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FMUv2: added defines for FMUv3 sensors 

this enables EXT0 to EXT3 on external SPI bus, and gives correct names
for FMUv3 board
This commit is contained in:
Andrew Tridgell 2014-06-26 10:06:52 +10:00 committed by Lorenz Meier
parent db304480d9
commit 644d4bb3dc
2 changed files with 35 additions and 1 deletions
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10
src/drivers/boards/px4fmu-v2/board_config.h
View File

@ -108,6 +108,8 @@ __BEGIN_DECLS
#define GPIO_SPI_CS_MPU (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN2)
#define GPIO_SPI_CS_EXT0 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN4)
#define GPIO_SPI_CS_EXT1 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN14)
#define GPIO_SPI_CS_EXT2 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN15)
#define GPIO_SPI_CS_EXT3 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN13)
#define PX4_SPI_BUS_SENSORS 1
#define PX4_SPI_BUS_EXT 4
@ -121,6 +123,14 @@ __BEGIN_DECLS
/* External bus */
#define PX4_SPIDEV_EXT0 1
#define PX4_SPIDEV_EXT1 2
#define PX4_SPIDEV_EXT2 3
#define PX4_SPIDEV_EXT3 4
/* FMUv3 SPI on external bus */
#define PX4_SPIDEV_EXT_MPU PX4_SPIDEV_EXT0
#define PX4_SPIDEV_EXT_BARO PX4_SPIDEV_EXT1
#define PX4_SPIDEV_EXT_ACCEL_MAG PX4_SPIDEV_EXT2
#define PX4_SPIDEV_EXT_GYRO PX4_SPIDEV_EXT3
/* I2C busses */
#define PX4_I2C_BUS_EXPANSION 1

26
src/drivers/boards/px4fmu-v2/px4fmu_spi.c
View File

@ -98,8 +98,12 @@ __EXPORT void weak_function stm32_spiinitialize(void)
#ifdef CONFIG_STM32_SPI4
stm32_configgpio(GPIO_SPI_CS_EXT0);
stm32_configgpio(GPIO_SPI_CS_EXT1);
stm32_configgpio(GPIO_SPI_CS_EXT2);
stm32_configgpio(GPIO_SPI_CS_EXT3);
stm32_gpiowrite(GPIO_SPI_CS_EXT0, 1);
stm32_gpiowrite(GPIO_SPI_CS_EXT1, 1);
stm32_gpiowrite(GPIO_SPI_CS_EXT2, 1);
stm32_gpiowrite(GPIO_SPI_CS_EXT3, 1);
#endif
}
@ -174,12 +178,32 @@ __EXPORT void stm32_spi4select(FAR struct spi_dev_s *dev, enum spi_dev_e devid,
/* Making sure the other peripherals are not selected */
stm32_gpiowrite(GPIO_SPI_CS_EXT0, !selected);
stm32_gpiowrite(GPIO_SPI_CS_EXT1, 1);
stm32_gpiowrite(GPIO_SPI_CS_EXT2, 1);
stm32_gpiowrite(GPIO_SPI_CS_EXT3, 1);
break;
case PX4_SPIDEV_EXT1:
/* Making sure the other peripherals are not selected */
stm32_gpiowrite(GPIO_SPI_CS_EXT1, !selected);
stm32_gpiowrite(GPIO_SPI_CS_EXT0, 1);
stm32_gpiowrite(GPIO_SPI_CS_EXT1, !selected);
stm32_gpiowrite(GPIO_SPI_CS_EXT2, 1);
stm32_gpiowrite(GPIO_SPI_CS_EXT3, 1);
break;
case PX4_SPIDEV_EXT2:
/* Making sure the other peripherals are not selected */
stm32_gpiowrite(GPIO_SPI_CS_EXT0, 1);
stm32_gpiowrite(GPIO_SPI_CS_EXT1, 1);
stm32_gpiowrite(GPIO_SPI_CS_EXT2, !selected);
stm32_gpiowrite(GPIO_SPI_CS_EXT3, 1);
break;
case PX4_SPIDEV_EXT3:
/* Making sure the other peripherals are not selected */
stm32_gpiowrite(GPIO_SPI_CS_EXT0, 1);
stm32_gpiowrite(GPIO_SPI_CS_EXT1, 1);
stm32_gpiowrite(GPIO_SPI_CS_EXT2, 1);
stm32_gpiowrite(GPIO_SPI_CS_EXT3, !selected);
break;
default: