forked from Archive/PX4-Autopilot
boards: remove deprecated SPI + I2C defines from board_config.h
chip-selects are deselected in stm32_spiinitialize()
This commit is contained in:
Beat Küng
Daniel Agar
parent
f4ab1b8a78
commit
b156fe5787
|
|
@ -49,27 +49,10 @@
|
|||
|
||||
#define BOARD_MAX_LEDS 1 // Number of external LED's this board has
|
||||
|
||||
|
||||
// I2C
|
||||
#define PX4_I2C_BUS_EXPANSION 2 // i2c-2: Air Data Probe or I2C Splitter
|
||||
#define PX4_I2C_BUS_EXPANSION1 4 // i2c-4: GPS/Compass #1
|
||||
#define PX4_I2C_BUS_EXPANSION2 5 // i2c-5: GPS/Compass #2
|
||||
#define PX4_I2C_BUS_EXPANSION3 3 // i2c-3: GPS/Compass #3
|
||||
|
||||
#define PX4_NUMBER_I2C_BUSES 4
|
||||
|
||||
#define PX4_I2C_BUS_LED 1
|
||||
|
||||
// SPI
|
||||
#include <drivers/drv_sensor.h>
|
||||
#define PX4_SPI_BUS_SENSORS 1
|
||||
#define PX4_SPIDEV_MPU PX4_MK_SPI_SEL(0, DRV_IMU_DEVTYPE_MPU9250) // spidev1.0 - mpu9250
|
||||
#define PX4_SPIDEV_BARO PX4_MK_SPI_SEL(0, DRV_BARO_DEVTYPE_MS5611) // spidev1.1 - ms5611
|
||||
//#define PX4_SPIDEV_MPU2 PX4_MK_SPI_SEL(0, 2) // TODO: where is the 2nd mpu9250?
|
||||
|
||||
#define PX4_SPI_BUS_BARO PX4_SPI_BUS_SENSORS
|
||||
|
||||
|
||||
// ADC channels:
|
||||
#define ADC_CHANNELS (1 << 8)
|
||||
|
||||
|
|
|
|||
|
|
@ -58,81 +58,6 @@
|
|||
#define GPIO_LED1 (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN8)
|
||||
#define BOARD_OVERLOAD_LED LED_RED
|
||||
|
||||
/* External interrupts */
|
||||
#define GPIO_EXTI_GYRO_DRDY (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTE|GPIO_PIN4)
|
||||
#define GPIO_EXTI_MAG_DRDY (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTC|GPIO_PIN14)
|
||||
#define GPIO_EXTI_ACCEL_DRDY (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTC|GPIO_PIN13)
|
||||
#define GPIO_EXTI_MPU_DRDY (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTE|GPIO_PIN10)
|
||||
|
||||
/* Data ready pins off */
|
||||
#define GPIO_GYRO_DRDY_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_25MHz|GPIO_PORTE|GPIO_PIN14)
|
||||
#define GPIO_MAG_DRDY_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_25MHz|GPIO_PORTC|GPIO_PIN14)
|
||||
#define GPIO_ACCEL_DRDY_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_25MHz|GPIO_PORTC|GPIO_PIN13)
|
||||
#define GPIO_EXTI_MPU_DRDY_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_25MHz|GPIO_PORTE|GPIO_PIN10)
|
||||
|
||||
|
||||
/* SPI1 off */
|
||||
#define GPIO_SPI1_SCK_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN5)
|
||||
#define GPIO_SPI1_MISO_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN6)
|
||||
#define GPIO_SPI1_MOSI_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTB|GPIO_PIN5)
|
||||
|
||||
/*SPI1 chip selects off */
|
||||
#define GPIO_SPI_CS_FRAM_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_25MHz|GPIO_PORTE|GPIO_PIN12)
|
||||
|
||||
/* SPI1 chip selects */
