4 | GPIO_PIN15 | GPIO_INPUT | DRDY_IOMUX)
#define GPIO_SPI1_DRDY2_BMI055_GYRO /* GPIO_EMC_16 GPIO4_IO16 */ (GPIO_PORT4 | GPIO_PIN16 | GPIO_INPUT | DRDY_IOMUX)
#define GPIO_SPI1_DRDY3_BMI055_ACCEL /* GPIO_EMC_37 GPIO3_IO23 */ (GPIO_PORT3 | GPIO_PIN23 | GPIO_INPUT | DRDY_IOMUX)
#define SPI1_DRDY4_ICM20602 /* GPIO_EMC_12 GPIO4_IO12 N.B . The ICM20602 CS is not wired */ (GPIO_PORT4 | GPIO_PIN12 | GPIO_INPUT | DRDY_IOMUX)
/* SPI1 off */ /* SPI1 off */
@ -141,19 +113,6 @@
#define GPIO_SPI1_MISO_OFF _PIN_OFF(_GPIO_LPSPI1_MISO) #define GPIO_SPI1_MISO_OFF _PIN_OFF(_GPIO_LPSPI1_MISO)
#define GPIO_SPI1_MOSI_OFF _PIN_OFF(_GPIO_LPSPI1_MOSI) #define GPIO_SPI1_MOSI_OFF _PIN_OFF(_GPIO_LPSPI1_MOSI)
#define GPIO_DRDY_OFF_SPI1_DRDY1_ICM20689 _PIN_OFF(GPIO_SPI1_DRDY1_ICM20689)
#define GPIO_DRDY_OFF_SPI1_DRDY2_BMI055_GYRO _PIN_OFF(GPIO_SPI1_DRDY2_BMI055_GYRO)
#define GPIO_DRDY_OFF_SPI1_DRDY3_BMI055_ACC _PIN_OFF(GPIO_SPI1_DRDY3_BMI055_ACCEL)
#define GPIO_DRDY_OFF_SPI1_DRDY4_ICM20602 _PIN_OFF(GPIO_SPI1_DRDY4_ICM20602)
/* SPI 2 CS */
#define GPIO_SPI2_CS_FRAM /* GPIO_EMC_34 G GPIO3_IO20 */ (GPIO_PORT3 | GPIO_PIN20 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | CS_IOMUX)
/* SPI 3 CS */
#define GPIO_SPI3_CS1_MS5611 /* GPIO_EMC_14 GPIO4_IO14 */ (GPIO_PORT4 | GPIO_PIN14 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | CS_IOMUX)
#define _GPIO_LPSPI3_SCK /* GPIO_AD_B1_15 GPIO1_IO27 */ (GPIO_PORT1 | GPIO_PIN31 | CS_IOMUX) #define _GPIO_LPSPI3_SCK /* GPIO_AD_B1_15 GPIO1_IO27 */ (GPIO_PORT1 | GPIO_PIN31 | CS_IOMUX)
#define _GPIO_LPSPI3_MISO /* GPIO_AD_B1_13 GPIO1_IO27 */ (GPIO_PORT1 | GPIO_PIN29 | CS_IOMUX) #define _GPIO_LPSPI3_MISO /* GPIO_AD_B1_13 GPIO1_IO27 */ (GPIO_PORT1 | GPIO_PIN29 | CS_IOMUX)
#define _GPIO_LPSPI3_MOSI /* GPIO_AD_B1_14 GPIO1_IO27 */ (GPIO_PORT1 | GPIO_PIN30 | CS_IOMUX) #define _GPIO_LPSPI3_MOSI /* GPIO_AD_B1_14 GPIO1_IO27 */ (GPIO_PORT1 | GPIO_PIN30 | CS_IOMUX)
@ -162,12 +121,6 @@
#define GPIO_SPI3_MISO_OFF _PIN_OFF(_GPIO_LPSPI3_MISO) #define GPIO_SPI3_MISO_OFF _PIN_OFF(_GPIO_LPSPI3_MISO)
#define GPIO_SPI3_MOSI_OFF _PIN_OFF(_GPIO_LPSPI3_MOSI) #define GPIO_SPI3_MOSI_OFF _PIN_OFF(_GPIO_LPSPI3_MOSI)
/* SPI 4 CS */
#define SPI4_CS1_EXTERNAL1 /* GPIO_EMC_07 GPIO4_IO07 */ (GPIO_PORT4 | GPIO_PIN7 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | CS_IOMUX)
#define SPI4_CS2_EXTERNAL1 /* GPIO_B1_14 GPIO2_IO30 */ (GPIO_PORT2 | GPIO_PIN30 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | CS_IOMUX)
#define SPI4_CS3_EXTERNAL1 /* GPIO_EMC_11 GPIO4_IO011 */ (GPIO_PORT4 | GPIO_PIN11 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | CS_IOMUX)
/* Define the SPI4 Data Ready and Control signals */ /* Define the SPI4 Data Ready and Control signals */
#define GPIO_SPI4_DRDY7_EXTERNAL1 /* GPIO_EMC_35 GPIO3_IO21*/ (GPIO_PORT3 | GPIO_PIN21 | GPIO_INPUT | DRDY_IOMUX) #define GPIO_SPI4_DRDY7_EXTERNAL1 /* GPIO_EMC_35 GPIO3_IO21*/ (GPIO_PORT3 | GPIO_PIN21 | GPIO_INPUT | DRDY_IOMUX)
@ -179,52 +132,6 @@
#define GPIO_SPI4_SYNC_EXTERNAL1_OFF _PIN_OFF(GPIO_SPI4_SYNC_EXTERNAL1) #define GPIO_SPI4_SYNC_EXTERNAL1_OFF _PIN_OFF(GPIO_SPI4_SYNC_EXTERNAL1)
/* v BEGIN Legacy SPI defines TODO: fix this with enumeration */
#define PX4_SPI_BUS_RAMTRON PX4_SPI_BUS_MEMORY
#define PX4_SPIDEV_BMA 0
#define PX4_SPIDEV_BMI 0
/* ^ END Legacy SPI defines TODO: fix this with enumeration */
#include <drivers/drv_sensor.h>
#define PX4_SPIDEV_ICM_20689 PX4_MK_SPI_SEL(0,DRV_IMU_DEVTYPE_ICM20689)
#define PX4_SPIDEV_BMI055_GYR PX4_MK_SPI_SEL(0,DRV_GYR_DEVTYPE_BMI055)
#define PX4_SPIDEV_BMI055_ACC PX4_MK_SPI_SEL(0,DRV_ACC_DEVTYPE_BMI055)
#define PX4_SPIDEV_AUX_MEM PX4_MK_SPI_SEL(0,DRV_DEVTYPE_UNUSED)
#define PX4_SENSOR_BUS_CS_GPIO {GPIO_SPI1_CS1_ICM20689, GPIO_SPI1_CS3_BMI055_GYRO, GPIO_SPI1_CS4_BMI055_ACCEL, SPI1_CS5_AUX_MEM}
#define PX4_SENSORS_BUS_FIRST_CS PX4_SPIDEV_ICM_20689
#define PX4_SENSORS_BUS_LAST_CS PX4_SPIDEV_AUX_MEM
#define PX4_SPIDEV_MEMORY SPIDEV_FLASH(0)
#define PX4_MEMORY_BUS_CS_GPIO {GPIO_SPI2_CS_FRAM}
#define PX4_MEMORY_BUS_FIRST_CS PX4_SPIDEV_MEMORY
#define PX4_MEMORY_BUS_LAST_CS PX4_SPIDEV_MEMORY
#define PX4_SPIDEV_BARO PX4_MK_SPI_SEL(0,DRV_BARO_DEVTYPE_MS5611)
#define PX4_BARO_BUS_CS_GPIO {GPIO_SPI3_CS1_MS5611}
#define PX4_BARO_BUS_FIRST_CS PX4_SPIDEV_BARO
#define PX4_BARO_BUS_LAST_CS PX4_SPIDEV_BARO
#define PX4_SPIDEV_EXTERNAL1_1 PX4_MK_SPI_SEL(0,0)
#define PX4_SPIDEV_EXTERNAL1_2 PX4_MK_SPI_SEL(0,1)
#define PX4_SPIDEV_EXTERNAL1_3 PX4_MK_SPI_SEL(0,2)
#define PX4_EXTERNAL1_BUS_CS_GPIO {SPI4_CS1_EXTERNAL1, SPI4_CS2_EXTERNAL1, SPI4_CS3_EXTERNAL1}
#define PX4_EXTERNAL1_BUS_FIRST_CS PX4_SPIDEV_EXTERNAL1_1
#define PX4_EXTERNAL1_BUS_LAST_CS PX4_SPIDEV_EXTERNAL1_3
/* I2C busses */
#define PX4_I2C_BUS_EXPANSION 1
#define PX4_I2C_BUS_EXPANSION1 2
#define PX4_I2C_BUS_ONBOARD 3
#define PX4_I2C_BUS_LED PX4_I2C_BUS_EXPANSION
#define BOARD_NUMBER_I2C_BUSES 3
#define BOARD_I2C_BUS_CLOCK_INIT {100000, 100000, 100000}
#define ADC_IOMUX (IOMUX_CMOS_INPUT | IOMUX_PULL_NONE | IOMUX_DRIVE_HIZ) #define ADC_IOMUX (IOMUX_CMOS_INPUT | IOMUX_PULL_NONE | IOMUX_DRIVE_HIZ)
#define ADC1_CH(n) (n) #define ADC1_CH(n) (n)

1
boards/nxp/rddrone-uavcan146/src/CMakeLists.txt
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@ -37,6 +37,7 @@ add_library(drivers_board
bringup.c bringup.c
buttons.c buttons.c
clockconfig.c clockconfig.c
i2c.cpp
init.c init.c
periphclocks.c periphclocks.c
spi.c spi.c

4
boards/nxp/rddrone-uavcan146/src/board_config.h
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@ -94,10 +94,6 @@ __BEGIN_DECLS
#define NUM_OF_PERIPHERAL_CLOCKS_0 15 #define NUM_OF_PERIPHERAL_CLOCKS_0 15
/* I2C busses */
#define PX4_I2C_BUS_ONBOARD PX4_BUS_NUMBER_TO_PX4(1)
#define PX4_I2C_BUS_EXPANSION PX4_BUS_NUMBER_TO_PX4(0)
/**************************************************************************** /****************************************************************************
* Public Types * Public Types

40
boards/nxp/rddrone-uavcan146/src/i2c.cpp
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@ -0,0 +1,40 @@
/****************************************************************************
*
* Copyright (C) 2020 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include <px4_arch/i2c_hw_description.h>
constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
initI2CBusInternal(PX4_BUS_NUMBER_TO_PX4(1)),
initI2CBusExternal(PX4_BUS_NUMBER_TO_PX4(0)),
};

