forked from Archive/PX4-Autopilot
px4fmu-v2 and px4fmu-v3 boards cleanup
This commit is contained in:
parent
95cea13090
commit
3ac6d1aa27
1
Makefile
1
Makefile
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@ -184,7 +184,6 @@ excelsior_legacy_default: posix_excelsior_legacy qurt_excelsior_legacy
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.PHONY: qgc_firmware px4fmu_firmware misc_qgc_extra_firmware alt_firmware
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.PHONY: sizes check quick_check
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.PHONY: check_posix_sitl_default check_px4fmu-v3_default
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# QGroundControl flashable NuttX firmware
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qgc_firmware: px4fmu_firmware misc_qgc_extra_firmware sizes
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@ -34,11 +34,11 @@ px4_add_module(
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MODULE drivers__boards__px4fmu-v2
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SRCS
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px4fmu_can.c
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px4fmu2_init.c
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px4fmu_timer_config.c
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px4fmu_init.c
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px4fmu_led.c
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px4fmu_spi.c
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px4fmu_timer_config.c
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px4fmu_usb.c
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px4fmu2_led.c
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DEPENDS
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platforms__common
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)
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@ -105,4 +105,3 @@ __EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume)
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{
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uinfo("resume: %d\n", resume);
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}
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@ -33,9 +33,9 @@
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px4_add_module(
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MODULE drivers__boards__px4fmu-v3
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SRCS
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px4fmu3_led.c
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px4fmu3_init.c
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px4fmu_can.c
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px4fmu_init.c
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px4fmu_led.c
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px4fmu_spi.c
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px4fmu_timer_config.c
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px4fmu_usb.c
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@ -119,17 +119,10 @@ __END_DECLS
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/****************************************************************************
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* Private Data
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****************************************************************************/
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#if defined(BOARD_HAS_SIMPLE_HW_VERSIONING)
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static int hw_version = 0;
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static int hw_revision = 0;
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static char hw_type[4] = HW_VER_TYPE_INIT;
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#endif
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/****************************************************************************
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* Protected Functions
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****************************************************************************/
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/****************************************************************************
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* Public Functions
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****************************************************************************/
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/************************************************************************************
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* Name: board_peripheral_reset
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*
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@ -226,7 +219,6 @@ __EXPORT void board_on_reset(int status)
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*
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************************************************************************************/
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#if defined(BOARD_HAS_SIMPLE_HW_VERSIONING)
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static int determin_hw_version(int *version, int *revision)
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{
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*revision = 0; /* default revision */
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@ -309,7 +301,6 @@ __EXPORT int board_get_hw_revision()
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{
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return hw_revision;
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}
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#endif // BOARD_HAS_SIMPLE_HW_VERSIONING
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/************************************************************************************
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* Name: stm32_boardinitialize
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@ -404,7 +395,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
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# error platform is dependent on c++ both CONFIG_HAVE_CXX and CONFIG_HAVE_CXXINITIALIZE must be defined.
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#endif
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#if defined(BOARD_HAS_SIMPLE_HW_VERSIONING)
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if (OK == determin_hw_version(&hw_version, & hw_revision)) {
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switch (hw_version) {
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@ -425,7 +415,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
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PX4_INFO("Ver 0x%1X : Rev %x %s", hw_version, hw_revision, hw_type);
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}
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#endif // BOARD_HAS_SIMPLE_HW_VERSIONING
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/* Bring up the Sensor power */
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@ -82,14 +82,6 @@ static void stm32_spi1_initialize(void)
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stm32_configgpio(GPIO_SPI1_EXTI_DRDY_PD15);
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# if !defined(BOARD_HAS_VERSIONING)
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stm32_configgpio(GPIO_SPI1_EXTI_DRDY_PB0);
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stm32_configgpio(GPIO_SPI1_EXTI_DRDY_PB1);
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stm32_configgpio(GPIO_SPI1_EXTI_DRDY_PB4);
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stm32_configgpio(GPIO_SPI1_CS_PC13);
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stm32_configgpio(GPIO_SPI1_CS_PC15);
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# else
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if (HW_VER_FMUV2 == board_get_hw_version()) {
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stm32_configgpio(GPIO_SPI1_EXTI_DRDY_PB0);
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stm32_configgpio(GPIO_SPI1_EXTI_DRDY_PB1);
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@ -104,8 +96,6 @@ static void stm32_spi1_initialize(void)
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} else if (HW_VER_FMUV3 == board_get_hw_version()) {
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stm32_configgpio(GPIO_SPI1_CS_PC1);
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}
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# endif
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}
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#endif // CONFIG_STM32_SPI1
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@ -119,10 +109,6 @@ static void stm32_spi4_initialize(void)
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{
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stm32_configgpio(GPIO_SPI4_NSS_PE4);
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# if !defined(BOARD_HAS_VERSIONING)
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stm32_configgpio(GPIO_SPI4_GPIO_PC14);
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# else
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if (HW_VER_FMUV3 == board_get_hw_version()) {
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stm32_configgpio(GPIO_SPI4_EXTI_DRDY_PB0);
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stm32_configgpio(GPIO_SPI4_CS_PB1);