|
||||
#define GPIO_SPI_CS_FRAM (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_25MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN12)
|
||||
|
||||
|
||||
/* SPI4 off */
|
||||
#define GPIO_SPI4_SCK_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTE|GPIO_PIN2)
|
||||
#define GPIO_SPI4_MISO_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTE|GPIO_PIN5)
|
||||
#define GPIO_SPI4_MOSI_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTE|GPIO_PIN6)
|
||||
|
||||
/* SPI4 chip selects off */
|
||||
#define GPIO_SPI_CS_GYRO_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_25MHz|GPIO_PORTB|GPIO_PIN2)
|
||||
#define GPIO_SPI_CS_ACCEL_MAG_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_25MHz|GPIO_PORTD|GPIO_PIN11)
|
||||
#define GPIO_SPI_CS_BARO_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_25MHz|GPIO_PORTC|GPIO_PIN15)
|
||||
#define GPIO_SPI_CS_MPU_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_25MHz|GPIO_PORTE|GPIO_PIN3)
|
||||
|
||||
/* SPI4 chip selects */
|
||||
#define GPIO_SPI_CS_GYRO (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_25MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN2)
|
||||
#define GPIO_SPI_CS_ACCEL_MAG (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_25MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN11)
|
||||
#define GPIO_SPI_CS_BARO (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_25MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN15)
|
||||
#define GPIO_SPI_CS_MPU (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_25MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN3)
|
||||
|
||||
|
||||
/* SPI2 off */
|
||||
#define GPIO_SPI2_SCK_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTB|GPIO_PIN13)
|
||||
#define GPIO_SPI2_MISO_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTB|GPIO_PIN14)
|
||||
#define GPIO_SPI2_MOSI_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTB|GPIO_PIN15)
|
||||
|
||||
/* SPI2 chip selects off */
|
||||
#define GPIO_SPI_CS_EXT0_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_25MHz|GPIO_PORTD|GPIO_PIN7)
|
||||
|
||||
/* SPI2 chip selects */
|
||||
#define GPIO_SPI_CS_EXT0 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_25MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN7)
|
||||
|
||||
#define PX4_SPI_BUS_SENSORS 4
|
||||
#define PX4_SPI_BUS_RAMTRON 1
|
||||
#define PX4_SPI_BUS_EXT 2
|
||||
#define PX4_SPI_BUS_BARO PX4_SPI_BUS_SENSORS
|
||||
|
||||
/* Use these in place of the uint32_t enumeration to select a specific SPI device on SPI4 */
|
||||
#include <drivers/drv_sensor.h>
|
||||
#define PX4_SPIDEV_GYRO PX4_MK_SPI_SEL(0, DRV_GYR_DEVTYPE_L3GD20)
|
||||
#define PX4_SPIDEV_ACCEL_MAG PX4_MK_SPI_SEL(0, DRV_ACC_DEVTYPE_LSM303D)
|
||||
#define PX4_SPIDEV_BARO PX4_MK_SPI_SEL(0, DRV_BARO_DEVTYPE_MS5611)
|
||||
#define PX4_SPIDEV_MPU PX4_MK_SPI_SEL(0, DRV_IMU_DEVTYPE_MPU6000)
|
||||
|
||||
/* External bus */
|
||||
#define PX4_SPIDEV_EXT0 PX4_MK_SPI_SEL(0, 0)
|
||||
|
||||
|
||||
/* I2C busses */
|
||||
#define PX4_I2C_BUS_ONBOARD 1
|
||||
#define PX4_I2C_BUS_EXPANSION 2
|
||||
#define PX4_I2C_BUS_LED PX4_I2C_BUS_EXPANSION
|
||||
|
||||
/*
|
||||
* ADC channels
|
||||
*
|
||||
|
|
|
|||
|
|
@ -259,10 +259,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
|
|||
SPI_SETFREQUENCY(spi4, 10000000);
|
||||
SPI_SETBITS(spi4, 8);
|
||||
SPI_SETMODE(spi4, SPIDEV_MODE3);
|
||||
SPI_SELECT(spi4, PX4_SPIDEV_GYRO, false);
|
||||
SPI_SELECT(spi4, PX4_SPIDEV_ACCEL_MAG, false);
|
||||
SPI_SELECT(spi4, PX4_SPIDEV_BARO, false);
|
||||
SPI_SELECT(spi4, PX4_SPIDEV_MPU, false);
|
||||
up_udelay(20);
|
||||
|
||||
/* Get the SPI port for the FRAM */
|
||||
|
|
@ -281,8 +277,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
|
|||
// XXX start with 10.4 MHz in FRAM usage and go up to 37.5 once validated
|
||||
SPI_SETFREQUENCY(spi1, 24 * 1000 * 1000);
|
||||
SPI_SETBITS(spi1, 8);
|
||||
SPI_SETMODE(spi1, SPIDEV_MODE3);
|
||||
SPI_SELECT(spi1, SPIDEV_FLASH(0), false);
|
||||
|
||||
|
||||
spi2 = px4_spibus_initialize(2);
|
||||
|
|
@ -290,8 +284,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
|
|||
/* Default SPI2 to 10MHz and de-assert the known chip selects. */
|
||||
SPI_SETFREQUENCY(spi2, 10000000);
|
||||
SPI_SETBITS(spi2, 8);
|
||||
SPI_SETMODE(spi2, SPIDEV_MODE3);
|
||||
SPI_SELECT(spi2, PX4_SPIDEV_EXT0, false);
|
||||
|
||||
|
||||
#ifdef CONFIG_MMCSD
|
||||
|
|
|
|||
|
|
@ -48,16 +48,8 @@
|
|||
/*
|
||||
* I2C busses
|
||||
*/
|
||||
#define PX4_I2C_BUS_EXPANSION1 2 // I2C2: J9 / GPS
|
||||
#define PX4_I2C_BUS_EXPANSION 3 // I2C3: J14 / Power
|
||||
#define PX4_I2C_BUS_EXPANSION2 9 // I2C9: J15 / Radio Receiver / Sensors
|
||||
|
||||
#define PX4_NUMBER_I2C_BUSES 3
|
||||
|
||||
// SPI
|
||||
#define PX4_SPI_BUS_SENSORS 1
|
||||
#define PX4_SPIDEV_MPU PX4_MK_SPI_SEL(0, DRV_IMU_DEVTYPE_MPU9250) // spi-1 - mpu9250
|
||||
|
||||
// Battery ADC channels
|
||||
|
||||
#include <system_config.h>
|
||||
|
|
|
|||
|
|
@ -48,15 +48,7 @@
|
|||
/*
|
||||
* I2C busses
|
||||
*/
|
||||
#define PX4_I2C_BUS_EXPANSION1 2 // I2C2: J9 / GPS
|
||||
#define PX4_I2C_BUS_EXPANSION 3 // I2C3: J14 / Power
|
||||
#define PX4_I2C_BUS_EXPANSION2 9 // I2C9: J15 / Radio Receiver / Sensors
|
||||
|
||||
#define PX4_NUMBER_I2C_BUSES 3
|
||||
|
||||
// SPI
|
||||
#define PX4_SPI_BUS_SENSORS 1
|
||||
#define PX4_SPIDEV_MPU PX4_MK_SPI_SEL(0, DRV_IMU_DEVTYPE_MPU9250)
|
||||
|
||||
#include <system_config.h>
|
||||
#include <px4_platform_common/board_common.h>
|
||||
|
|
|
|||
|
|
@ -54,101 +54,6 @@
|
|||
#define BOARD_HAS_NBAT_V 1 // Only one Vbat to ADC
|
||||
#define BOARD_HAS_NBAT_I 0 // No Ibat ADC
|
||||
|
||||
#define PX4_SPI_BUS_SENSOR1 1
|
||||
#define PX4_SPI_BUS_EXTERNAL1 2
|
||||