81
boards/omnibus/f4sd/src/board_config.h
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@ -108,93 +108,12 @@
//#define GPIO_GPIO4_OUTPUT _MK_GPIO_OUTPUT(GPIO_TIM5_CH2OUT) //#define GPIO_GPIO4_OUTPUT _MK_GPIO_OUTPUT(GPIO_TIM5_CH2OUT)
//#define GPIO_GPIO5_OUTPUT _MK_GPIO_OUTPUT(GPIO_TIM1_CH1OUT) //#define GPIO_GPIO5_OUTPUT _MK_GPIO_OUTPUT(GPIO_TIM1_CH1OUT)
/*----------------------------------------------------------*/
/* OMNIBUSF4SD SPI chip selects and DRDY */
/*----------------------------------------------------------*/
#include <drivers/drv_sensor.h>
/* SPI chip selects */
/*
* Define the Chip Selects for SPI1
*
* MPU6000: PA4
*
*/
#define GPIO_SPI_CS_MEMS (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN4)
/*
* Define the Chip Selects for SPI2
*
* SD Card: PB12
*
*/
#define GPIO_SPI_CS_SDCARD (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN12)
/*
* Define the Chip Selects for SPI3
*
* BMP280: PB3
* ABT7456: PA15
*
*/
#define GPIO_SPI3_CS_BARO (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN3)
#define GPIO_SPI3_CS_OSD (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN15)
/*
* Define the ability to shut off off the sensor signals
* by changing the signals to inputs
*/
#define _PIN_OFF(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz))
/* SPI 1 bus off */
#define GPIO_SPI1_SCK_OFF _PIN_OFF(GPIO_SPI1_SCK)
#define GPIO_SPI1_MISO_OFF _PIN_OFF(GPIO_SPI1_MISO)
#define GPIO_SPI1_MOSI_OFF _PIN_OFF(GPIO_SPI1_MOSI)
/* SPI 1 CS's off */
#define GPIO_SPI1_CS_MEMS_OFF _PIN_OFF(GPIO_SPI_CS_MEMS)
/* SPI 2 bus off */
#define GPIO_SPI2_SCK_OFF _PIN_OFF(GPIO_SPI2_SCK)
#define GPIO_SPI2_MISO_OFF _PIN_OFF(GPIO_SPI2_MISO)
#define GPIO_SPI2_MOSI_OFF _PIN_OFF(GPIO_SPI2_MOSI)
/* SPI 2 CS's off */
#define GPIO_SPI2_CS_SDCARD_OFF _PIN_OFF(GPIO_SPI_CS_SDCARD)
/* SPI 3 bus off */
#define GPIO_SPI3_SCK_OFF _PIN_OFF(GPIO_SPI3_SCK)
#define GPIO_SPI3_MISO_OFF _PIN_OFF(GPIO_SPI3_MISO)
#define GPIO_SPI3_MOSI_OFF _PIN_OFF(GPIO_SPI3_MOSI)
/* SPI 3 CS's off */
#define GPIO_SPI3_CS_BARO_OFF _PIN_OFF(GPIO_SPI3_CS_BARO)
#define GPIO_SPI3_CS_OSD_OFF _PIN_OFF(GPIO_SPI3_CS_OSD)
// One device per bus
#define PX4_SPI_BUS_SENSORS 1
#define PX4_SPIDEV_MPU PX4_MK_SPI_SEL(0, DRV_IMU_DEVTYPE_MPU6000)
#define PX4_SPIDEV_ICM_20602 PX4_MK_SPI_SEL(0, DRV_IMU_DEVTYPE_ICM20602)
#define PX4_SPIDEV_BARO_BUS 3
#define PX4_SPIDEV_BARO PX4_MK_SPI_SEL(0, DRV_BARO_DEVTYPE_BMP280)
#define PX4_SPIDEV_OSD PX4_MK_SPI_SEL(0, DRV_OSD_DEVTYPE_ATXXXX)
/* USB OTG FS /* USB OTG FS
* *
* PA9 OTG_FS_VBUS VBUS sensing * PA9 OTG_FS_VBUS VBUS sensing
*/ */
#define GPIO_OTGFS_VBUS (GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_100MHz|GPIO_OPENDRAIN|GPIO_PORTC|GPIO_PIN5) #define GPIO_OTGFS_VBUS (GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_100MHz|GPIO_OPENDRAIN|GPIO_PORTC|GPIO_PIN5)
/*----------------------------------------------------------*/
/* End OMNIBUSF4SD SPI chip selects and DRDY */
/*----------------------------------------------------------*/
#define PX4_SPI_BUS_BARO 3
#define PX4_SPI_BUS_OSD 3
#define PX4_I2C_BUS_EXPANSION 2
#define PX4_I2C_BUS_LED PX4_I2C_BUS_EXPANSION
/* PWM /* PWM
* *
* Alternatively CH3/CH4 could be assigned to UART6_TX/RX * Alternatively CH3/CH4 could be assigned to UART6_TX/RX

2
boards/omnibus/f4sd/src/init.c
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@ -284,7 +284,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
SPI_SETFREQUENCY(spi1, 10000000); SPI_SETFREQUENCY(spi1, 10000000);
SPI_SETBITS(spi1, 8); SPI_SETBITS(spi1, 8);
SPI_SETMODE(spi1, SPIDEV_MODE3); SPI_SETMODE(spi1, SPIDEV_MODE3);
SPI_SELECT(spi1, PX4_SPIDEV_MPU, false);
up_udelay(20); up_udelay(20);
// SPI2: SDCard // SPI2: SDCard
@ -327,7 +326,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
SPI_SETFREQUENCY(spi3, 10 * 1000 * 1000); SPI_SETFREQUENCY(spi3, 10 * 1000 * 1000);
SPI_SETBITS(spi3, 8); SPI_SETBITS(spi3, 8);
SPI_SETMODE(spi3, SPIDEV_MODE3); SPI_SETMODE(spi3, SPIDEV_MODE3);
SPI_SELECT(spi3, PX4_SPIDEV_BARO, false);
up_udelay(20); up_udelay(20);
#if defined(FLASH_BASED_PARAMS) #if defined(FLASH_BASED_PARAMS)

261
boards/px4/fmu-v2/src/board_config.h
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@ -88,271 +88,12 @@
#define GPIO_LED1 (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN12) #define GPIO_LED1 (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN12)
#define BOARD_OVERLOAD_LED LED_AMBER #define BOARD_OVERLOAD_LED LED_AMBER
#include <drivers/drv_sensor.h>
/* Due to inconsistent use of chip select and dry signal on
* different board that use this build. We are defining the GPIO
* inclusive of the SPI port and GPIO to help identify pins the
* are part of the sensor Net's controlled by different power
* domains.
*
* Only the GPIO_SPIb_xxx_Ppi will be used in the code to insure this are no
* cross connections.
*
* --------------- SPI1 -------------------- SPI4 -------------- Incompatibilities ---------
* FMUv2: FmuV3 Cube PixhawkMini
* Power Domain: VDD_3V3_SENSORS_EN nVDD_5V_PERIPH_EN V3V:SPI1&SPI4 V3V:SPI1 No SPI4
* PA5 SPI_INT_SCK
* PA6 SPI_INT_MISO
* PA7 SPI_INT_MOSI
* PB0 GYRO_DRDY SPI4:EXTERN_DRDY NC
* PB1 MAG_DRDY +SPI4:nEXTERN_CS NC
* PB4 ACCEL_DRDY NC NC
* PC1 Spare ADC ( NC ) +SPI1:SPI_INT_MAG_!CS
* PC2 nMPU_CS @MPU6000|MPU9250 @MPU9250
* PC13 nGYRO_CS SPI4:nGYRO_EXT_CS NC
* PC14 GPIO_EXT_1 nBARO_EXT_CS -20608_DRDY
* PC15 nACCEL_MAG_CS SPI4:nACCEL_MAG_EXT_CS 20608_CS
* PD7 nBARO_CS
* PD15 nMPU_DRDY @MPU6000|MPU9250 @MPU9250
* PE2 SPI_EXT_SCK NC
* PE4 nSPI_EXT_NSS SPI4:nMPU_EXT_CS NC
* PE5 SPI_EXT_MISO NC
* PE6 SPI_EXT_MOSI NC
*
* Notes: Prefixed with @ Does not effect board control
* Prefixed with + Input used as Output
* Prefixed with - Output used as Input
* Prefixed with SPIn: Bus changed
*
* The board API provides for mechanism to perform a SPI bus reset.
* To facilitate a SPI bus reset
*
* 1) All the pins: SPIn, CD, DRDY associated with the SPI bus are turned to inputs
* with outputs driven low. (OFFIng)
* 2) The power domain of that bus is turned off.
* 3) A usleep it done for ms.
* 4) The power domain of that bus is turned back on.
* 5) The SPIn pins are re-initialized.
* 6) The SPI CS, DRDY pins are re-initialized.
*
* To insure the complete net is de-energized and is not bing back fed, it is important to
* note the all signals in the net list of the parts/bus.
*
* I.E. Not OFFIng PC1 on V3 would leave that pin back feeding the HMC part. As would not
* OFFIng PE4, not associated with SPI1 on V2, but would back feed an MPUxxxx on V3
*
*/
/*----------------------------------------------------------*/
/* FMUv2 SPI chip selects and DRDY */
/*----------------------------------------------------------*/
/* FMUv2 SPI1 chip selects */
/* PC1 Spare ADC IN10 */
#define GPIO_SPI1_CS_PC2 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN2)
#define GPIO_SPI1_CS_PC13 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN13)
#define GPIO_SPI1_CS_PC15 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN15)
#define GPIO_SPI1_CS_PD7 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN7)
/* FMUv2 SPI2 chip selects */
#define GPIO_SPI2_CS_PD10 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN10)
/* FMUv2 SPI4 chip selects */
#define GPIO_SPI4_GPIO_PC14 /* !V2M */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN14)
#define GPIO_SPI4_NSS_PE4 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN4)
/* FMUv2 SPI1 chip selects Assignments */
#define GPIO_SPI1_CS_MPU GPIO_SPI1_CS_PC2
#define GPIO_SPI1_CS_GYRO GPIO_SPI1_CS_PC13
#define GPIO_SPI1_CS_ACCEL_MAG GPIO_SPI1_CS_PC15
#define GPIO_SPI1_CS_BARO GPIO_SPI1_CS_PD7
/* FMUv2 SPI2 chip selects Assignments */
#define GPIO_SPI2_CS_FRAM GPIO_SPI2_CS_PD10
/* FMUv2 SPI4 chip selects Assignments */
#define GPIO_SPI4_GPIO_EXT GPIO_SPI4_GPIO_PC14
#define GPIO_SPI4_EXT_NSS GPIO_SPI4_NSS_PE4
/* FMUv2 DRDY */
#define GPIO_SPI1_EXTI_DRDY_PB0 (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN0)
#define GPIO_SPI1_EXTI_DRDY_PB1 /*!V3 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN1)
#define GPIO_SPI1_EXTI_DRDY_PB4 (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN4) #define GPIO_SPI1_EXTI_DRDY_PB4 (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN4)
#define GPIO_SPI1_EXTI_DRDY_PD15 (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN15)
/* FMUv2 DRDY Assignments */
#define GPIO_SPI1_EXTI_GYRO_DRDY GPIO_SPI1_EXTI_DRDY_PB0
#define GPIO_SPI1_EXTI_MAG_DRDY GPIO_SPI1_EXTI_DRDY_PB1
#define GPIO_SPI1_EXTI_ACCEL_DRDY GPIO_SPI1_EXTI_DRDY_PB4
#define GPIO_SPI1_EXTI_MPU_DRDY GPIO_SPI1_EXTI_DRDY_PD15
/*----------------------------------------------------------*/
/* End FMUv2 SPI chip selects and DRDY */
/*----------------------------------------------------------*/
#define PX4_SPI_BUS_SENSORS 1
#define PX4_SPI_BUS_RAMTRON 2
#define PX4_SPI_BUS_EXT 4
#define PX4_SPI_BUS_BARO PX4_SPI_BUS_SENSORS
/* Use these to select a specific SPI device on SPI1 */ #define BOARD_SPI_BUS_MAX_BUS_ITEMS 3
#define PX4_SPIDEV_GYRO PX4_MK_SPI_SEL(0, DRV_GYR_DEVTYPE_L3GD20)
#define PX4_SPIDEV_ACCEL_MAG PX4_MK_SPI_SEL(0, DRV_ACC_DEVTYPE_LSM303D)
#define PX4_SPIDEV_BARO PX4_MK_SPI_SEL(0, DRV_BARO_DEVTYPE_MS5611)
#define PX4_SPIDEV_MPU PX4_MK_SPI_SEL(0, DRV_IMU_DEVTYPE_MPU6000)
/* FMUv3 SPI on external bus */
#define PX4_SPIDEV_EXT_GYRO PX4_MK_SPI_SEL(0, DRV_GYR_DEVTYPE_L3GD20)
#define PX4_SPIDEV_EXT_ACCEL_MAG PX4_MK_SPI_SEL(0, DRV_ACC_DEVTYPE_LSM303D)
#define PX4_SPIDEV_EXT_BARO PX4_MK_SPI_SEL(0, DRV_BARO_DEVTYPE_MS5611)
#define PX4_SPIDEV_EXT_MPU PX4_MK_SPI_SEL(0, DRV_IMU_DEVTYPE_MPU6000)
#define PX4_SPIDEV_EXT_BMI PX4_MK_SPI_SEL(0, DRV_GYR_DEVTYPE_BMI055)
/* I2C busses */ /* I2C busses */
#define BOARD_OVERRIDE_I2C_BUS_EXTERNAL #define BOARD_OVERRIDE_I2C_BUS_EXTERNAL
#define PX4_I2C_BUS_EXPANSION 1
#define PX4_I2C_BUS_ONBOARD 2
#define PX4_I2C_BUS_LED PX4_I2C_BUS_ONBOARD
#define BOARD_SPI_BUS_MAX_BUS_ITEMS 3
/*----------------------------------------------------------*/
/* FMUv3 Cube SPI chip selects and DRDY */
/*----------------------------------------------------------*/
/* Due to inconsistent use of chip select and dry signal on
* different board that use this build. We are defining the GPIO
* inclusive of the SPI port and GPIO to help identify pins the
* are part of the sensor Net's controlled by different power
* domains.
*
* --------------- SPI1 -------------------- SPI4 -------------- Incompatibilities ---------
* FMUv3 Cube: FmuV2 PixhawkMini
* Power Domain: VDD_3V3_SENSORS_EN NA V3V:SPI V5:SPI4 V3V:SPI1 No SPI4
* PA5 SPI_INT_SCK
* PA6 SPI_INT_MISO
* PA7 SPI_INT_MOSI
* PB0 EXTERN_DRDY SPI1:GYRO_DRDY NC
* PB1 MAG_DRDY nEXTERN_CS -SPI1:MAG_DRDY NC
* PB4 NC SPI1:ACCEL_DRDY NC
* PC1 SPI_INT_MAG_!CS -ADC1_IN11 NC
* PC2 nMPU_CS @MPU6000 @MPU9250
* PC13 nGYRO_EXT_CS SPI1:nGYRO_CS NC
* PC14 nBARO_EXT_CS GPIO_EXT_1 -20608_DRDY
* PC15 nACCEL_MAG_EXT_CS SPI1:nACCEL_MAG_CS 20608_CS
* PD7 nBARO_CS
* PD15 nMPU_DRDY @MPU6000 @MPU9250
* PE2 SPI_EXT_SCK NC
* PE4 MPU_EXT_CS SPI4:nSPI_EXT_NSS NC
* PE5 SPI_EXT_MISO NC
* PE6 SPI_EXT_MOSI NC
*
*
* Notes: Prefixed with @ Does not effect board control
* Prefixed with + Input used as Output
* Prefixed with - Output used as Input
* Prefixed with SPIn: Bus changed
*
*/
/* FMUv3 Cube SPI1 chip selects */
/* Was a spare ACD IN10 on V2 */
#define GPIO_SPI1_CS_PC1 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN1)
#define GPIO_SPI4_CS_PB1 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN1)
#define GPIO_SPI4_CS_PC13 GPIO_SPI1_CS_PC13
#define GPIO_SPI4_CS_PC14 GPIO_SPI4_GPIO_PC14
#define GPIO_SPI4_CS_PC15 GPIO_SPI1_CS_PC15
/* FMUv3 Cube chip selects Assignments */
/* Cube 2.0 V2.1 */
#define GPIO_SPI1_CS_MPU GPIO_SPI1_CS_PC2 /* MPU600 MPU9250 */
#define GPIO_SPI1_CS_BARO GPIO_SPI1_CS_PD7 /* MS5611 MS5611 */
#define GPIO_SPI1_CS_HMC GPIO_SPI1_CS_PC1 /* HMC5983 Removed */
/* N.B. bus moves from SPI1 to SPI4 */
#define GPIO_SPI4_GYRO_EXT_CS GPIO_SPI4_CS_PC13
#define GPIO_SPI4_BARO_EXT_CS GPIO_SPI4_CS_PC14
#define GPIO_SPI4_ACCEL_MAG_EXT_CS GPIO_SPI4_CS_PC15
/* No move */
#define GPIO_SPI4_MPU_EXT_CS GPIO_SPI4_NSS_PE4
/* FMUv3 DRDY Assignments */
#define GPIO_SPI4_EXTI_DRDY_PB0 GPIO_SPI1_EXTI_DRDY_PB0
#define GPIO_SPI4_EXTI_EXTERN_DRDY GPIO_SPI4_EXTI_DRDY_PB0
#define GPIO_SPI4_EXTERN_CS GPIO_SPI4_CS_PB1
/* PB1 is an External CS on V3 */
#define PX4_SPIDEV_HMC PX4_MK_SPI_SEL(0, DRV_MAG_DEVTYPE_HMC5883)
/*----------------------------------------------------------*/
/* End FMUv3 Cube SPI chip selects and DRDY */
/*----------------------------------------------------------*/
/*----------------------------------------------------------*/
/* Due to inconsistent use of chip select and dry signal on
* different board that use this build. We are defining the GPIO
* inclusive of the SPI port and GPIO to help identify pins the
* are part of the sensor Net's controlled by different power
* domains.
*
* --------------- SPI1 -------------------- SPI4 -------------- Incompatibilities ---------
* FMUv2 Pixhawk Mini FmuV2 FmuV3 Cube
* Power Domain: VDD_3V3_SENSORS_EN NA V3V:SPI V5:SPI4 V3V:SPI1&SPI4
* PA5 SPI_INT_SCK
* PA6 SPI_INT_MISO
* PA7 SPI_INT_MOSI
* PB0 NC SPI1:GYRO_DRDY SPI4:EXTERN_DRDY
* PB1 NC -SPI1:MAG_DRDY +SPI4:nEXTERN_CS
* PB4 NC SPI1:ACCEL_DRDY NC
* PC1 Spare ADC ( NC ) +SPI1:SPI_INT_MAG_!CS
* PC2 nMPU_CS @MPU6000 @MPU6000|MPU9250
* PC13 NC SPI1:nGYRO_CS SPI4:nGYRO_EXT_CS
* PC14 20608_DRDY +GPIO_EXT_1 nBARO_EXT_CS
* PC15 20608_CS nACCEL_MAG_CS SPI4:nACCEL_MAG_EXT_CS
* PD7 nBARO_CS
* PD15 nMPU_DRDY @MPU6000 @MPU6000|MPU9250
* PE2 NC SPI_EXT_SCK SPI_EXT_SCK
* PE4 NC SPI4:nSPI_EXT_NSS SPI4:nMPU_EXT_CS
* PE5 NC SPI_EXT_MISO SPI_EXT_MISO
* PE6 NC SPI_EXT_MOSI SPI_EXT_MOSI
*
* Notes: Prefixed with @ Does not effect board control
* Prefixed with + Input used as Output
* Prefixed with - Output used as Input
* Prefixed with SPIn: Bus changed
*
*/
/*----------------------------------------------------------*/
/* FMUv2 PixhawkMini SPI chip selects and DRDY */
/*----------------------------------------------------------*/
/* FMUv2 PixhawkMini SPI1 chip selects */
/* FMUv3 Cube chip selects Assignments */
#define GPIO_SPI1_CS_MPU GPIO_SPI1_CS_PC2 /* MPU9250 */
#define GPIO_SPI1_CS_BARO GPIO_SPI1_CS_PD7 /* MS5611 */
#define GPIO_SPI1_CS_20608 GPIO_SPI1_CS_PC15 /* ICM20608 */
/* FMUv3 DRDY Assignments */
/* Pixhawk mini has reused the PC14 GPIO_SPI_CS_EXT1 signal that was associated
* with SPI4.
*/
#define GPIO_SPI1_EXTI_20608_DRDY_PC14 (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTC|GPIO_PIN14)
#define PX4_SPIDEV_ICM_20608 PX4_MK_SPI_SEL(0, DRV_IMU_DEVTYPE_ICM20608)
/* /*
* ADC channels * ADC channels

