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px4-firmware
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FMUv2: added support for MPU6000 on v2.4 board

This commit is contained in:
Andrew Tridgell 2013-11-26 20:56:15 +11:00
parent b666581983
commit 3decf408c2
2 changed files with 15 additions and 0 deletions
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2
src/drivers/boards/px4fmu-v2/board_config.h
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@ -85,11 +85,13 @@ __BEGIN_DECLS
#define GPIO_SPI_CS_ACCEL_MAG (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN15) #define GPIO_SPI_CS_ACCEL_MAG (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN15)
#define GPIO_SPI_CS_BARO (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN7) #define GPIO_SPI_CS_BARO (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN7)
#define GPIO_SPI_CS_FRAM (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN10) #define GPIO_SPI_CS_FRAM (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN10)
#define GPIO_SPI_CS_MPU (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN2)
/* Use these in place of the spi_dev_e enumeration to select a specific SPI device on SPI1 */ /* Use these in place of the spi_dev_e enumeration to select a specific SPI device on SPI1 */
#define PX4_SPIDEV_GYRO 1 #define PX4_SPIDEV_GYRO 1
#define PX4_SPIDEV_ACCEL_MAG 2 #define PX4_SPIDEV_ACCEL_MAG 2
#define PX4_SPIDEV_BARO 3 #define PX4_SPIDEV_BARO 3
#define PX4_SPIDEV_MPU 4
/* I2C busses */ /* I2C busses */
#define PX4_I2C_BUS_EXPANSION 1 #define PX4_I2C_BUS_EXPANSION 1

13
src/drivers/boards/px4fmu-v2/px4fmu_spi.c
View File

@ -73,6 +73,7 @@ __EXPORT void weak_function stm32_spiinitialize(void)
stm32_configgpio(GPIO_SPI_CS_GYRO); stm32_configgpio(GPIO_SPI_CS_GYRO);
stm32_configgpio(GPIO_SPI_CS_ACCEL_MAG); stm32_configgpio(GPIO_SPI_CS_ACCEL_MAG);
stm32_configgpio(GPIO_SPI_CS_BARO); stm32_configgpio(GPIO_SPI_CS_BARO);
stm32_configgpio(GPIO_SPI_CS_MPU);
/* De-activate all peripherals, /* De-activate all peripherals,
* required for some peripheral * required for some peripheral
@ -81,6 +82,7 @@ __EXPORT void weak_function stm32_spiinitialize(void)
stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1); stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1); stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
stm32_gpiowrite(GPIO_SPI_CS_BARO, 1); stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
#endif #endif
#ifdef CONFIG_STM32_SPI2 #ifdef CONFIG_STM32_SPI2
@ -99,6 +101,7 @@ __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid,
stm32_gpiowrite(GPIO_SPI_CS_GYRO, !selected); stm32_gpiowrite(GPIO_SPI_CS_GYRO, !selected);
stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1); stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
stm32_gpiowrite(GPIO_SPI_CS_BARO, 1); stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
break; break;
case PX4_SPIDEV_ACCEL_MAG: case PX4_SPIDEV_ACCEL_MAG:
@ -106,6 +109,7 @@ __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid,
stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1); stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, !selected); stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, !selected);
stm32_gpiowrite(GPIO_SPI_CS_BARO, 1); stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
break; break;
case PX4_SPIDEV_BARO: case PX4_SPIDEV_BARO:
@ -113,6 +117,15 @@ __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid,
stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1); stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1); stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
stm32_gpiowrite(GPIO_SPI_CS_BARO, !selected); stm32_gpiowrite(GPIO_SPI_CS_BARO, !selected);
stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
break;
case PX4_SPIDEV_MPU:
/* Making sure the other peripherals are not selected */
stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
stm32_gpiowrite(GPIO_SPI_CS_MPU, !selected);
break; break;
default: default: