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HAL_Chibios: align SPI device IDs with px4 IDs 

this makes for easier update to ChibiOS without redoing accelcal
This commit is contained in:
Andrew Tridgell 2018-01-05 19:36:56 +11:00
parent 7cb1c0420a
commit c742543565
2 changed files with 44 additions and 38 deletions
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57
libraries/AP_HAL_ChibiOS/SPIDevice.cpp
View File

@ -31,6 +31,9 @@ using namespace ChibiOS;
#define SPIDEV_CS_CYRF GPIOA, 4
#define SPIDEV_CS_FLOW GPIOA, 15
#define SPIDEV_RADIO 1
#define SPIDEV_FLOW 2
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_FMUV3
#define SPI_BUS_SENSORS 0
#define SPI_BUS_RAMTRON 1
@ -41,14 +44,35 @@ using namespace ChibiOS;
#define SPIDEV_CS_EXT_MS5611 GPIOC, 14
#define SPIDEV_CS_MPU GPIOC, 2
#define SPIDEV_CS_EXT_MPU GPIOE, 4
#define SPIDEV_CS_EXT_LSM9DS0_G GPIOC, 13
#define SPIDEV_CS_EXT_LSM9DS0_AM GPIOC, 15
#define SPIDEV_CS_LSM9DS0_G GPIOC, 13 // same cs for both internal and external
#define SPIDEV_CS_LSM9DS0_AM GPIOC, 15 // same cs for both internal and external
#define SPIDEV_CS_RAMTRON GPIOD, 10
#define SPIDEV_CS_RADIO GPIOD, 10
#define SPIDEV_CS_FLOW GPIOE, 4
// these device numbers are chosen to match those used when running NuttX. That prevent
// users having to recal when updating to ChibiOS
#define SPIDEV_LSM9DS0_G 1
#define SPIDEV_LSM9DS0_AM 2
#define SPIDEV_BARO 3
#define SPIDEV_MPU 4
#define SPIDEV_HMC 5
#define SPIDEV_EXT_MPU 1
#define SPIDEV_EXT_BARO 2
#define SPIDEV_EXT_LSM9DS0_AM 3
#define SPIDEV_EXT_LSM9DS0_G 4
#define SPIDEV_RAMTROM 10
#define SPIDEV_CYRF 11
#endif // CONFIG_HAL_BOARD_SUBTYPE
// SPI mode numbers
#define SPIDEV_MODE0 0
#define SPIDEV_MODE1 SPI_CR1_CPHA
#define SPIDEV_MODE2 SPI_CR1_CPOL
#define SPIDEV_MODE3 SPI_CR1_CPOL | SPI_CR1_CPHA
#define SPI1_CLOCK STM32_PCLK2
#define SPI2_CLOCK STM32_PCLK1
#define SPI3_CLOCK STM32_PCLK1
@ -56,15 +80,14 @@ using namespace ChibiOS;
static struct SPIDriverInfo {
SPIDriver *driver;
uint8_t busid; // used for device IDs in parameters
uint8_t dma_channel_rx;
uint8_t dma_channel_tx;
} spi_devices[] = {
{ &SPID1, STM32_SPI_SPI1_RX_DMA_STREAM, STM32_SPI_SPI1_TX_DMA_STREAM },
{ &SPID2, STM32_SPI_SPI2_RX_DMA_STREAM, STM32_SPI_SPI2_TX_DMA_STREAM },
{ &SPID1, 1, STM32_SPI_SPI1_RX_DMA_STREAM, STM32_SPI_SPI1_TX_DMA_STREAM },
{ &SPID2, 2, STM32_SPI_SPI2_RX_DMA_STREAM, STM32_SPI_SPI2_TX_DMA_STREAM },
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_FMUV3
{ &SPID4, STM32_SPI_SPI4_RX_DMA_STREAM, STM32_SPI_SPI4_TX_DMA_STREAM },
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_SKYVIPER_F412
{ &SPID3, STM32_SPI_SPI3_RX_DMA_STREAM, STM32_SPI_SPI3_TX_DMA_STREAM },
{ &SPID4, 4, STM32_SPI_SPI4_RX_DMA_STREAM, STM32_SPI_SPI4_TX_DMA_STREAM },
#endif
};
@ -72,16 +95,18 @@ static struct SPIDriverInfo {
#define KHZ (1000U)
SPIDesc SPIDeviceManager::device_table[] = {
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_SKYVIPER_F412
SPIDesc("mpu6000", SPI_BUS_SENSORS, SPIDEV_MPU, SPIDEV_CS_MPU, SPIDEV_MODE3, 500*KHZ, 8*MHZ),