110
boards/px4/fmu-v2/src/spi.cpp
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@ -35,6 +35,116 @@
#include <px4_arch/spi_hw_description.h> #include <px4_arch/spi_hw_description.h>
#include <drivers/drv_sensor.h> #include <drivers/drv_sensor.h>
/* Due to inconsistent use of chip select and data ready signal on
* different board that use this build, we are using different
* versions.
*
* --------------- SPI1 -------------------- SPI4 -------------- Incompatibilities ---------
* FMUv2: FmuV3 Cube PixhawkMini
* Power Domain: VDD_3V3_SENSORS_EN nVDD_5V_PERIPH_EN V3V:SPI1&SPI4 V3V:SPI1 No SPI4
* PA5 SPI_INT_SCK
* PA6 SPI_INT_MISO
* PA7 SPI_INT_MOSI
* PB0 GYRO_DRDY SPI4:EXTERN_DRDY NC
* PB1 MAG_DRDY +SPI4:nEXTERN_CS NC
* PB4 ACCEL_DRDY NC NC
* PC1 Spare ADC ( NC ) +SPI1:SPI_INT_MAG_!CS
* PC2 nMPU_CS @MPU6000|MPU9250 @MPU9250
* PC13 nGYRO_CS SPI4:nGYRO_EXT_CS NC
* PC14 GPIO_EXT_1 nBARO_EXT_CS -20608_DRDY
* PC15 nACCEL_MAG_CS SPI4:nACCEL_MAG_EXT_CS 20608_CS
* PD7 nBARO_CS
* PD15 nMPU_DRDY @MPU6000|MPU9250 @MPU9250
* PE2 SPI_EXT_SCK NC
* PE4 nSPI_EXT_NSS SPI4:nMPU_EXT_CS NC
* PE5 SPI_EXT_MISO NC
* PE6 SPI_EXT_MOSI NC
*
* Notes: Prefixed with @ Does not effect board control
* Prefixed with + Input used as Output
* Prefixed with - Output used as Input
* Prefixed with SPIn: Bus changed
*
* The board API provides for mechanism to perform a SPI bus reset.
* To facilitate a SPI bus reset
*
* 1) All the pins: SPIn, CD, DRDY associated with the SPI bus are turned to inputs
* with outputs driven low. (OFFIng)
* 2) The power domain of that bus is turned off.
* 3) A usleep it done for ms.
* 4) The power domain of that bus is turned back on.
* 5) The SPIn pins are re-initialized.
* 6) The SPI CS, DRDY pins are re-initialized.
*
* To insure the complete net is de-energized and is not bing back fed, it is important to
* note the all signals in the net list of the parts/bus.
*
* I.E. Not OFFIng PC1 on V3 would leave that pin back feeding the HMC part. As would not
* OFFIng PE4, not associated with SPI1 on V2, but would back feed an MPUxxxx on V3
*
*/
/*
*
* --------------- SPI1 -------------------- SPI4 -------------- Incompatibilities ---------
* FMUv3 Cube: FmuV2 PixhawkMini
* Power Domain: VDD_3V3_SENSORS_EN NA V3V:SPI V5:SPI4 V3V:SPI1 No SPI4
* PA5 SPI_INT_SCK
* PA6 SPI_INT_MISO
* PA7 SPI_INT_MOSI
* PB0 EXTERN_DRDY SPI1:GYRO_DRDY NC
* PB1 MAG_DRDY nEXTERN_CS -SPI1:MAG_DRDY NC
* PB4 NC SPI1:ACCEL_DRDY NC
* PC1 SPI_INT_MAG_!CS -ADC1_IN11 NC
* PC2 nMPU_CS @MPU6000 @MPU9250
* PC13 nGYRO_EXT_CS SPI1:nGYRO_CS NC
* PC14 nBARO_EXT_CS GPIO_EXT_1 -20608_DRDY
* PC15 nACCEL_MAG_EXT_CS SPI1:nACCEL_MAG_CS 20608_CS
* PD7 nBARO_CS
* PD15 nMPU_DRDY @MPU6000 @MPU9250
* PE2 SPI_EXT_SCK NC
* PE4 MPU_EXT_CS SPI4:nSPI_EXT_NSS NC
* PE5 SPI_EXT_MISO NC
* PE6 SPI_EXT_MOSI NC
*
*
* Notes: Prefixed with @ Does not effect board control
* Prefixed with + Input used as Output
* Prefixed with - Output used as Input
* Prefixed with SPIn: Bus changed
*
*/
/*----------------------------------------------------------*/
/*
* --------------- SPI1 -------------------- SPI4 -------------- Incompatibilities ---------
* FMUv2 Pixhawk Mini FmuV2 FmuV3 Cube
* Power Domain: VDD_3V3_SENSORS_EN NA V3V:SPI V5:SPI4 V3V:SPI1&SPI4
* PA5 SPI_INT_SCK
* PA6 SPI_INT_MISO
* PA7 SPI_INT_MOSI
* PB0 NC SPI1:GYRO_DRDY SPI4:EXTERN_DRDY
* PB1 NC -SPI1:MAG_DRDY +SPI4:nEXTERN_CS
* PB4 NC SPI1:ACCEL_DRDY NC
* PC1 Spare ADC ( NC ) +SPI1:SPI_INT_MAG_!CS
* PC2 nMPU_CS @MPU6000 @MPU6000|MPU9250
* PC13 NC SPI1:nGYRO_CS SPI4:nGYRO_EXT_CS
* PC14 20608_DRDY +GPIO_EXT_1 nBARO_EXT_CS
* PC15 20608_CS nACCEL_MAG_CS SPI4:nACCEL_MAG_EXT_CS
* PD7 nBARO_CS
* PD15 nMPU_DRDY @MPU6000 @MPU6000|MPU9250
* PE2 NC SPI_EXT_SCK SPI_EXT_SCK
* PE4 NC SPI4:nSPI_EXT_NSS SPI4:nMPU_EXT_CS
* PE5 NC SPI_EXT_MISO SPI_EXT_MISO
* PE6 NC SPI_EXT_MOSI SPI_EXT_MOSI
*
* Notes: Prefixed with @ Does not effect board control
* Prefixed with + Input used as Output
* Prefixed with - Output used as Input
* Prefixed with SPIn: Bus changed
*
*/
constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSIONS] = { constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSIONS] = {
initSPIHWVersion(HW_VER_FMUV2, { initSPIHWVersion(HW_VER_FMUV2, {
initSPIBus(SPI::Bus::SPI1, { initSPIBus(SPI::Bus::SPI1, {

261
boards/px4/fmu-v3/src/board_config.h
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@ -88,271 +88,12 @@
#define GPIO_LED1 (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN12) #define GPIO_LED1 (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN12)
#define BOARD_OVERLOAD_LED LED_AMBER #define BOARD_OVERLOAD_LED LED_AMBER
#include <drivers/drv_sensor.h>
/* Due to inconsistent use of chip select and dry signal on
* different board that use this build. We are defining the GPIO
* inclusive of the SPI port and GPIO to help identify pins the
* are part of the sensor Net's controlled by different power
* domains.
*
* Only the GPIO_SPIb_xxx_Ppi will be used in the code to insure this are no
* cross connections.
*
* --------------- SPI1 -------------------- SPI4 -------------- Incompatibilities ---------
* FMUv2: FmuV3 Cube PixhawkMini
* Power Domain: VDD_3V3_SENSORS_EN nVDD_5V_PERIPH_EN V3V:SPI1&SPI4 V3V:SPI1 No SPI4
* PA5 SPI_INT_SCK
* PA6 SPI_INT_MISO
* PA7 SPI_INT_MOSI
* PB0 GYRO_DRDY SPI4:EXTERN_DRDY NC
* PB1 MAG_DRDY +SPI4:nEXTERN_CS NC
* PB4 ACCEL_DRDY NC NC
* PC1 Spare ADC ( NC ) +SPI1:SPI_INT_MAG_!CS
* PC2 nMPU_CS @MPU6000|MPU9250 @MPU9250
* PC13 nGYRO_CS SPI4:nGYRO_EXT_CS NC
* PC14 GPIO_EXT_1 nBARO_EXT_CS -20608_DRDY
* PC15 nACCEL_MAG_CS SPI4:nACCEL_MAG_EXT_CS 20608_CS
* PD7 nBARO_CS
* PD15 nMPU_DRDY @MPU6000|MPU9250 @MPU9250
* PE2 SPI_EXT_SCK NC
* PE4 nSPI_EXT_NSS SPI4:nMPU_EXT_CS NC
* PE5 SPI_EXT_MISO NC
* PE6 SPI_EXT_MOSI NC
*
* Notes: Prefixed with @ Does not effect board control
* Prefixed with + Input used as Output
* Prefixed with - Output used as Input
* Prefixed with SPIn: Bus changed
*
* The board API provides for mechanism to perform a SPI bus reset.
* To facilitate a SPI bus reset
*
* 1) All the pins: SPIn, CD, DRDY associated with the SPI bus are turned to inputs
* with outputs driven low. (OFFIng)
* 2) The power domain of that bus is turned off.
* 3) A usleep it done for ms.
* 4) The power domain of that bus is turned back on.
* 5) The SPIn pins are re-initialized.
* 6) The SPI CS, DRDY pins are re-initialized.
*
* To insure the complete net is de-energized and is not bing back fed, it is important to
* note the all signals in the net list of the parts/bus.
*
* I.E. Not OFFIng PC1 on V3 would leave that pin back feeding the HMC part. As would not
* OFFIng PE4, not associated with SPI1 on V2, but would back feed an MPUxxxx on V3
*
*/
/*----------------------------------------------------------*/
/* FMUv2 SPI chip selects and DRDY */
/*----------------------------------------------------------*/
/* FMUv2 SPI1 chip selects */
/* PC1 Spare ADC IN10 */
#define GPIO_SPI1_CS_PC2 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN2)
#define GPIO_SPI1_CS_PC13 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN13)
#define GPIO_SPI1_CS_PC15 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN15)
#define GPIO_SPI1_CS_PD7 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN7)
/* FMUv2 SPI2 chip selects */
#define GPIO_SPI2_CS_PD10 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN10)
/* FMUv2 SPI4 chip selects */
#define GPIO_SPI4_GPIO_PC14 /* !V2M */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN14)
#define GPIO_SPI4_NSS_PE4 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN4)
/* FMUv2 SPI1 chip selects Assignments */
#define GPIO_SPI1_CS_MPU GPIO_SPI1_CS_PC2
#define GPIO_SPI1_CS_GYRO GPIO_SPI1_CS_PC13
#define GPIO_SPI1_CS_ACCEL_MAG GPIO_SPI1_CS_PC15
#define GPIO_SPI1_CS_BARO GPIO_SPI1_CS_PD7
/* FMUv2 SPI2 chip selects Assignments */
#define GPIO_SPI2_CS_FRAM GPIO_SPI2_CS_PD10
/* FMUv2 SPI4 chip selects Assignments */
#define GPIO_SPI4_GPIO_EXT GPIO_SPI4_GPIO_PC14
#define GPIO_SPI4_EXT_NSS GPIO_SPI4_NSS_PE4
/* FMUv2 DRDY */
#define GPIO_SPI1_EXTI_DRDY_PB0 (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN0)
#define GPIO_SPI1_EXTI_DRDY_PB1 /*!V3 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN1)
#define GPIO_SPI1_EXTI_DRDY_PB4 (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN4) #define GPIO_SPI1_EXTI_DRDY_PB4 (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN4)
#define GPIO_SPI1_EXTI_DRDY_PD15 (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN15)
/* FMUv2 DRDY Assignments */
#define GPIO_SPI1_EXTI_GYRO_DRDY GPIO_SPI1_EXTI_DRDY_PB0
#define GPIO_SPI1_EXTI_MAG_DRDY GPIO_SPI1_EXTI_DRDY_PB1
#define GPIO_SPI1_EXTI_ACCEL_DRDY GPIO_SPI1_EXTI_DRDY_PB4
#define GPIO_SPI1_EXTI_MPU_DRDY GPIO_SPI1_EXTI_DRDY_PD15
/*----------------------------------------------------------*/
/* End FMUv2 SPI chip selects and DRDY */
/*----------------------------------------------------------*/
#define PX4_SPI_BUS_SENSORS 1
#define PX4_SPI_BUS_RAMTRON 2
#define PX4_SPI_BUS_EXT 4
#define PX4_SPI_BUS_BARO PX4_SPI_BUS_SENSORS
/* Use these to select a specific SPI device on SPI1 */ #define BOARD_SPI_BUS_MAX_BUS_ITEMS 3
#define PX4_SPIDEV_GYRO PX4_MK_SPI_SEL(0, DRV_GYR_DEVTYPE_L3GD20)
#define PX4_SPIDEV_ACCEL_MAG PX4_MK_SPI_SEL(0, DRV_ACC_DEVTYPE_LSM303D)
#define PX4_SPIDEV_BARO PX4_MK_SPI_SEL(0, DRV_BARO_DEVTYPE_MS5611)
#define PX4_SPIDEV_MPU PX4_MK_SPI_SEL(0, DRV_IMU_DEVTYPE_MPU6000)
/* FMUv3 SPI on external bus */
#define PX4_SPIDEV_EXT_GYRO PX4_MK_SPI_SEL(0, DRV_GYR_DEVTYPE_L3GD20)
#define PX4_SPIDEV_EXT_ACCEL_MAG PX4_MK_SPI_SEL(0, DRV_ACC_DEVTYPE_LSM303D)
#define PX4_SPIDEV_EXT_BARO PX4_MK_SPI_SEL(0, DRV_BARO_DEVTYPE_MS5611)
#define PX4_SPIDEV_EXT_MPU PX4_MK_SPI_SEL(0, DRV_IMU_DEVTYPE_MPU6000)
#define PX4_SPIDEV_EXT_BMI PX4_MK_SPI_SEL(0, DRV_GYR_DEVTYPE_BMI055)
/* I2C busses */ /* I2C busses */
#define BOARD_OVERRIDE_I2C_BUS_EXTERNAL #define BOARD_OVERRIDE_I2C_BUS_EXTERNAL
#define PX4_I2C_BUS_EXPANSION 1
#define PX4_I2C_BUS_ONBOARD 2
#define PX4_I2C_BUS_LED PX4_I2C_BUS_ONBOARD
#define BOARD_SPI_BUS_MAX_BUS_ITEMS 3
/*----------------------------------------------------------*/
/* FMUv3 Cube SPI chip selects and DRDY */
/*----------------------------------------------------------*/
/* Due to inconsistent use of chip select and dry signal on
* different board that use this build. We are defining the GPIO
* inclusive of the SPI port and GPIO to help identify pins the
* are part of the sensor Net's controlled by different power
* domains.
*
* --------------- SPI1 -------------------- SPI4 -------------- Incompatibilities ---------
* FMUv3 Cube: FmuV2 PixhawkMini
* Power Domain: VDD_3V3_SENSORS_EN NA V3V:SPI V5:SPI4 V3V:SPI1 No SPI4
* PA5 SPI_INT_SCK
* PA6 SPI_INT_MISO
* PA7 SPI_INT_MOSI
* PB0 EXTERN_DRDY SPI1:GYRO_DRDY NC
* PB1 MAG_DRDY nEXTERN_CS -SPI1:MAG_DRDY NC
* PB4 NC SPI1:ACCEL_DRDY NC
* PC1 SPI_INT_MAG_!CS -ADC1_IN11 NC
* PC2 nMPU_CS @MPU6000 @MPU9250
* PC13 nGYRO_EXT_CS SPI1:nGYRO_CS NC
* PC14 nBARO_EXT_CS GPIO_EXT_1 -20608_DRDY
* PC15 nACCEL_MAG_EXT_CS SPI1:nACCEL_MAG_CS 20608_CS
* PD7 nBARO_CS
* PD15 nMPU_DRDY @MPU6000 @MPU9250
* PE2 SPI_EXT_SCK NC
* PE4 MPU_EXT_CS SPI4:nSPI_EXT_NSS NC
* PE5 SPI_EXT_MISO NC
* PE6 SPI_EXT_MOSI NC
*
*
* Notes: Prefixed with @ Does not effect board control
* Prefixed with + Input used as Output
* Prefixed with - Output used as Input
* Prefixed with SPIn: Bus changed
*
*/
/* FMUv3 Cube SPI1 chip selects */
/* Was a spare ACD IN10 on V2 */
#define GPIO_SPI1_CS_PC1 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN1)
#define GPIO_SPI4_CS_PB1 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN1)
#define GPIO_SPI4_CS_PC13 GPIO_SPI1_CS_PC13
#define GPIO_SPI4_CS_PC14 GPIO_SPI4_GPIO_PC14
#define GPIO_SPI4_CS_PC15 GPIO_SPI1_CS_PC15
/* FMUv3 Cube chip selects Assignments */
/* Cube 2.0 V2.1 */
#define GPIO_SPI1_CS_MPU GPIO_SPI1_CS_PC2 /* MPU600 MPU9250 */
#define GPIO_SPI1_CS_BARO GPIO_SPI1_CS_PD7 /* MS5611 MS5611 */
#define GPIO_SPI1_CS_HMC GPIO_SPI1_CS_PC1 /* HMC5983 Removed */
/* N.B. bus moves from SPI1 to SPI4 */
#define GPIO_SPI4_GYRO_EXT_CS GPIO_SPI4_CS_PC13
#define GPIO_SPI4_BARO_EXT_CS GPIO_SPI4_CS_PC14
#define GPIO_SPI4_ACCEL_MAG_EXT_CS GPIO_SPI4_CS_PC15
/* No move */
#define GPIO_SPI4_MPU_EXT_CS GPIO_SPI4_NSS_PE4
/* FMUv3 DRDY Assignments */
#define GPIO_SPI4_EXTI_DRDY_PB0 GPIO_SPI1_EXTI_DRDY_PB0
#define GPIO_SPI4_EXTI_EXTERN_DRDY GPIO_SPI4_EXTI_DRDY_PB0
#define GPIO_SPI4_EXTERN_CS GPIO_SPI4_CS_PB1
/* PB1 is an External CS on V3 */
#define PX4_SPIDEV_HMC PX4_MK_SPI_SEL(0, DRV_MAG_DEVTYPE_HMC5883)
/*----------------------------------------------------------*/
/* End FMUv3 Cube SPI chip selects and DRDY */
/*----------------------------------------------------------*/
/*----------------------------------------------------------*/
/* Due to inconsistent use of chip select and dry signal on
* different board that use this build. We are defining the GPIO
* inclusive of the SPI port and GPIO to help identify pins the
* are part of the sensor Net's controlled by different power
* domains.
*
* --------------- SPI1 -------------------- SPI4 -------------- Incompatibilities ---------
* FMUv2 Pixhawk Mini FmuV2 FmuV3 Cube
* Power Domain: VDD_3V3_SENSORS_EN NA V3V:SPI V5:SPI4 V3V:SPI1&SPI4
* PA5 SPI_INT_SCK
* PA6 SPI_INT_MISO
* PA7 SPI_INT_MOSI
* PB0 NC SPI1:GYRO_DRDY SPI4:EXTERN_DRDY
* PB1 NC -SPI1:MAG_DRDY +SPI4:nEXTERN_CS
* PB4 NC SPI1:ACCEL_DRDY NC
* PC1 Spare ADC ( NC ) +SPI1:SPI_INT_MAG_!CS
* PC2 nMPU_CS @MPU6000 @MPU6000|MPU9250
* PC13 NC SPI1:nGYRO_CS SPI4:nGYRO_EXT_CS
* PC14 20608_DRDY +GPIO_EXT_1 nBARO_EXT_CS
* PC15 20608_CS nACCEL_MAG_CS SPI4:nACCEL_MAG_EXT_CS
* PD7 nBARO_CS
* PD15 nMPU_DRDY @MPU6000 @MPU6000|MPU9250
* PE2 NC SPI_EXT_SCK SPI_EXT_SCK
* PE4 NC SPI4:nSPI_EXT_NSS SPI4:nMPU_EXT_CS
* PE5 NC SPI_EXT_MISO SPI_EXT_MISO
* PE6 NC SPI_EXT_MOSI SPI_EXT_MOSI
*
* Notes: Prefixed with @ Does not effect board control
* Prefixed with + Input used as Output
* Prefixed with - Output used as Input
* Prefixed with SPIn: Bus changed
*
*/
/*----------------------------------------------------------*/
/* FMUv2 PixhawkMini SPI chip selects and DRDY */
/*----------------------------------------------------------*/
/* FMUv2 PixhawkMini SPI1 chip selects */
/* FMUv3 Cube chip selects Assignments */
#define GPIO_SPI1_CS_MPU GPIO_SPI1_CS_PC2 /* MPU9250 */
#define GPIO_SPI1_CS_BARO GPIO_SPI1_CS_PD7 /* MS5611 */
#define GPIO_SPI1_CS_20608 GPIO_SPI1_CS_PC15 /* ICM20608 */
/* FMUv3 DRDY Assignments */
/* Pixhawk mini has reused the PC14 GPIO_SPI_CS_EXT1 signal that was associated
* with SPI4.
*/
#define GPIO_SPI1_EXTI_20608_DRDY_PC14 (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTC|GPIO_PIN14)
#define PX4_SPIDEV_ICM_20608 PX4_MK_SPI_SEL(0, DRV_IMU_DEVTYPE_ICM20608)
/* /*
* ADC channels * ADC channels

110
boards/px4/fmu-v3/src/spi.cpp
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@ -35,6 +35,116 @@
#include <px4_arch/spi_hw_description.h> #include <px4_arch/spi_hw_description.h>
#include <drivers/drv_sensor.h> #include <drivers/drv_sensor.h>
/* Due to inconsistent use of chip select and data ready signal on
* different board that use this build, we are using different
* versions.
*
* --------------- SPI1 -------------------- SPI4 -------------- Incompatibilities ---------
* FMUv2: FmuV3 Cube PixhawkMini
* Power Domain: VDD_3V3_SENSORS_EN nVDD_5V_PERIPH_EN V3V:SPI1&SPI4 V3V:SPI1 No SPI4
* PA5 SPI_INT_SCK
* PA6 SPI_INT_MISO
* PA7 SPI_INT_MOSI
* PB0 GYRO_DRDY SPI4:EXTERN_DRDY NC
* PB1 MAG_DRDY +SPI4:nEXTERN_CS NC
* PB4 ACCEL_DRDY NC NC
* PC1 Spare ADC ( NC ) +SPI1:SPI_INT_MAG_!CS
* PC2 nMPU_CS @MPU6000|MPU9250 @MPU9250
* PC13 nGYRO_CS SPI4:nGYRO_EXT_CS NC
* PC14 GPIO_EXT_1 nBARO_EXT_CS -20608_DRDY
* PC15 nACCEL_MAG_CS SPI4:nACCEL_MAG_EXT_CS 20608_CS
* PD7 nBARO_CS
* PD15 nMPU_DRDY @MPU6000|MPU9250 @MPU9250
* PE2 SPI_EXT_SCK NC
* PE4 nSPI_EXT_NSS SPI4:nMPU_EXT_CS NC
* PE5 SPI_EXT_MISO NC
* PE6 SPI_EXT_MOSI NC
*
* Notes: Prefixed with @ Does not effect board control
* Prefixed with + Input used as Output
* Prefixed with - Output used as Input
* Prefixed with SPIn: Bus changed
*
* The board API provides for mechanism to perform a SPI bus reset.
* To facilitate a SPI bus reset
*
* 1) All the pins: SPIn, CD, DRDY associated with the SPI bus are turned to inputs
* with outputs driven low. (OFFIng)
* 2) The power domain of that bus is turned off.
* 3) A usleep it done for ms.
* 4) The power domain of that bus is turned back on.
* 5) The SPIn pins are re-initialized.
* 6) The SPI CS, DRDY pins are re-initialized.
*
* To insure the complete net is de-energized and is not bing back fed, it is important to
* note the all signals in the net list of the parts/bus.
*
* I.E. Not OFFIng PC1 on V3 would leave that pin back feeding the HMC part. As would not
* OFFIng PE4, not associated with SPI1 on V2, but would back feed an MPUxxxx on V3
*
*/
/*
*
* --------------- SPI1 -------------------- SPI4 -------------- Incompatibilities ---------
* FMUv3 Cube: FmuV2 PixhawkMini
* Power Domain: VDD_3V3_SENSORS_EN NA V3V:SPI V5:SPI4 V3V:SPI1 No SPI4
* PA5 SPI_INT_SCK
* PA6 SPI_INT_MISO
* PA7 SPI_INT_MOSI
* PB0 EXTERN_DRDY SPI1:GYRO_DRDY NC
* PB1 MAG_DRDY nEXTERN_CS -SPI1:MAG_DRDY NC
* PB4 NC SPI1:ACCEL_DRDY NC
* PC1 SPI_INT_MAG_!CS -ADC1_IN11 NC
* PC2 nMPU_CS @MPU6000 @MPU9250
* PC13 nGYRO_EXT_CS SPI1:nGYRO_CS NC
* PC14 nBARO_EXT_CS GPIO_EXT_1 -20608_DRDY
* PC15 nACCEL_MAG_EXT_CS SPI1:nACCEL_MAG_CS 20608_CS
* PD7 nBARO_CS
* PD15 nMPU_DRDY @MPU6000 @MPU9250
* PE2 SPI_EXT_SCK NC
* PE4 MPU_EXT_CS SPI4:nSPI_EXT_NSS NC
* PE5 SPI_EXT_MISO NC
* PE6 SPI_EXT_MOSI NC
*
*
* Notes: Prefixed with @ Does not effect board control
* Prefixed with + Input used as Output
* Prefixed with - Output used as Input
* Prefixed with SPIn: Bus changed
*
*/
/*----------------------------------------------------------*/
/*
* --------------- SPI1 -------------------- SPI4 -------------- Incompatibilities ---------
* FMUv2 Pixhawk Mini FmuV2 FmuV3 Cube
* Power Domain: VDD_3V3_SENSORS_EN NA V3V:SPI V5:SPI4 V3V:SPI1&SPI4
* PA5 SPI_INT_SCK
* PA6 SPI_INT_MISO
* PA7 SPI_INT_MOSI
* PB0 NC SPI1:GYRO_DRDY SPI4:EXTERN_DRDY
* PB1 NC -SPI1:MAG_DRDY +SPI4:nEXTERN_CS
* PB4 NC SPI1:ACCEL_DRDY NC
* PC1 Spare ADC ( NC ) +SPI1:SPI_INT_MAG_!CS
* PC2 nMPU_CS @MPU6000 @MPU6000|MPU9250
* PC13 NC SPI1:nGYRO_CS SPI4:nGYRO_EXT_CS
* PC14 20608_DRDY +GPIO_EXT_1 nBARO_EXT_CS
* PC15 20608_CS nACCEL_MAG_CS SPI4:nACCEL_MAG_EXT_CS
* PD7 nBARO_CS
* PD15 nMPU_DRDY @MPU6000 @MPU6000|MPU9250
* PE2 NC SPI_EXT_SCK SPI_EXT_SCK
* PE4 NC SPI4:nSPI_EXT_NSS SPI4:nMPU_EXT_CS
* PE5 NC SPI_EXT_MISO SPI_EXT_MISO
* PE6 NC SPI_EXT_MOSI SPI_EXT_MOSI
*
* Notes: Prefixed with @ Does not effect board control
* Prefixed with + Input used as Output
* Prefixed with - Output used as Input
* Prefixed with SPIn: Bus changed
*
*/
constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSIONS] = { constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSIONS] = {
initSPIHWVersion(HW_VER_FMUV2, { initSPIHWVersion(HW_VER_FMUV2, {
initSPIBus(SPI::Bus::SPI1, { initSPIBus(SPI::Bus::SPI1, {

97
boards/px4/fmu-v4/src/board_config.h
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@ -67,106 +67,9 @@
#define BOARD_ARMED_LED LED_BLUE #define BOARD_ARMED_LED LED_BLUE
#define BOARD_ARMED_STATE_LED LED_GREEN #define BOARD_ARMED_STATE_LED LED_GREEN
/**
* Define the Chip Selects for SPI1
* CS Devices DRDY
* ---- ----------------------------------------------- -----
* PC2 MPU9250 PD15
* PC15 ICM, ICM_20602, ICM_20608 PC14
* PE15 HMC5983 PE12
* ---- ----------------------------------------------- -----
*/
#define GPIO_SPI1_CS_PORTC_PIN2 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN2)
#define GPIO_SPI1_CS_PORTC_PIN15 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN15)
#define GPIO_SPI1_CS_PORTE_PIN15 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN15)
/* Define the Data Ready interrupts On SPI 1. */
#define GPIO_DRDY_PORTD_PIN15 (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN15)
#define GPIO_DRDY_PORTC_PIN14 (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTC|GPIO_PIN14)
#define GPIO_DRDY_PORTE_PIN12 (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTE|GPIO_PIN12)
/* Define the Chip Selects for SPI2. */
#define GPIO_SPI2_CS_MS5611 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN7)
#define GPIO_SPI2_CS_FRAM (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN10)
/* Define the Chip Selects for SPI4. */
#ifdef CONFIG_STM32_SPI4 #ifdef CONFIG_STM32_SPI4
# define BOARD_HAS_BUS_MANIFEST 1 // We support a bus manifest because spi 4 is optional # define BOARD_HAS_BUS_MANIFEST 1 // We support a bus manifest because spi 4 is optional
# define GPIO_SPI4_CS_1 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN8) //ESP_RTS_PIN
#endif /* CONFIG_STM32_SPI4 */ #endif /* CONFIG_STM32_SPI4 */
/**
* Define the ability to shut off off the sensor signals
* by changing the signals to inputs.
*/
#define _PIN_OFF(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz))
/* SPI 1 bus off. */
#define GPIO_SPI1_SCK_OFF _PIN_OFF(GPIO_SPI1_SCK)
#define GPIO_SPI1_MISO_OFF _PIN_OFF(GPIO_SPI1_MISO)
#define GPIO_SPI1_MOSI_OFF _PIN_OFF(GPIO_SPI1_MOSI)
/* SPI 1 CS's off. */
#define GPIO_SPI1_CS_OFF_PORTC_PIN2 _PIN_OFF(GPIO_SPI1_CS_PORTC_PIN2)
#define GPIO_SPI1_CS_OFF_PORTC_PIN15 _PIN_OFF(GPIO_SPI1_CS_PORTC_PIN15)
#define GPIO_SPI1_CS_OFF_PORTE_PIN15 _PIN_OFF(GPIO_SPI1_CS_PORTE_PIN15)
/* SPI 1 DRDY's off. */
#define GPIO_DRDY_OFF_PORTD_PIN15 _PIN_OFF(GPIO_DRDY_PORTD_PIN15)
#define GPIO_DRDY_OFF_PORTC_PIN14 _PIN_OFF(GPIO_DRDY_PORTC_PIN14)
#define GPIO_DRDY_OFF_PORTE_PIN12 _PIN_OFF(GPIO_DRDY_PORTE_PIN12)
/* SPI 4 bus off. */
#ifdef CONFIG_STM32_SPI4
# define GPIO_SPI4_SCK_OFF _PIN_OFF(GPIO_SPI4_SCK)
# define GPIO_SPI4_MISO_OFF _PIN_OFF(GPIO_SPI4_MISO)
# define GPIO_SPI4_MOSI_OFF _PIN_OFF(GPIO_SPI4_MOSI)
#endif /* CONFIG_STM32_SPI4 */
/**
* N.B we do not have control over the SPI 2 buss powered devices
* so the the ms5611 is not resetable.
*
*/
#define PX4_SPI_BUS_SENSORS 1
#define PX4_SPI_BUS_RAMTRON 2
#define PX4_SPI_BUS_BARO PX4_SPI_BUS_RAMTRON
#ifdef CONFIG_STM32_SPI4
# define PX4_SPI_BUS_EXTERNAL 4
/* The mask passes to init the SPI bus pins
* N.B This works ONLY with buss numbers that are powers of 2
* Adding SPI3 would break this!
*/
# define SPI_BUS_INIT_MASK_EXT PX4_SPI_BUS_EXTERNAL
#endif /* CONFIG_STM32_SPI4 */
#include <drivers/drv_sensor.h>
/* Use these in place of the uint32_t enumeration to select a specific SPI device on SPI1 */
#define PX4_SPIDEV_MPU PX4_MK_SPI_SEL(0, DRV_IMU_DEVTYPE_MPU6000)
#define PX4_SPIDEV_HMC PX4_MK_SPI_SEL(0, DRV_MAG_DEVTYPE_HMC5883)
#define PX4_SPIDEV_LIS PX4_MK_SPI_SEL(0, DRV_MAG_DEVTYPE_LIS3MDL)
#define PX4_SPIDEV_ICM_20608 PX4_MK_SPI_SEL(0, DRV_IMU_DEVTYPE_ICM20608)
#define PX4_SPIDEV_ICM_20602 PX4_MK_SPI_SEL(0, DRV_IMU_DEVTYPE_ICM20602)
#define PX4_SPIDEV_MPU2 PX4_MK_SPI_SEL(0, DRV_IMU_DEVTYPE_MPU9250)
/**
* Onboard MS5611 and FRAM are both on bus SPI2.
* spi_dev_e:SPIDEV_FLASH has the value 2 and is used in the NuttX ramtron driver.
* PX4_MK_SPI_SEL differentiate by adding in PX4_SPI_DEVICE_ID.
*/
#define PX4_SPIDEV_BARO PX4_MK_SPI_SEL(0, DRV_BARO_DEVTYPE_MS5611)
#ifdef CONFIG_STM32_SPI4
# define PX4_SPIDEV_EXTERNAL PX4_MK_SPI_SEL(0, 0)
#endif /* CONFIG_STM32_SPI4 */
/* I2C busses. */
#define PX4_I2C_BUS_EXPANSION 1
#define PX4_I2C_BUS_LED PX4_I2C_BUS_EXPANSION
/** /**
* ADC channels: * ADC channels:

9
boards/px4/fmu-v4/src/init.c
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@ -306,12 +306,10 @@ __EXPORT int board_app_initialize(uintptr_t arg)
} }
// Default SPI1 to 1MHz and de-assert the known chip selects. // Default SPI1 to 1MHz
SPI_SETFREQUENCY(spi1, 10000000); SPI_SETFREQUENCY(spi1, 10000000);
SPI_SETBITS(spi1, 8); SPI_SETBITS(spi1, 8);
SPI_SETMODE(spi1, SPIDEV_MODE3); SPI_SETMODE(spi1, SPIDEV_MODE3);
SPI_SELECT(spi1, PX4_SPIDEV_HMC, false);
SPI_SELECT(spi1, PX4_SPIDEV_MPU, false);
up_udelay(20); up_udelay(20);
// Get the SPI port for the FRAM. // Get the SPI port for the FRAM.
@ -332,8 +330,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
SPI_SETFREQUENCY(spi2, 20 * 1000 * 1000); SPI_SETFREQUENCY(spi2, 20 * 1000 * 1000);
SPI_SETBITS(spi2, 8); SPI_SETBITS(spi2, 8);
SPI_SETMODE(spi2, SPIDEV_MODE3); SPI_SETMODE(spi2, SPIDEV_MODE3);
SPI_SELECT(spi2, SPIDEV_FLASH(0), false);
SPI_SELECT(spi2, PX4_SPIDEV_BARO, false);
#if defined(CONFIG_STM32_SPI4) #if defined(CONFIG_STM32_SPI4)
@ -347,11 +343,10 @@ __EXPORT int board_app_initialize(uintptr_t arg)
syslog(LOG_ERR, "[boot] FAILED to initialize SPI port 4\n"); syslog(LOG_ERR, "[boot] FAILED to initialize SPI port 4\n");
} else { } else {
// Default SPI4 to 20 MHz and de-assert the known chip selects. // Default SPI4 to 20 MHz
SPI_SETFREQUENCY(spi4, 20 * 1000 * 1000); SPI_SETFREQUENCY(spi4, 20 * 1000 * 1000);
SPI_SETBITS(spi4, 8); SPI_SETBITS(spi4, 8);
SPI_SETMODE(spi4, SPIDEV_MODE3); SPI_SETMODE(spi4, SPIDEV_MODE3);
SPI_SELECT(spi4, PX4_SPIDEV_EXTERNAL, false);
} }
} }

88
boards/px4/fmu-v4pro/src/board_config.h
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@ -92,95 +92,9 @@
#define BOARD_ARMED_LED LED_BLUE #define BOARD_ARMED_LED LED_BLUE
#define BOARD_ARMED_STATE_LED LED_GREEN #define BOARD_ARMED_STATE_LED LED_GREEN
/* Define the Chip Selects */ /* SPI */
/* SPI Bus 1 Internal Sensors */
#define GPIO_SPI_CS_MPU9250 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN2)
#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_2060X (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN15)
#define GPIO_SPI_CS_TEMPCAL_EEPROM (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTH|GPIO_PIN5) #define GPIO_SPI_CS_TEMPCAL_EEPROM (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTH|GPIO_PIN5)
/* SPI Bus 2 Memory */
#define GPIO_SPI_CS_FRAM (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN10)
/* Aux Chip selects (not pined out on RC0 HW) */
#define GPIO_AUX_CS0 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTF|GPIO_PIN10)
#define GPIO_AUX_CS1 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTF|GPIO_PIN11)
#define GPIO_AUX_CS2 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTF|GPIO_PIN12)
#define GPIO_AUX_CS3 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTF|GPIO_PIN13)
#define GPIO_AUX_CS4 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTF|GPIO_PIN14)
#define GPIO_AUX_CS5 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTF|GPIO_PIN15)
/* External Chip selects on Connectors ahead PAD3 */
#define GPIO_SPI5_CS (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTF|GPIO_PIN6)
#define GPIO_SPI6_CS (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN11)
/* Define the Ready interrupts */
#define GPIO_DRDY_MPU9250 (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN15)
#define GPIO_DRDY_LIS3MDL (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTE|GPIO_PIN12)
#define GPIO_DRDY_ICM_2060X (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTC|GPIO_PIN14)
/*
* Define the ability to shut off off the sensor signals
* by changing the signals to inputs
*/
#define _PIN_OFF(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz))
#define GPIO_SPI_CS_OFF_MPU9250 _PIN_OFF(GPIO_SPI_CS_MPU9250)
#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_2060X _PIN_OFF(GPIO_SPI_CS_ICM_2060X)
#define GPIO_SPI_CS_OFF_TEMPCAL_EEPROM _PIN_OFF(GPIO_SPI_CS_OFF_TEMPCAL_EEPROM)
#define GPIO_DRDY_OFF_MPU9250 _PIN_OFF(GPIO_DRDY_MPU9250)
#define GPIO_DRDY_OFF_LIS3MDL _PIN_OFF(GPIO_DRDY_LIS3MDL)
#define GPIO_DRDY_OFF_ICM_2060X _PIN_OFF(GPIO_DRDY_ICM_2060X)
/* SPI1 off */
#define GPIO_SPI1_SCK_OFF _PIN_OFF(GPIO_SPI1_SCK)
#define GPIO_SPI1_MISO_OFF _PIN_OFF(GPIO_SPI1_MISO)
#define GPIO_SPI1_MOSI_OFF _PIN_OFF(GPIO_SPI1_MOSI)
#define PX4_SPI_BUS_SENSORS 1
#define PX4_SPI_BUS_RAMTRON 2
#define PX4_SPI_BUS_BARO PX4_SPI_BUS_SENSORS
#define PX4_SPI_BUS_EXT0 5
#define PX4_SPI_BUS_EXT1 6
#define PX4_SPI_BUS_EXT PX4_SPI_BUS_EXT0
/* Use these in place of the uint32_t enumeration to select a specific SPI device on SPI1 */
#include <drivers/drv_sensor.h>
#define PX4_SPIDEV_BARO PX4_MK_SPI_SEL(0, DRV_BARO_DEVTYPE_MS5611)
#define PX4_SPIDEV_MPU PX4_MK_SPI_SEL(0, DRV_IMU_DEVTYPE_MPU9250)
#define PX4_SPIDEV_HMC PX4_MK_SPI_SEL(0, DRV_MAG_DEVTYPE_HMC5883)
#define PX4_SPIDEV_LIS PX4_MK_SPI_SEL(0, DRV_MAG_DEVTYPE_LIS3MDL)
#define PX4_SPIDEV_EEPROM PX4_MK_SPI_SEL(0, DRV_DEVTYPE_UNUSED)
#define PX4_SPIDEV_ICM_20608 PX4_MK_SPI_SEL(0, DRV_IMU_DEVTYPE_ICM20608)
#define PX4_SPIDEV_ICM_20602 PX4_MK_SPI_SEL(0, DRV_IMU_DEVTYPE_ICM20602)
#define PX4_SPIDEV_EXT0 PX4_MK_SPI_SEL(0, 0)
#define PX4_SPIDEV_EXT1 PX4_MK_SPI_SEL(0, 1)
#define PX4_SPIDEV_RM_EXT PX4_SPIDEV_EXT0
/* I2C busses */
#define PX4_I2C_BUS_ONBOARD 1
#define PX4_I2C_BUS_EXPANSION 2
#define PX4_I2C_BUS_LED PX4_I2C_BUS_ONBOARD
/* /*
* ADC channels * ADC channels
* *

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boards/px4/fmu-v4pro/src/init.c
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@ -328,11 +328,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
SPI_SETFREQUENCY(spi1, 10000000); SPI_SETFREQUENCY(spi1, 10000000);
SPI_SETBITS(spi1, 8); SPI_SETBITS(spi1, 8);
SPI_SETMODE(spi1, SPIDEV_MODE3); SPI_SETMODE(spi1, SPIDEV_MODE3);
SPI_SELECT(spi1, PX4_SPIDEV_ICM_20602, false);
SPI_SELECT(spi1, PX4_SPIDEV_BARO, false);
SPI_SELECT(spi1, PX4_SPIDEV_LIS, false);
SPI_SELECT(spi1, PX4_SPIDEV_MPU, false);
SPI_SELECT(spi1, PX4_SPIDEV_EEPROM, false);
up_udelay(20); up_udelay(20);
/* Get the SPI port for the FRAM */ /* Get the SPI port for the FRAM */
@ -352,7 +347,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
SPI_SETFREQUENCY(spi2, 20 * 1000 * 1000); SPI_SETFREQUENCY(spi2, 20 * 1000 * 1000);
SPI_SETBITS(spi2, 8); SPI_SETBITS(spi2, 8);
SPI_SETMODE(spi2, SPIDEV_MODE3); SPI_SETMODE(spi2, SPIDEV_MODE3);
SPI_SELECT(spi2, SPIDEV_FLASH(0), false);
/* Configure SPI 5-based devices */ /* Configure SPI 5-based devices */
@ -368,7 +362,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
SPI_SETFREQUENCY(spi5, 10000000); SPI_SETFREQUENCY(spi5, 10000000);
SPI_SETBITS(spi5, 8); SPI_SETBITS(spi5, 8);
SPI_SETMODE(spi5, SPIDEV_MODE3); SPI_SETMODE(spi5, SPIDEV_MODE3);
SPI_SELECT(spi5, PX4_SPIDEV_EXT0, false);
/* Configure SPI 6-based devices */ /* Configure SPI 6-based devices */
@ -384,7 +377,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
SPI_SETFREQUENCY(spi6, 10000000); SPI_SETFREQUENCY(spi6, 10000000);
SPI_SETBITS(spi6, 8); SPI_SETBITS(spi6, 8);
SPI_SETMODE(spi6, SPIDEV_MODE3); SPI_SETMODE(spi6, SPIDEV_MODE3);
SPI_SELECT(spi6, PX4_SPIDEV_EXT1, false);
#ifdef CONFIG_MMCSD #ifdef CONFIG_MMCSD
/* First, get an instance of the SDIO interface */ /* First, get an instance of the SDIO interface */

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boards/px4/fmu-v5/src/board_config.h
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@ -96,130 +96,6 @@
#define BOARD_OVERLOAD_LED LED_RED #define BOARD_OVERLOAD_LED LED_RED
#define BOARD_ARMED_STATE_LED LED_BLUE #define BOARD_ARMED_STATE_LED LED_BLUE
/* SENSORS are on SPI1, 5, 6
* MEMORY is on bus SPI2
* MS5611 is on bus SPI4
*/
#define PX4_SPI_BUS_SENSORS 1
#define PX4_SPI_BUS_MEMORY 2
#define PX4_SPI_BUS_BARO 4
#define PX4_SPI_BUS_EXTERNAL1 5
#define PX4_SPI_BUS_EXTERNAL2 6
/* Define the Chip Selects, Data Ready and Control signals per SPI bus */
/* SPI 1 CS */
#define GPIO_SPI1_CS1_ICM20689 /* PF2 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTF|GPIO_PIN2)
#define GPIO_SPI1_CS2_ICM20602 /* PF3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTF|GPIO_PIN3)
#define GPIO_SPI1_CS3_BMI055_GYRO /* PF4 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTF|GPIO_PIN4)
#define GPIO_SPI1_CS4_BMI055_ACC /* PG10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN10)
#define GPIO_SPI1_CS5_AUX_MEM /* PH5 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTH|GPIO_PIN5)
/* Define the SPI1 Data Ready interrupts */
#define GPIO_SPI1_DRDY1_ICM20689 /* PB4 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN4)
#define GPIO_SPI1_DRDY2_BMI055_GYRO /* PB14 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN14)
#define GPIO_SPI1_DRDY3_BMI055_ACC /* PB15 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN15)
#define GPIO_SPI1_DRDY4_ICM20602 /* PC5 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTC|GPIO_PIN5)
#define GPIO_SPI1_DRDY5_BMI055_GYRO /* PC13 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTC|GPIO_PIN13)
#define GPIO_SPI1_DRDY6_BMI055_ACC /* PD10 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN10)
/* SPI1 off */
#define GPIO_SPI1_SCK_OFF _PIN_OFF(GPIO_SPI1_SCK)
#define GPIO_SPI1_MISO_OFF _PIN_OFF(GPIO_SPI1_MISO)
#define GPIO_SPI1_MOSI_OFF _PIN_OFF(GPIO_SPI1_MOSI)
#define GPIO_DRDY_OFF_SPI1_DRDY1_ICM20689 _PIN_OFF(GPIO_SPI1_DRDY1_ICM20689)
#define GPIO_DRDY_OFF_SPI1_DRDY2_BMI055_GYRO _PIN_OFF(GPIO_SPI1_DRDY2_BMI055_GYRO)
#define GPIO_DRDY_OFF_SPI1_DRDY3_BMI055_ACC _PIN_OFF(GPIO_SPI1_DRDY3_BMI055_ACC)
#define GPIO_DRDY_OFF_SPI1_DRDY4_ICM20602 _PIN_OFF(GPIO_SPI1_DRDY4_ICM20602)
#define GPIO_DRDY_OFF_SPI1_DRDY5_BMI055_GYRO _PIN_OFF(GPIO_SPI1_DRDY5_BMI055_GYRO)
#define GPIO_DRDY_OFF_SPI1_DRDY6_BMI055_ACC _PIN_OFF(GPIO_SPI1_DRDY6_BMI055_ACC)
/* SPI 2 CS */
#define GPIO_SPI2_CS_FRAM /* PF5 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTF|GPIO_PIN5)
/* SPI 4 CS */
#define GPIO_SPI4_CS1_MS5611 /* PF10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTF|GPIO_PIN10)
#define GPIO_SPI4_CS2 /* PF11 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTF|GPIO_PIN11)
/* SPI 5 CS */
#define SPI5_CS1_EXTERNAL1 /* PI4 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN4)
#define SPI5_CS2_EXTERNAL1 /* PI10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN10)
#define SPI5_CS3_EXTERNAL1 /* PI11 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN11)
/* Define the SPI1 Data Ready and Control signals */
#define GPIO_SPI5_DRDY7_EXTERNAL1 /* PD15 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN15)
#define GPIO_nSPI5_RESET_EXTERNAL1 /* PB10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN10)
#define GPIO_SPI5_SYNC_EXTERNAL1 /* PH15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|PORTH|PIN15)
/* SPI 6 */
#define SPI6_CS1_EXTERNAL2 /* PI6 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN6)
#define SPI6_CS2_EXTERNAL2 /* PI7 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN7)
#define SPI6_CS3_EXTERNAL2 /* PI8 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN8)
/*
* Define the ability to shut off off the sensor signals
* by changing the signals to inputs
*/
#define _PIN_OFF(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz))
#define GPIO_DRDY_OFF_SPI5_DRDY7_EXTERNAL1 _PIN_OFF(GPIO_SPI5_DRDY7_EXTERNAL1)
/* v BEGIN Legacy SPI defines TODO: fix this with enumeration */
#define PX4_SPI_BUS_RAMTRON PX4_SPI_BUS_MEMORY
/* ^ END Legacy SPI defines TODO: fix this with enumeration */
#include <drivers/drv_sensor.h>
#define PX4_SPIDEV_ICM_20689 PX4_MK_SPI_SEL(0,DRV_IMU_DEVTYPE_ICM20689)
#define PX4_SPIDEV_ICM_20602 PX4_MK_SPI_SEL(0,DRV_IMU_DEVTYPE_ICM20602)
#define PX4_SPIDEV_BMI055_GYR PX4_MK_SPI_SEL(0,DRV_GYR_DEVTYPE_BMI055)
#define PX4_SPIDEV_BMI055_ACC PX4_MK_SPI_SEL(0,DRV_ACC_DEVTYPE_BMI055)
#define PX4_SPIDEV_AUX_MEM PX4_MK_SPI_SEL(0,4)
#define PX4_SENSOR_BUS_CS_GPIO {GPIO_SPI1_CS1_ICM20689, GPIO_SPI1_CS2_ICM20602, GPIO_SPI1_CS3_BMI055_GYRO, GPIO_SPI1_CS4_BMI055_ACC, GPIO_SPI1_CS5_AUX_MEM}
#define PX4_SPIDEV_MEMORY SPIDEV_FLASH(0)
#define PX4_MEMORY_BUS_CS_GPIO {GPIO_SPI2_CS_FRAM}
#define PX4_SPIDEV_BARO PX4_MK_SPI_SEL(0,DRV_BARO_DEVTYPE_MS5611)
#define PX4_SPIDEV_SPI4_CS2 PX4_MK_SPI_SEL(PX4_SPI_BUS_BARO,1)
#define PX4_BARO_BUS_CS_GPIO {GPIO_SPI4_CS1_MS5611, GPIO_SPI4_CS2}
#define PX4_SPIDEV_EXTERNAL1_1 PX4_MK_SPI_SEL(PX4_SPI_BUS_EXTERNAL1,0)
#define PX4_SPIDEV_EXTERNAL1_2 PX4_MK_SPI_SEL(PX4_SPI_BUS_EXTERNAL1,1)
#define PX4_SPIDEV_EXTERNAL1_3 PX4_MK_SPI_SEL(PX4_SPI_BUS_EXTERNAL1,2)
#define PX4_EXTERNAL1_BUS_CS_GPIO {SPI5_CS1_EXTERNAL1, SPI5_CS2_EXTERNAL1, SPI5_CS3_EXTERNAL1}
#define PX4_SPIDEV_EXTERNAL2_1 PX4_MK_SPI_SEL(PX4_SPI_BUS_EXTERNAL2,0)
#define PX4_SPIDEV_EXTERNAL2_2 PX4_MK_SPI_SEL(PX4_SPI_BUS_EXTERNAL2,1)
#define PX4_SPIDEV_EXTERNAL2_3 PX4_MK_SPI_SEL(PX4_SPI_BUS_EXTERNAL2,2)
#define PX4_EXTERNAL2_BUS_CS_GPIO {SPI6_CS1_EXTERNAL2, SPI6_CS2_EXTERNAL2, SPI6_CS3_EXTERNAL2}
/* I2C busses */
#define PX4_I2C_BUS_EXPANSION 1
#define PX4_I2C_BUS_EXPANSION1 2
#define PX4_I2C_BUS_ONBOARD 3
#define PX4_I2C_BUS_EXPANSION2 4
#define PX4_I2C_BUS_LED PX4_I2C_BUS_EXPANSION
#define BOARD_NUMBER_I2C_BUSES 4
#define BOARD_I2C_BUS_CLOCK_INIT {100000, 100000, 100000, 100000}
/* /*
* ADC channels * ADC channels
* *

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boards/px4/fmu-v5x/src/board_config.h
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@ -100,169 +100,19 @@
# define BOARD_ARMED_STATE_LED LED_BLUE # define BOARD_ARMED_STATE_LED LED_BLUE
#endif #endif
/* SPI /* SPI */
*
* SPI1 is sensors1
* ICM-20602
* CS PI9
* DRDY PF2
*
* SPI2 is sensors2
* ISM330
* CS PH5
* DRDY PH12
*
* SPI3 is sensors3
* BMI088
* CS ACCL PI4
* CS GYRO PI8
* DRDY ACCL PI6
* DRDY GYRO PI7
*
* SPI5 is FRAM
* FM25V02A
* CS PG7
*
* SPI6 is EXTERNAL1
*
* CS1 PI10
* CS2 PA15
* DRDY1 PD11
* DRDY2 PD12
*
*/
#define PX4_SPI_BUS_SENSORS1 1
#define PX4_SPI_BUS_SENSORS2 2
#define PX4_SPI_BUS_SENSORS3 3
#define PX4_SPI_BUS_SENSORS4 4
#define PX4_SPI_BUS_MAG PX4_SPI_BUS_SENSORS4
#define PX4_SPI_BUS_MEMORY 5
#define PX4_SPI_BUS_EXTERNAL1 6
/* Define the Chip Selects, Data Ready and Control signals per SPI bus */
/* SPI 1 CS */
#define GPIO_SPI1_nCS1_ICM20602 /* PI9 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN9)
/* Define the SPI1 Data Ready interrupts */
#define GPIO_SPI1_DRDY1_ICM20602 /* PF2 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTF|GPIO_PIN2)
/* SPI1 off */
#define GPIO_SPI1_SCK_OFF _PIN_OFF(GPIO_SPI1_SCK)
#define GPIO_SPI1_MISO_OFF _PIN_OFF(GPIO_SPI1_MISO)
#define GPIO_SPI1_MOSI_OFF _PIN_OFF(GPIO_SPI1_MOSI)
#define GPIO_DRDY_OFF_SPI1_DRDY1_ICM20602 _PIN_OFF(GPIO_SPI1_DRDY1_ICM20602)
/* SPI 2 CS */
#define GPIO_SPI2_nCS1_ISM330 /* PH5 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTH|GPIO_PIN5)
/* Define the SPI2 Data Ready interrupts */
#define GPIO_SPI2_DRDY1_ISM330 /* PH12 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTH|GPIO_PIN12)
/* SPI2 off */
#define GPIO_SPI2_SCK_OFF _PIN_OFF(GPIO_SPI2_SCK)
#define GPIO_SPI2_MISO_OFF _PIN_OFF(GPIO_SPI2_MISO)
#define GPIO_SPI2_MOSI_OFF _PIN_OFF(GPIO_SPI2_MOSI)
#define GPIO_DRDY_OFF_SPI2_DRDY1_ISM330 _PIN_OFF(GPIO_SPI2_DRDY1_ISM330)
/* SPI 3 CS */
#define GPIO_SPI3_nCS1_BMI088_ACCEL /* PI4 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN4)
#define GPIO_SPI3_nCS2_BMI088_GYRO /* PI8 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN8)
/* Define the SPI3 Data Ready interrupts */
#define GPIO_SYNC /* PH10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_100MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN10)
#define GPIO_SPI3_DRDY1_BMI088_INT1_ACCEL /* PI6 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTI|GPIO_PIN6)
#define GPIO_SPI3_DRDY2_BMI088_INT3_GYRO /* PI7 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTI|GPIO_PIN7)
/* SPI3 off */
#define GPIO_SPI3_SCK_OFF _PIN_OFF(GPIO_SPI3_SCK)
#define GPIO_SPI3_MISO_OFF _PIN_OFF(GPIO_SPI3_MISO)
#define GPIO_SPI3_MOSI_OFF _PIN_OFF(GPIO_SPI3_MOSI)
#define GPIO_DRDY_OFF_SPI3_DRDY1_BMI088 _PIN_OFF(GPIO_SPI3_DRDY1_BMI088_INT1_ACCEL)
#define GPIO_DRDY_OFF_SPI3_DRDY2_BMI088 _PIN_OFF(GPIO_SPI3_DRDY2_BMI088_INT3_GYRO)
/* SPI 5 CS */
#define GPIO_SPI5_nCS1_FRAM /* PG7 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN7)
/* SPI 6 */
#define GPIO_SPI6_nCS1_EXTERNAL1 /* PI10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN10)
#define GPIO_SPI6_nCS2_EXTERNAL1 /* PA15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN15)
/* Define the SPI6 Data Ready interrupts */
#define GPIO_SPI6_DRDY1_EXTERNAL1 /* PD11 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN11)
#define GPIO_SPI6_DRDY2_EXTERNAL1 /* PD12 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN12)
#define SPI6_nRESET_EXTERNAL1 /* PF10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN10) #define SPI6_nRESET_EXTERNAL1 /* PF10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN10)
#define GPIO_SYNC /* PH10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_100MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN10)
/* SPI6 off */
#define GPIO_SPI6_SCK_OFF _PIN_OFF(GPIO_SPI6_SCK)
#define GPIO_SPI6_MISO_OFF _PIN_OFF(GPIO_SPI6_MISO)
#define GPIO_SPI6_MOSI_OFF _PIN_OFF(GPIO_SPI6_MOSI)
#define GPIO_DRDY_OFF_SPI6_DRDY1 _PIN_OFF(GPIO_SPI6_DRDY1_EXTERNAL1)
#define GPIO_DRDY_OFF_SPI6_DRDY2 _PIN_OFF(GPIO_SPI6_DRDY2_EXTERNAL1)
/*
* Define the ability to shut off off the sensor signals
* by changing the signals to inputs
*/
#define _PIN_OFF(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz))
#define PX4_SPI_BUS_RAMTRON PX4_SPI_BUS_MEMORY
#include <drivers/drv_sensor.h>
#define PX4_SPIDEV_ICM_20602 PX4_MK_SPI_SEL(0,DRV_IMU_DEVTYPE_ICM20602)
#define PX4_SENSORS1_BUS_CS_GPIO {GPIO_SPI1_nCS1_ICM20602}
#define PX4_SPIDEV_ISM330 PX4_MK_SPI_SEL(0,DRV_IMU_DEVTYPE_ST_ISM330DLC)
#define PX4_SENSORS2_BUS_CS_GPIO {GPIO_SPI2_nCS1_ISM330}
#define PX4_SPIDEV_BMI088_GYR PX4_MK_SPI_SEL(0,DRV_GYR_DEVTYPE_BMI088)
#define PX4_SPIDEV_BMI088_ACC PX4_MK_SPI_SEL(0,DRV_ACC_DEVTYPE_BMI088)
#define PX4_SENSORS3_BUS_CS_GPIO {GPIO_SPI3_nCS2_BMI088_GYRO, GPIO_SPI3_nCS1_BMI088_ACCEL}
#define PX4_SPIDEV_MEMORY SPIDEV_FLASH(0)
#define PX4_MEMORY_BUS_CS_GPIO {GPIO_SPI5_nCS1_FRAM}
#define PX4_SPIDEV_EXTERNAL1_1 PX4_MK_SPI_SEL(0,0)
#define PX4_SPIDEV_EXTERNAL1_2 PX4_MK_SPI_SEL(0,1)
#define PX4_EXTERNAL1_BUS_CS_GPIO {GPIO_SPI6_nCS1_EXTERNAL1, GPIO_SPI6_nCS2_EXTERNAL1}
/* I2C busses */ /* I2C busses */
#define PX4_I2C_BUS_EXPANSION 1
#define PX4_I2C_BUS_EXPANSION1 2
#define PX4_I2C_BUS_EXPANSION2 3
#define PX4_I2C_BUS_ONBOARD 4
#define PX4_I2C_BUS_LED PX4_I2C_BUS_EXPANSION
/* Devices on the onboard buses. /* Devices on the onboard buses.
* *
* Note that these are unshifted addresses. * Note that these are unshifted addresses.
*/ */
#define PX4_I2C_OBDEV_A71CH 0x49 #define PX4_I2C_OBDEV_A71CH 0x49
#define BOARD_NUMBER_I2C_BUSES 4
#define BOARD_I2C_BUS_CLOCK_INIT {100000, 100000, 100000, 100000}
#define GPIO_I2C4_DRDY1_BMP388 /* PG5 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTG|GPIO_PIN5) #define GPIO_I2C4_DRDY1_BMP388 /* PG5 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTG|GPIO_PIN5)
#define GPIO_SE050_nRST /* PG6 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN6) #define GPIO_SE050_nRST /* PG6 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN6)

