diff --git a/Makefile b/Makefile index f09db71727..8ebec3ce90 100644 --- a/Makefile +++ b/Makefile @@ -184,7 +184,6 @@ excelsior_legacy_default: posix_excelsior_legacy qurt_excelsior_legacy .PHONY: qgc_firmware px4fmu_firmware misc_qgc_extra_firmware alt_firmware .PHONY: sizes check quick_check -.PHONY: check_posix_sitl_default check_px4fmu-v3_default # QGroundControl flashable NuttX firmware qgc_firmware: px4fmu_firmware misc_qgc_extra_firmware sizes diff --git a/src/drivers/boards/px4fmu-v2/CMakeLists.txt b/src/drivers/boards/px4fmu-v2/CMakeLists.txt index 5d801d7e0d..ce2592f35c 100644 --- a/src/drivers/boards/px4fmu-v2/CMakeLists.txt +++ b/src/drivers/boards/px4fmu-v2/CMakeLists.txt @@ -34,11 +34,11 @@ px4_add_module( MODULE drivers__boards__px4fmu-v2 SRCS px4fmu_can.c - px4fmu2_init.c - px4fmu_timer_config.c + px4fmu_init.c + px4fmu_led.c px4fmu_spi.c + px4fmu_timer_config.c px4fmu_usb.c - px4fmu2_led.c DEPENDS platforms__common ) diff --git a/src/drivers/boards/px4fmu-v2/px4fmu2_init.c b/src/drivers/boards/px4fmu-v2/px4fmu_init.c similarity index 100% rename from src/drivers/boards/px4fmu-v2/px4fmu2_init.c rename to src/drivers/boards/px4fmu-v2/px4fmu_init.c diff --git a/src/drivers/boards/px4fmu-v2/px4fmu2_led.c b/src/drivers/boards/px4fmu-v2/px4fmu_led.c similarity index 100% rename from src/drivers/boards/px4fmu-v2/px4fmu2_led.c rename to src/drivers/boards/px4fmu-v2/px4fmu_led.c diff --git a/src/drivers/boards/px4fmu-v2/px4fmu_usb.c b/src/drivers/boards/px4fmu-v2/px4fmu_usb.c index ea49d0b521..4b455309db 100644 --- a/src/drivers/boards/px4fmu-v2/px4fmu_usb.c +++ b/src/drivers/boards/px4fmu-v2/px4fmu_usb.c @@ -105,4 +105,3 @@ __EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume) { uinfo("resume: %d\n", resume); } - diff --git a/src/drivers/boards/px4fmu-v3/CMakeLists.txt b/src/drivers/boards/px4fmu-v3/CMakeLists.txt index a4403c71ae..f86b1be728 100644 --- a/src/drivers/boards/px4fmu-v3/CMakeLists.txt +++ b/src/drivers/boards/px4fmu-v3/CMakeLists.txt @@ -33,9 +33,9 @@ px4_add_module( MODULE drivers__boards__px4fmu-v3 SRCS - px4fmu3_led.c - px4fmu3_init.c px4fmu_can.c + px4fmu_init.c + px4fmu_led.c px4fmu_spi.c px4fmu_timer_config.c px4fmu_usb.c diff --git a/src/drivers/boards/px4fmu-v3/px4fmu3_init.c b/src/drivers/boards/px4fmu-v3/px4fmu_init.c similarity index 97% rename from src/drivers/boards/px4fmu-v3/px4fmu3_init.c rename to src/drivers/boards/px4fmu-v3/px4fmu_init.c index 4dad97b858..e3de3bbd38 100644 --- a/src/drivers/boards/px4fmu-v3/px4fmu3_init.c +++ b/src/drivers/boards/px4fmu-v3/px4fmu_init.c @@ -119,17 +119,10 @@ __END_DECLS /**************************************************************************** * Private Data ****************************************************************************/ -#if defined(BOARD_HAS_SIMPLE_HW_VERSIONING) static int hw_version = 0; static int hw_revision = 0; static char hw_type[4] = HW_VER_TYPE_INIT; -#endif -/**************************************************************************** - * Protected Functions - ****************************************************************************/ -/**************************************************************************** - * Public Functions - ****************************************************************************/ + /************************************************************************************ * Name: board_peripheral_reset * @@ -226,7 +219,6 @@ __EXPORT void board_on_reset(int status) * ************************************************************************************/ -#if defined(BOARD_HAS_SIMPLE_HW_VERSIONING) static int determin_hw_version(int *version, int *revision) { *revision = 0; /* default revision */ @@ -309,7 +301,6 @@ __EXPORT int board_get_hw_revision() { return hw_revision; } -#endif // BOARD_HAS_SIMPLE_HW_VERSIONING /************************************************************************************ * Name: stm32_boardinitialize @@ -404,7 +395,6 @@ __EXPORT int board_app_initialize(uintptr_t arg) # error platform is dependent on c++ both CONFIG_HAVE_CXX and CONFIG_HAVE_CXXINITIALIZE must be defined. #endif -#if defined(BOARD_HAS_SIMPLE_HW_VERSIONING) if (OK == determin_hw_version(&hw_version, & hw_revision)) { switch (hw_version) { @@ -425,7 +415,6 @@ __EXPORT int board_app_initialize(uintptr_t arg) PX4_INFO("Ver 0x%1X : Rev %x %s", hw_version, hw_revision, hw_type); } -#endif // BOARD_HAS_SIMPLE_HW_VERSIONING /* Bring up the Sensor power */ diff --git a/src/drivers/boards/px4fmu-v3/px4fmu3_led.c b/src/drivers/boards/px4fmu-v3/px4fmu_led.c similarity index 100% rename from src/drivers/boards/px4fmu-v3/px4fmu3_led.c rename to src/drivers/boards/px4fmu-v3/px4fmu_led.c diff --git a/src/drivers/boards/px4fmu-v3/px4fmu_spi.c b/src/drivers/boards/px4fmu-v3/px4fmu_spi.c index 8ad297712f..fde6f586bf 100644 --- a/src/drivers/boards/px4fmu-v3/px4fmu_spi.c +++ b/src/drivers/boards/px4fmu-v3/px4fmu_spi.c @@ -82,14 +82,6 @@ static void stm32_spi1_initialize(void) stm32_configgpio(GPIO_SPI1_EXTI_DRDY_PD15); -# if !defined(BOARD_HAS_VERSIONING) - stm32_configgpio(GPIO_SPI1_EXTI_DRDY_PB0); - stm32_configgpio(GPIO_SPI1_EXTI_DRDY_PB1); - stm32_configgpio(GPIO_SPI1_EXTI_DRDY_PB4); - stm32_configgpio(GPIO_SPI1_CS_PC13); - stm32_configgpio(GPIO_SPI1_CS_PC15); -# else - if (HW_VER_FMUV2 == board_get_hw_version()) { stm32_configgpio(GPIO_SPI1_EXTI_DRDY_PB0); stm32_configgpio(GPIO_SPI1_EXTI_DRDY_PB1); @@ -104,8 +96,6 @@ static void stm32_spi1_initialize(void) } else if (HW_VER_FMUV3 == board_get_hw_version()) { stm32_configgpio(GPIO_SPI1_CS_PC1); } - -# endif } #endif // CONFIG_STM32_SPI1 @@ -119,10 +109,6 @@ static void stm32_spi4_initialize(void) { stm32_configgpio(GPIO_SPI4_NSS_PE4); -# if !defined(BOARD_HAS_VERSIONING) - stm32_configgpio(GPIO_SPI4_GPIO_PC14); -# else - if (HW_VER_FMUV3 == board_get_hw_version()) { stm32_configgpio(GPIO_SPI4_EXTI_DRDY_PB0); stm32_configgpio(GPIO_SPI4_CS_PB1); @@ -133,8 +119,6 @@ static void stm32_spi4_initialize(void) if (HW_VER_FMUV2MINI != board_get_hw_version()) { stm32_configgpio(GPIO_SPI4_GPIO_PC14); } - -# endif } #endif //CONFIG_STM32_SPI4 @@ -157,52 +141,6 @@ __EXPORT void stm32_spiinitialize(void) __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected) { /* SPI select is active low, so write !selected to select the device */ - -# if !defined(BOARD_HAS_VERSIONING) - switch (devid) { - case PX4_SPIDEV_GYRO: - /* Making sure the other peripherals are not selected */ - stm32_gpiowrite(GPIO_SPI1_CS_PC13, !selected); - stm32_gpiowrite(GPIO_SPI1_CS_PC15, 1); - stm32_gpiowrite(GPIO_SPI1_CS_PD7, 1); - stm32_gpiowrite(GPIO_SPI1_CS_PC2, 1); - break; - -# if defined(PX4_SPIDEV_ICM_20608) - - case PX4_SPIDEV_ICM_20608: -# endif - case PX4_SPIDEV_ACCEL_MAG: - /* Making sure the other peripherals are not selected */ - stm32_gpiowrite(GPIO_SPI1_CS_PC13, 