SPIDesc("cypress", SPI_BUS_SENSORS2, SPIDEV_CYRF, SPIDEV_CS_CYRF, SPIDEV_MODE0, 2*MHZ, 2*MHZ),
SPIDesc("pixartflow", SPI_BUS_EXT, SPIDEV_FLOW, SPIDEV_CS_FLOW, SPIDEV_MODE3, 2*MHZ, 2*MHZ),
SPIDesc("cypress", SPI_BUS_RADIO, SPIDEV_RADIO, SPIDEV_CS_RADIO, SPIDEV_MODE0, 2*MHZ, 2*MHZ),
SPIDesc("pixartflow", SPI_BUS_FLOW, SPIDEV_FLOW, SPIDEV_CS_FLOW, SPIDEV_MODE3, 2*MHZ, 2*MHZ),
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_FMUV3
SPIDesc("ms5611", SPI_BUS_SENSORS, SPIDEV_MS5611, SPIDEV_CS_MS5611, SPIDEV_MODE3, 20*MHZ, 20*MHZ ),
SPIDesc("ms5611_ext", SPI_BUS_EXT, SPIDEV_EXT_MS5611, SPIDEV_CS_EXT_MS5611, SPIDEV_MODE3, 20*MHZ, 20*MHZ),
SPIDesc("ms5611", SPI_BUS_SENSORS, SPIDEV_BARO, SPIDEV_CS_MS5611, SPIDEV_MODE3, 20*MHZ, 20*MHZ),
SPIDesc("ms5611_ext", SPI_BUS_EXT, SPIDEV_EXT_BARO, SPIDEV_CS_EXT_MS5611, SPIDEV_MODE3, 20*MHZ, 20*MHZ),
SPIDesc("mpu6000", SPI_BUS_SENSORS, SPIDEV_MPU, SPIDEV_CS_MPU, SPIDEV_MODE3, 1*MHZ, 8*MHZ ),
SPIDesc("mpu9250", SPI_BUS_SENSORS, SPIDEV_MPU, SPIDEV_CS_MPU, SPIDEV_MODE3, 1*MHZ, 8*MHZ ),
SPIDesc("mpu9250_ext", SPI_BUS_EXT, SPIDEV_EXT_MPU , SPIDEV_CS_EXT_MPU, SPIDEV_MODE3, 1*MHZ, 8*MHZ ),
SPIDesc("lsm9ds0_ext_g", SPI_BUS_EXT, SPIDEV_EXT_LSM9DS0_G , SPIDEV_CS_EXT_LSM9DS0_G, SPIDEV_MODE3, 11*MHZ, 11*MHZ ),
SPIDesc("lsm9ds0_ext_am", SPI_BUS_EXT, SPIDEV_EXT_LSM9DS0_AM , SPIDEV_CS_EXT_LSM9DS0_AM, SPIDEV_MODE3, 11*MHZ, 11*MHZ ),
SPIDesc("mpu9250_ext", SPI_BUS_EXT, SPIDEV_EXT_MPU, SPIDEV_CS_EXT_MPU, SPIDEV_MODE3, 1*MHZ, 8*MHZ ),
SPIDesc("lsm9ds0_g", SPI_BUS_SENSORS, SPIDEV_LSM9DS0_G, SPIDEV_CS_LSM9DS0_G, SPIDEV_MODE3, 11*MHZ, 11*MHZ ),
SPIDesc("lsm9ds0_am", SPI_BUS_SENSORS, SPIDEV_LSM9DS0_AM, SPIDEV_CS_LSM9DS0_AM, SPIDEV_MODE3, 11*MHZ, 11*MHZ ),
SPIDesc("lsm9ds0_ext_g", SPI_BUS_EXT, SPIDEV_EXT_LSM9DS0_G, SPIDEV_CS_LSM9DS0_G, SPIDEV_MODE3, 11*MHZ, 11*MHZ ),
SPIDesc("lsm9ds0_ext_am", SPI_BUS_EXT, SPIDEV_EXT_LSM9DS0_AM,SPIDEV_CS_LSM9DS0_AM, SPIDEV_MODE3, 11*MHZ, 11*MHZ ),
SPIDesc("ramtron", SPI_BUS_RAMTRON, SPIDEV_RAMTROM, SPIDEV_CS_RAMTRON, SPIDEV_MODE3, 8*MHZ, 8*MHZ ),
SPIDesc("cypress", SPI_BUS_RADIO, SPIDEV_CYRF, SPIDEV_CS_RADIO, SPIDEV_MODE0, 2*MHZ, 2*MHZ),
#endif
@ -121,7 +146,7 @@ SPIDevice::SPIDevice(SPIBus &_bus, SPIDesc &_device_desc)
: bus(_bus)
, device_desc(_device_desc)
{
set_device_bus(_bus.bus);
set_device_bus(spi_devices[_bus.bus].busid);
set_device_address(_device_desc.device);
freq_flag_low = derive_freq_flag(device_desc.lowspeed);
freq_flag_high = derive_freq_flag(device_desc.highspeed);

19
libraries/AP_HAL_ChibiOS/SPIDevice.h
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@ -21,25 +21,6 @@
#include "Scheduler.h"
#include "Device.h"
#define SPIDEV_BMP280 0
#define SPIDEV_LSM303D 1
#define SPIDEV_L3GD20H 2
#define SPIDEV_MS5611 3
#define SPIDEV_EXT_MS5611 4
#define SPIDEV_MPU 5
#define SPIDEV_EXT_MPU 6
#define SPIDEV_EXT_LSM9DS0_G 7
#define SPIDEV_EXT_LSM9DS0_AM 8
#define SPIDEV_CYRF 9
#define SPIDEV_FLOW 10
#define SPIDEV_RAMTROM 11
#define SPIDEV_MODE0 0
#define SPIDEV_MODE1 SPI_CR1_CPHA
#define SPIDEV_MODE2 SPI_CR1_CPOL
#define SPIDEV_MODE3 SPI_CR1_CPOL | SPI_CR1_CPHA
namespace ChibiOS {
class SPIDesc;