#define PX4_SPI_BUS_SENSOR4 4
|
||||
#define PX4_SPI_BUS_SENSOR5 5
|
||||
|
||||
/* Define the Chip Selects, Data Ready and Control signals per SPI bus */
|
||||
|
||||
/* SPI 1 CS */
|
||||
#define GPIO_SPI1_CS1_ADIS16477 /* PG10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN10)
|
||||
#define GPIO_SPI1_RESET_ADIS16477 /* PB15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN15)
|
||||
|
||||
/* SPI 2 CS */
|
||||
#define GPIO_SPI2_CS1_ADIS16497 /* PI0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN0)
|
||||
|
||||
/* SPI 4 CS */
|
||||
#define GPIO_SPI4_CS1_LPS22HB /* PE4 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN4)
|
||||
|
||||
/* SPI 5 CS */
|
||||
#define GPIO_SPI5_CS1_LSM303A_M /* PH5 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTH|GPIO_PIN5)
|
||||
#define GPIO_SPI5_CS1_LSM303A_X /* PB0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN0)
|
||||
|
||||
/* Define the SPI1 Data Ready interrupts */
|
||||
#define GPIO_SPI1_DRDY1_ADIS16477 /* PJ0 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTJ|GPIO_PIN0)
|
||||
|
||||
/* Define the SPI2 Data Ready interrupts */
|
||||
#define GPIO_SPI2_DRDY1_ADIS16497 /* PJ5 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTJ|GPIO_PIN5)
|
||||
#define SPI2_CS1_EXTERNAL1 GPIO_SPI2_DRDY1_ADIS16497
|
||||
|
||||
/* Define the SPI4 Data Ready interrupts */
|
||||
#define GPIO_SPI4_DRDY1_LPS22HB /* PK1 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTK|GPIO_PIN1)
|
||||
|
||||
/* Define the SPI5 Data Ready interrupts */
|
||||
#define GPIO_SPI5_DRDY1_LSM303A_M /* PK7 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTK|GPIO_PIN7)
|
||||
#define GPIO_SPI5_DRDY2_LSM303A_X /* PD12 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN12)
|
||||
|
||||
/* SPI1 off */
|
||||
#define GPIO_SPI1_SCK_OFF _PIN_OFF(GPIO_SPI1_SCK)
|
||||
#define GPIO_SPI1_MISO_OFF _PIN_OFF(GPIO_SPI1_MISO)
|
||||
#define GPIO_SPI1_MOSI_OFF _PIN_OFF(GPIO_SPI1_MOSI)
|
||||
|
||||
/* SPI2 off */
|
||||
#define GPIO_SPI2_SCK_OFF _PIN_OFF(GPIO_SPI2_SCK)
|
||||
#define GPIO_SPI2_MISO_OFF _PIN_OFF(GPIO_SPI2_MISO)
|
||||
#define GPIO_SPI2_MOSI_OFF _PIN_OFF(GPIO_SPI2_MOSI)
|
||||
|
||||
/* SPI4 off */
|
||||
#define GPIO_SPI4_SCK_OFF _PIN_OFF(GPIO_SPI4_SCK)
|
||||
#define GPIO_SPI4_MISO_OFF _PIN_OFF(GPIO_SPI4_MISO)
|
||||
#define GPIO_SPI4_MOSI_OFF _PIN_OFF(GPIO_SPI4_MOSI)
|
||||
|
||||
/* SPI5 off */
|
||||
#define GPIO_SPI5_SCK_OFF _PIN_OFF(GPIO_SPI5_SCK)
|
||||
#define GPIO_SPI5_MISO_OFF _PIN_OFF(GPIO_SPI5_MISO)
|
||||
#define GPIO_SPI5_MOSI_OFF _PIN_OFF(GPIO_SPI5_MOSI)
|
||||
|
||||
|
||||
#define GPIO_DRDY_OFF_SPI1_DRDY1_ADIS16477 _PIN_OFF(GPIO_SPI1_DRDY1_ADIS16477)
|
||||
#define GPIO_DRDY_OFF_SPI2_DRDY1_ADIS16497 _PIN_OFF(GPIO_SPI2_DRDY1_ADIS16497)
|
||||
#define GPIO_DRDY_OFF_SPI4_DRDY1_LPS22HB _PIN_OFF(GPIO_SPI4_DRDY1_LPS22HB)
|
||||