7
boards/px4/raspberrypi/src/board_config.h
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@ -48,15 +48,8 @@
/* /*
* I2C busses * I2C busses
*/ */
#define PX4_I2C_BUS_ONBOARD 1
#define PX4_I2C_BUS_EXPANSION 0
#define PX4_NUMBER_I2C_BUSES 2 #define PX4_NUMBER_I2C_BUSES 2
// SPI
#define PX4_SPI_BUS_SENSORS 0
#define PX4_SPIDEV_MPU PX4_MK_SPI_SEL(0, 0) // spidev0.0
#define ADC_BATTERY_VOLTAGE_CHANNEL 0 #define ADC_BATTERY_VOLTAGE_CHANNEL 0
#define ADC_BATTERY_CURRENT_CHANNEL -1 #define ADC_BATTERY_CURRENT_CHANNEL -1
#define ADC_AIRSPEED_VOLTAGE_CHANNEL 2 #define ADC_AIRSPEED_VOLTAGE_CHANNEL 2

2
boards/px4/sitl/src/board_config.h
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@ -47,8 +47,6 @@
#define BOARD_HAS_POWER_CONTROL #define BOARD_HAS_POWER_CONTROL
#define BOARD_HAS_NO_BOOTLOADER #define BOARD_HAS_NO_BOOTLOADER
#define PX4_I2C_BUS_EXPANSION 1
#define PX4_I2C_BUS_ONBOARD 2
#define PX4_NUMBER_I2C_BUSES 1 #define PX4_NUMBER_I2C_BUSES 1
#define BOARD_NUMBER_BRICKS 0 #define BOARD_NUMBER_BRICKS 0

99
boards/uvify/core/src/board_config.h
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@ -67,108 +67,9 @@
#define BOARD_ARMED_LED LED_BLUE #define BOARD_ARMED_LED LED_BLUE
#define BOARD_ARMED_STATE_LED LED_GREEN #define BOARD_ARMED_STATE_LED LED_GREEN
/**
* The MPU9250 is default. The wrong driver will fail during start because of an incorrect WHO_AM_I register.
*/
#define GPIO_SPI1_CS_PORTC_PIN2 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN2)
/**
* The ICM20608G is default. The wrong driver will fail during start because of an incorrect WHO_AM_I register.
*/
#define GPIO_SPI1_CS_PORTC_PIN15 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN15)
/**
* Reserved. The wrong driver will fail during start because of an incorrect WHO_AM_I register.
*/
#define GPIO_SPI1_CS_PORTE_PIN15 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN15)
/* Define the Data Ready interrupts On SPI 1. */
#define GPIO_DRDY_PORTD_PIN15 (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN15)
#define GPIO_DRDY_PORTC_PIN14 (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTC|GPIO_PIN14)
#define GPIO_DRDY_PORTE_PIN12 (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTE|GPIO_PIN12)
/* Define the Chip Selects for SPI2. */
#define GPIO_SPI2_CS_MS5611 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN7)
#define GPIO_SPI2_CS_FRAM (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN10)
/* Define the Chip Selects for SPI4. */
#ifdef CONFIG_STM32_SPI4 #ifdef CONFIG_STM32_SPI4
# define BOARD_HAS_BUS_MANIFEST 1 // We support a bus manifest because spi 4 is optional # define BOARD_HAS_BUS_MANIFEST 1 // We support a bus manifest because spi 4 is optional
# define GPIO_SPI4_CS_1 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN8) //ESP_RTS_PIN
#endif /* CONFIG_STM32_SPI4 */ #endif /* CONFIG_STM32_SPI4 */
/**
* Define the ability to shut off off the sensor signals
* by changing the signals to inputs.
*/
#define _PIN_OFF(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz))
/* SPI 1 bus off. */
#define GPIO_SPI1_SCK_OFF _PIN_OFF(GPIO_SPI1_SCK)
#define GPIO_SPI1_MISO_OFF _PIN_OFF(GPIO_SPI1_MISO)
#define GPIO_SPI1_MOSI_OFF _PIN_OFF(GPIO_SPI1_MOSI)
/* SPI 1 CS's off. */
#define GPIO_SPI1_CS_OFF_PORTC_PIN2 _PIN_OFF(GPIO_SPI1_CS_PORTC_PIN2)
#define GPIO_SPI1_CS_OFF_PORTC_PIN15 _PIN_OFF(GPIO_SPI1_CS_PORTC_PIN15)
#define GPIO_SPI1_CS_OFF_PORTE_PIN15 _PIN_OFF(GPIO_SPI1_CS_PORTE_PIN15)
/* SPI 1 DRDY's off. */
#define GPIO_DRDY_OFF_PORTD_PIN15 _PIN_OFF(GPIO_DRDY_PORTD_PIN15)
#define GPIO_DRDY_OFF_PORTC_PIN14 _PIN_OFF(GPIO_DRDY_PORTC_PIN14)
#define GPIO_DRDY_OFF_PORTE_PIN12 _PIN_OFF(GPIO_DRDY_PORTE_PIN12)
/* SPI 4 bus off. */
#ifdef CONFIG_STM32_SPI4
# define GPIO_SPI4_SCK_OFF _PIN_OFF(GPIO_SPI4_SCK)
# define GPIO_SPI4_MISO_OFF _PIN_OFF(GPIO_SPI4_MISO)
# define GPIO_SPI4_MOSI_OFF _PIN_OFF(GPIO_SPI4_MOSI)
#endif /* CONFIG_STM32_SPI4 */
/**
* N.B we do not have control over the SPI 2 buss powered devices
* so the the ms5611 is not resetable.
*
*/
#define PX4_SPI_BUS_SENSORS 1
#define PX4_SPI_BUS_RAMTRON 2
#define PX4_SPI_BUS_BARO PX4_SPI_BUS_RAMTRON
#ifdef CONFIG_STM32_SPI4
# define PX4_SPI_BUS_EXTERNAL 4
/* The mask passes to init the SPI bus pins
* N.B This works ONLY with buss numbers that are powers of 2
* Adding SPI3 would break this!
*/
# define SPI_BUS_INIT_MASK_EXT PX4_SPI_BUS_EXTERNAL
#endif /* CONFIG_STM32_SPI4 */
#include <drivers/drv_sensor.h>
/* Use these in place of the uint32_t enumeration to select a specific SPI device on SPI1 */
#define PX4_SPIDEV_MPU PX4_MK_SPI_SEL(0, DRV_IMU_DEVTYPE_MPU6000)
#define PX4_SPIDEV_HMC PX4_MK_SPI_SEL(0, DRV_MAG_DEVTYPE_HMC5883)
#define PX4_SPIDEV_LIS PX4_MK_SPI_SEL(0, DRV_MAG_DEVTYPE_LIS3MDL)
#define PX4_SPIDEV_ICM_20608 PX4_MK_SPI_SEL(0, DRV_IMU_DEVTYPE_ICM20608)
#define PX4_SPIDEV_ICM_20602 PX4_MK_SPI_SEL(0, DRV_IMU_DEVTYPE_ICM20602)
#define PX4_SPIDEV_MPU2 PX4_MK_SPI_SEL(0, DRV_IMU_DEVTYPE_MPU9250)
/**
* Onboard MS5611 and FRAM are both on bus SPI2.
* spi_dev_e:SPIDEV_FLASH has the value 2 and is used in the NuttX ramtron driver.
* PX4_MK_SPI_SEL differentiate by adding in PX4_SPI_DEVICE_ID.
*/
#define PX4_SPIDEV_BARO PX4_MK_SPI_SEL(0, DRV_BARO_DEVTYPE_MS5611)
#ifdef CONFIG_STM32_SPI4
# define PX4_SPIDEV_EXTERNAL PX4_MK_SPI_SEL(0, 0)
#endif /* CONFIG_STM32_SPI4 */
/* I2C busses. */
#define PX4_I2C_BUS_EXPANSION 1
#define PX4_I2C_BUS_LED PX4_I2C_BUS_EXPANSION
/** /**
* ADC channels: * ADC channels:

5
boards/uvify/core/src/init.c
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@ -310,8 +310,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
SPI_SETFREQUENCY(spi1, 10000000); SPI_SETFREQUENCY(spi1, 10000000);
SPI_SETBITS(spi1, 8); SPI_SETBITS(spi1, 8);
SPI_SETMODE(spi1, SPIDEV_MODE3); SPI_SETMODE(spi1, SPIDEV_MODE3);
SPI_SELECT(spi1, PX4_SPIDEV_HMC, false);
SPI_SELECT(spi1, PX4_SPIDEV_MPU, false);
up_udelay(20); up_udelay(20);
// Get the SPI port for the FRAM. // Get the SPI port for the FRAM.
@ -332,8 +330,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
SPI_SETFREQUENCY(spi2, 20 * 1000 * 1000); SPI_SETFREQUENCY(spi2, 20 * 1000 * 1000);
SPI_SETBITS(spi2, 8); SPI_SETBITS(spi2, 8);
SPI_SETMODE(spi2, SPIDEV_MODE3); SPI_SETMODE(spi2, SPIDEV_MODE3);
SPI_SELECT(spi2, SPIDEV_FLASH(0), false);
SPI_SELECT(spi2, PX4_SPIDEV_BARO, false);
#if defined(CONFIG_STM32_SPI4) #if defined(CONFIG_STM32_SPI4)
@ -351,7 +347,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
SPI_SETFREQUENCY(spi4, 20 * 1000 * 1000); SPI_SETFREQUENCY(spi4, 20 * 1000 * 1000);
SPI_SETBITS(spi4, 8); SPI_SETBITS(spi4, 8);
SPI_SETMODE(spi4, SPIDEV_MODE3); SPI_SETMODE(spi4, SPIDEV_MODE3);
SPI_SELECT(spi4, PX4_SPIDEV_EXTERNAL, false);
} }
} }

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