1); - stm32_gpiowrite(GPIO_SPI1_CS_PC15, !selected); - stm32_gpiowrite(GPIO_SPI1_CS_PD7, 1); - stm32_gpiowrite(GPIO_SPI1_CS_PC2, 1); - break; - - case PX4_SPIDEV_BARO: - /* Making sure the other peripherals are not selected */ - stm32_gpiowrite(GPIO_SPI1_CS_PC13, 1); - stm32_gpiowrite(GPIO_SPI1_CS_PC15, 1); - stm32_gpiowrite(GPIO_SPI1_CS_PD7, !selected); - stm32_gpiowrite(GPIO_SPI1_CS_PC2, 1); - break; - - case PX4_SPIDEV_MPU: - /* Making sure the other peripherals are not selected */ - stm32_gpiowrite(GPIO_SPI1_CS_PC13, 1); - stm32_gpiowrite(GPIO_SPI1_CS_PC15, 1); - stm32_gpiowrite(GPIO_SPI1_CS_PD7, 1); - stm32_gpiowrite(GPIO_SPI1_CS_PC2, !selected); - break; - - default: - break; - } - -# else // defined(BOARD_HAS_VERSIONING) - - /* SPI select is active low, so write !selected to select the device */ /* Verification * PA5 PA6 PA7 PB0 PB1 PB4 PC1 PC2 PC13 PC14 PC15 PD7 PD15 PE2 PE4 PE5 PE6 * driver X X X X X X @@ -315,8 +253,6 @@ __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, uint32_t devid, bool s default: break; } - -# endif // defined(BOARD_HAS_VERSIONING) } __EXPORT uint8_t stm32_spi1status(FAR struct spi_dev_s *dev, uint32_t devid) @@ -344,28 +280,6 @@ __EXPORT uint8_t stm32_spi2status(FAR struct spi_dev_s *dev, uint32_t devid) __EXPORT void stm32_spi4select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected) { /* SPI select is active low, so write !selected to select the device */ - -# if !defined(BOARD_HAS_VERSIONING) - switch (devid) { - case PX4_SPIDEV_EXT_MPU: - /* Making sure the other peripherals are not selected */ - stm32_gpiowrite(GPIO_SPI4_NSS_PE4, !selected); - stm32_gpiowrite(GPIO_SPI4_GPIO_PC14, 1); - break; - - case PX4_SPIDEV_EXT_BARO: - /* Making sure the other peripherals are not selected */ - stm32_gpiowrite(GPIO_SPI4_NSS_PE4, 1); - stm32_gpiowrite(GPIO_SPI4_GPIO_PC14, !selected); - break; - - default: - break; - - } - -# else // defined(BOARD_HAS_VERSIONING) - /* SPI select is active low, so write !selected to select the device */ /* Verification * PA5 PA6 PA7 PB0 PB1 PB4 PC1 PC2 PC13 PC14 PC15 PD7 PD15 PE2 PE4 PE5 PE6 * driver X X X X X X @@ -442,9 +356,6 @@ __EXPORT void stm32_spi4select(FAR struct spi_dev_s *dev, uint32_t devid, bool s break; } - -# endif // defined(BOARD_HAS_VERSIONING) - } __EXPORT uint8_t stm32_spi4status(FAR struct spi_dev_s *dev, uint32_t devid) { @@ -489,8 +400,6 @@ __EXPORT void board_spi_reset(int ms) stm32_gpiowrite(_PIN_OFF(GPIO_SPI1_EXTI_DRDY_PB4), 0); stm32_gpiowrite(_PIN_OFF(GPIO_SPI1_EXTI_DRDY_PD15), 0); -#if defined(BOARD_HAS_VERSIONING) - if (HW_VER_FMUV2 != board_get_hw_version()) { stm32_configgpio(_PIN_OFF(GPIO_SPI4_CS_PC14)); stm32_gpiowrite(_PIN_OFF(GPIO_SPI4_CS_PC14), 0); @@ -510,11 +419,8 @@ __EXPORT void board_spi_reset(int ms) stm32_gpiowrite(_PIN_OFF(GPIO_SPI4_SCK), 0); stm32_gpiowrite(_PIN_OFF(GPIO_SPI4_MISO), 0); stm32_gpiowrite(_PIN_OFF(GPIO_SPI4_MOSI), 0); - } -#endif - /* set the sensor rail off */ stm32_configgpio(GPIO_VDD_3V3_SENSORS_EN); stm32_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, 0); @@ -536,8 +442,6 @@ __EXPORT void board_spi_reset(int ms) stm32_configgpio(GPIO_SPI1_MISO); stm32_configgpio(GPIO_SPI1_MOSI); -#if defined(BOARD_HAS_VERSIONING) - if (HW_VER_FMUV3 == board_get_hw_version()) { stm32_configgpio(GPIO_SPI4_SCK); stm32_configgpio(GPIO_SPI4_MISO); @@ -545,7 +449,5 @@ __EXPORT void board_spi_reset(int ms) stm32_spi4_initialize(); } -#endif - stm32_spi1_initialize(); }