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@ -133,8 +119,6 @@ static void stm32_spi4_initialize(void)
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if (HW_VER_FMUV2MINI != board_get_hw_version()) {
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stm32_configgpio(GPIO_SPI4_GPIO_PC14);
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}
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# endif
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}
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#endif //CONFIG_STM32_SPI4
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@ -157,52 +141,6 @@ __EXPORT void stm32_spiinitialize(void)
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__EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, uint32_t 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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# if !defined(BOARD_HAS_VERSIONING)
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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_SPI1_CS_PC13, !selected);
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stm32_gpiowrite(GPIO_SPI1_CS_PC15, 1);
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stm32_gpiowrite(GPIO_SPI1_CS_PD7, 1);
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stm32_gpiowrite(GPIO_SPI1_CS_PC2, 1);
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break;
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# if defined(PX4_SPIDEV_ICM_20608)
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case PX4_SPIDEV_ICM_20608:
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# endif
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case PX4_SPIDEV_ACCEL_MAG:
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/* Making sure the other peripherals are not selected */
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stm32_gpiowrite(GPIO_SPI1_CS_PC13, 1);
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stm32_gpiowrite(GPIO_SPI1_CS_PC15, !selected);
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stm32_gpiowrite(GPIO_SPI1_CS_PD7, 1);
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stm32_gpiowrite(GPIO_SPI1_CS_PC2, 1);
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break;
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case PX4_SPIDEV_BARO:
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/* Making sure the other peripherals are not selected */
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stm32_gpiowrite(GPIO_SPI1_CS_PC13, 1);
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stm32_gpiowrite(GPIO_SPI1_CS_PC15, 1);
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stm32_gpiowrite(GPIO_SPI1_CS_PD7, !selected);
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stm32_gpiowrite(GPIO_SPI1_CS_PC2, 1);
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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_SPI1_CS_PC13, 1);
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stm32_gpiowrite(GPIO_SPI1_CS_PC15, 1);
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stm32_gpiowrite(GPIO_SPI1_CS_PD7, 1);
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stm32_gpiowrite(GPIO_SPI1_CS_PC2, !selected);
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break;
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default:
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break;
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}
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# else // defined(BOARD_HAS_VERSIONING)
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/* SPI select is active low, so write !selected to select the device */
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/* Verification
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* PA5 PA6 PA7 PB0 PB1 PB4 PC1 PC2 PC13 PC14 PC15 PD7 PD15 PE2 PE4 PE5 PE6
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* driver X X X X X X
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@ -315,8 +253,6 @@ __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, uint32_t devid, bool s
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default:
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break;
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}
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# endif // defined(BOARD_HAS_VERSIONING)
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}
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__EXPORT uint8_t stm32_spi1status(FAR struct spi_dev_s *dev, uint32_t devid)
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@ -344,28 +280,6 @@ __EXPORT uint8_t stm32_spi2status(FAR struct spi_dev_s *dev, uint32_t devid)
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__EXPORT void stm32_spi4select(FAR struct spi_dev_s *dev, uint32_t 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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# if !defined(BOARD_HAS_VERSIONING)
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switch (devid) {
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case PX4_SPIDEV_EXT_MPU:
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/* Making sure the other peripherals are not selected */
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stm32_gpiowrite(GPIO_SPI4_NSS_PE4, !selected);
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stm32_gpiowrite(GPIO_SPI4_GPIO_PC14, 1);
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break;
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case PX4_SPIDEV_EXT_BARO:
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/* Making sure the other peripherals are not selected */
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stm32_gpiowrite(GPIO_SPI4_NSS_PE4, 1);
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stm32_gpiowrite(GPIO_SPI4_GPIO_PC14, !selected);
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break;
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default:
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break;
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}
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# else // defined(BOARD_HAS_VERSIONING)
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/* SPI select is active low, so write !selected to select the device */
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/* Verification
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* PA5 PA6 PA7 PB0 PB1 PB4 PC1 PC2 PC13 PC14 PC15 PD7 PD15 PE2 PE4 PE5 PE6
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* driver X X X X X X
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@ -442,9 +356,6 @@ __EXPORT void stm32_spi4select(FAR struct spi_dev_s *dev, uint32_t devid, bool s
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break;
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}
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# endif // defined(BOARD_HAS_VERSIONING)
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}
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__EXPORT uint8_t stm32_spi4status(FAR struct spi_dev_s *dev, uint32_t devid)
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{
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@ -489,8 +400,6 @@ __EXPORT void board_spi_reset(int ms)
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stm32_gpiowrite(_PIN_OFF(GPIO_SPI1_EXTI_DRDY_PB4), 0);
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stm32_gpiowrite(_PIN_OFF(GPIO_SPI1_EXTI_DRDY_PD15), 0);
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#if defined(BOARD_HAS_VERSIONING)
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if (HW_VER_FMUV2 != board_get_hw_version()) {
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stm32_configgpio(_PIN_OFF(GPIO_SPI4_CS_PC14));
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stm32_gpiowrite(_PIN_OFF(GPIO_SPI4_CS_PC14), 0);
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@ -510,11 +419,8 @@ __EXPORT void board_spi_reset(int ms)
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stm32_gpiowrite(_PIN_OFF(GPIO_SPI4_SCK), 0);
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stm32_gpiowrite(_PIN_OFF(GPIO_SPI4_MISO), 0);
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stm32_gpiowrite(_PIN_OFF(GPIO_SPI4_MOSI), 0);
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}
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#endif
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/* set the sensor rail off */
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stm32_configgpio(GPIO_VDD_3V3_SENSORS_EN);
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stm32_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, 0);
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stm32_configgpio(GPIO_SPI1_MISO);
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stm32_configgpio(GPIO_SPI1_MOSI);
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#if defined(BOARD_HAS_VERSIONING)
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if (HW_VER_FMUV3 == board_get_hw_version()) {
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stm32_configgpio(GPIO_SPI4_SCK);
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stm32_configgpio(GPIO_SPI4_MISO);
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@ -545,7 +449,5 @@ __EXPORT void board_spi_reset(int ms)
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stm32_spi4_initialize();
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}
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#endif
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stm32_spi1_initialize();
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}
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