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136 lines
4.5 KiB
136 lines
4.5 KiB
/**************************************************************************** |
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* |
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* Copyright (C) 2012 PX4 Development Team. All rights reserved. |
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* |
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* Redistribution and use in source and binary forms, with or without |
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* modification, are permitted provided that the following conditions |
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* are met: |
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* |
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* 1. Redistributions of source code must retain the above copyright |
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* notice, this list of conditions and the following disclaimer. |
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* 2. Redistributions in binary form must reproduce the above copyright |
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* notice, this list of conditions and the following disclaimer in |
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* the documentation and/or other materials provided with the |
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* distribution. |
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* 3. Neither the name PX4 nor the names of its contributors may be |
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* used to endorse or promote products derived from this software |
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* without specific prior written permission. |
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* |
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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* POSSIBILITY OF SUCH DAMAGE. |
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* |
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****************************************************************************/ |
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/** |
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* @file px4fmu_spi.c |
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* |
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* Board-specific SPI functions. |
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*/ |
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/************************************************************************************ |
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* Included Files |
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************************************************************************************/ |
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#include <nuttx/config.h> |
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#include <stdint.h> |
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#include <stdbool.h> |
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#include <debug.h> |
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#include <nuttx/spi.h> |
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#include <arch/board/board.h> |
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#include "up_arch.h" |
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#include "chip.h" |
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#include "stm32_internal.h" |
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#include "px4fmu_internal.h" |
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/************************************************************************************ |
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* Public Functions |
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************************************************************************************/ |
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/************************************************************************************ |
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* Name: stm32_spiinitialize |
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* |
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* Description: |
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* Called to configure SPI chip select GPIO pins for the PX4FMU board. |
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* |
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************************************************************************************/ |
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__EXPORT void weak_function stm32_spiinitialize(void) |
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{ |
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stm32_configgpio(GPIO_SPI_CS_GYRO); |
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stm32_configgpio(GPIO_SPI_CS_ACCEL); |
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stm32_configgpio(GPIO_SPI_CS_MPU); |
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stm32_configgpio(GPIO_SPI_CS_SDCARD); |
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/* De-activate all peripherals, |
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* required for some peripheral |
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* state machines |
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*/ |
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stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1); |
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stm32_gpiowrite(GPIO_SPI_CS_ACCEL, 1); |
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stm32_gpiowrite(GPIO_SPI_CS_MPU, 1); |
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stm32_gpiowrite(GPIO_SPI_CS_SDCARD, 1); |
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} |
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__EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected) |
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{ |
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/* SPI select is active low, so write !selected to select the device */ |
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switch (devid) { |
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case PX4_SPIDEV_GYRO: |
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/* Making sure the other peripherals are not selected */ |
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stm32_gpiowrite(GPIO_SPI_CS_GYRO, !selected); |
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stm32_gpiowrite(GPIO_SPI_CS_MPU, selected); |
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stm32_gpiowrite(GPIO_SPI_CS_ACCEL, selected); |
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break; |
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case PX4_SPIDEV_ACCEL: |
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/* Making sure the other peripherals are not selected */ |
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stm32_gpiowrite(GPIO_SPI_CS_ACCEL, !selected); |
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stm32_gpiowrite(GPIO_SPI_CS_MPU, selected); |
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stm32_gpiowrite(GPIO_SPI_CS_GYRO, selected); |
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break; |
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case PX4_SPIDEV_MPU: |
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/* Making sure the other peripherals are not selected */ |
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stm32_gpiowrite(GPIO_SPI_CS_ACCEL, selected); |
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stm32_gpiowrite(GPIO_SPI_CS_GYRO, selected); |
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stm32_gpiowrite(GPIO_SPI_CS_MPU, !selected); |
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break; |
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default: |
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break; |
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} |
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} |
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__EXPORT uint8_t stm32_spi1status(FAR struct spi_dev_s *dev, enum spi_dev_e devid) |
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{ |
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return SPI_STATUS_PRESENT; |
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} |
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__EXPORT void stm32_spi3select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected) |
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{ |
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/* there can only be one device on this bus, so always select it */ |
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stm32_gpiowrite(GPIO_SPI_CS_SDCARD, 0); |
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} |
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__EXPORT uint8_t stm32_spi3status(FAR struct spi_dev_s *dev, enum spi_dev_e devid) |
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{ |
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/* this is actually bogus, but PX4 has no way to sense the presence of an SD card */ |
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return SPI_STATUS_PRESENT; |
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} |
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