#define GPIO_DRDY_OFF_SPI5_DRDY1_LSM303A_M _PIN_OFF(GPIO_SPI5_DRDY1_LSM303A_M)
|
||||
#define GPIO_DRDY_OFF_SPI5_DRDY2_LSM303A_X _PIN_OFF(GPIO_SPI5_DRDY1_LSM303A_X)
|
||||
|
||||
/*
|
||||
* Define the ability to shut off off the sensor signals
|
||||
* by changing the signals to inputs
|
||||
*/
|
||||
#define _PIN_OFF(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz))
|
||||
|
||||
|
||||
#include <drivers/drv_sensor.h>
|
||||
/* SPI1 */
|
||||
#define PX4_SPIDEV_ADIS16477 PX4_MK_SPI_SEL(0,DRV_IMU_DEVTYPE_ADIS16477)
|
||||
#define PX4_SENSOR1_BUS_CS_GPIO {GPIO_SPI1_CS1_ADIS16477}
|
||||
|
||||
/* SPI2 */
|
||||
#define PX4_SPIDEV_EXTERNAL1_1 PX4_MK_SPI_SEL(0,0)
|
||||
#define PX4_EXTERNAL1_BUS_CS_GPIO {SPI2_CS1_EXTERNAL1}
|
||||
|
||||
/* SPI4 */
|
||||
#define PX4_SPIDEV_LPS22HB PX4_MK_SPI_SEL(0,DRV_BARO_DEVTYPE_LPS22HB)
|
||||
#define PX4_SENSOR4_BUS_CS_GPIO {GPIO_SPI4_CS1_LPS22HB}
|
||||
|
||||
/* SPI5 */
|
||||
#define PX4_SPIDEV_LSM303A_M PX4_MK_SPI_SEL(0,DRV_MAG_DEVTYPE_LSM303AGR)
|
||||
#define PX4_SPIDEV_LSM303A_X PX4_MK_SPI_SEL(0,DRV_ACC_DEVTYPE_LSM303AGR)
|
||||
#define PX4_SENSOR5_BUS_CS_GPIO {GPIO_SPI5_CS1_LSM303A_M, GPIO_SPI5_CS1_LSM303A_X}
|
||||
|
||||
/* I2C busses */
|
||||
#define PX4_I2C_BUS_EXPANSION 2
|
||||
#define PX4_I2C_BUS_EXPANSION1 4
|
||||
#define PX4_I2C_BUS_ONBOARD 3
|
||||
|
||||
#define BOARD_NUMBER_I2C_BUSES 4
|
||||
#define BOARD_I2C_BUS_CLOCK_INIT {100000, 100000, 100000, 100000}
|
||||
|
||||
/*
|
||||
* ADC channels
|
||||
*
|
||||
|
|
|
|||
|
|
@ -206,8 +206,8 @@ static int configure_switch(void)
|
|||
{
|
||||
int ret = PX4_ERROR;
|
||||
|
||||
// attach to the i2c bus
|
||||
struct i2c_master_s *i2c = px4_i2cbus_initialize(PX4_I2C_BUS_ONBOARD);
|
||||
// attach to the i2c bus (internal)
|
||||
struct i2c_master_s *i2c = px4_i2cbus_initialize(3);
|
||||
|
||||
if (i2c == NULL) {
|
||||
syslog(LOG_ERR, "[boot] I2C device not opened\n");
|
||||
|
|
|
|||
|
|
@ -50,9 +50,6 @@
|
|||
|
||||
|
||||
// I2C
|
||||
#define PX4_I2C_BUS_EXPANSION 1 // i2c-1: pins P9 17,18
|
||||
#define PX4_I2C_BUS_ONBOARD 2 // i2c-2: pins P9 19,20 - bmp280, mpu9250
|
||||
|
||||
#define PX4_NUMBER_I2C_BUSES 2
|
||||
|
||||
#define PX4_I2C_OBDEV_MPU9250 0x68
|
||||
|
|
|
|||
|
|
@ -88,52 +88,15 @@
|
|||
/*
|
||||
* I2C busses
|
||||
*/
|
||||
#define PX4_I2C_BUS_ONBOARD 3
|
||||
#define PX4_I2C_BUS_EXPANSION 1
|
||||
|
||||
#define PX4_I2C_BUS_ONBOARD_HZ 400000
|
||||
#define PX4_I2C_BUS_EXPANSION_HZ 400000
|
||||
|
||||
#define PX4_I2C_BUS_MTD PX4_I2C_BUS_EXPANSION
|
||||
#define PX4_I2C_BUS_MTD 1
|
||||
|
||||
#define BOARD_NUMBER_I2C_BUSES 3
|
||||
#define BOARD_I2C_BUS_CLOCK_INIT {PX4_I2C_BUS_ONBOARD_HZ, 100000, PX4_I2C_BUS_EXPANSION_HZ}
|
||||
|
||||
|
||||
/*
|
||||
* Define the ability to shut off off the sensor signals
|
||||
* by changing the signals to inputs
|
||||
*/
|
||||
|
||||
#define _PIN_OFF(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz))
|
||||
|
||||
|
||||
/* SPI Busses */
|
||||
|
||||
/* SPI1 Bus */
|
||||
#define PX4_SPI_BUS_EXPANSION 1
|
||||
|
||||
/* SPI1 CS */
|
||||
#define GPIO_SPI1_CS0_EXT /* PC12 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN12)
|
||||
#define GPIO_SPI1_CS1_EXT /* PB4 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN4)
|
||||
#define GPIO_SPI1_CS2_EXT /* PB5 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN5)
|
||||
|
||||
#define PX4_FLOW_BUS_CS_GPIO { GPIO_SPI1_CS0_EXT, GPIO_SPI1_CS1_EXT, GPIO_SPI1_CS2_EXT }
|
||||
|
||||
/* SPI1 Devices */
|
||||
#define PX4_SPIDEV_EXPANSION_1 SPIDEV_MMCSD(0) // SD CARD BREAKOUT
|
||||
#define PX4_SPIDEV_EXPANSION_2 PX4_MK_SPI_SEL(0, DRV_FLOW_DEVTYPE_PMW3901) // OPTICAL FLOW BREAKOUT
|
||||
#define PX4_SPIDEV_EXPANSION_3 PX4_MK_SPI_SEL(0, DRV_DEVTYPE_UNUSED)
|
||||
|
||||
#define PX4_FLOW_BUS_FIRST_CS PX4_SPIDEV_EXPANSION_1
|
||||
#define PX4_FLOW_BUS_LAST_CS PX4_SPIDEV_EXPANSION_3
|
||||
|
||||
/* SPI1 off */
|
||||
#define GPIO_SPI1_SCK_OFF _PIN_OFF(GPIO_SPI1_SCK)
|
||||
#define GPIO_SPI1_MISO_OFF _PIN_OFF(GPIO_SPI1_MISO)
|
||||
#define GPIO_SPI1_MOSI_OFF _PIN_OFF(GPIO_SPI1_MOSI)
|
||||
|
||||
|
||||
/* Devices on the onboard bus.
|
||||
*
|
||||
* Note that these are unshifted addresses.
|
||||
|
|
|
|||
|
|
@ -52,20 +52,9 @@
|
|||
|
||||
|
||||
// I2C
|
||||
#define PX4_I2C_BUS_EXPANSION 1
|
||||
|
||||
#define PX4_NUMBER_I2C_BUSES 1
|
||||
|
||||
|
||||
// SPI
|
||||
#include <drivers/drv_sensor.h>
|
||||
#define PX4_SPI_BUS_SENSORS 0
|
||||
#define PX4_SPIDEV_UBLOX PX4_MK_SPI_SEL(0, 0) // spidev0.0 - ublox m8n
|
||||
#define PX4_SPIDEV_MPU PX4_MK_SPI_SEL(0, DRV_IMU_DEVTYPE_MPU9250) // spidev0.1 - mpu9250
|
||||
#define PX4_SPIDEV_LSM9DS1_M PX4_MK_SPI_SEL(0, DRV_MAG_DEVTYPE_ST_LSM9DS1_M) // spidev0.2 - lsm9ds1 mag
|
||||
#define PX4_SPIDEV_LSM9DS1_AG PX4_MK_SPI_SEL(0, DRV_IMU_DEVTYPE_ST_LSM9DS1_AG) // spidev0.3 - lsm9ds1 accel/gyro
|
||||
|
||||
|
||||
// ADC channels:
|
||||
// A0 - board voltage (shows 5V)
|
||||
// A1 - servo rail voltage
|
||||
|
|
|
|||
|
|
@ -87,120 +87,6 @@
|
|||
#define BOARD_OVERLOAD_LED LED_RED
|
||||
#define BOARD_ARMED_STATE_LED LED_BLUE
|
||||
|
||||
/* SENSORS are on SPI1, 5, 6
|
||||
* MEMORY is on bus SPI2
|
||||
* MS5611 is on bus SPI4
|
||||
*/
|
||||
|
||||
#define PX4_SPI_BUS_SENSORS 1
|
||||
#define PX4_SPI_BUS_SENSORS3 PX4_SPI_BUS_SENSORS // for BMI088
|
||||
#define PX4_SPI_BUS_MEMORY 2
|
||||
#define PX4_SPI_BUS_BARO 4
|
||||
#define PX4_SPI_BUS_EXTERNAL1 5
|
||||
#define PX4_SPI_BUS_EXTERNAL2 6
|
||||
|
||||
/* Define the Chip Selects, Data Ready and Control signals per SPI bus */
|
||||
|
||||
/* SPI 1 CS */
|
||||
|
||||
#define GPIO_SPI1_CS1_ICM20689 /* PF2 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTF|GPIO_PIN2)
|
||||
#define GPIO_SPI1_CS3_BMI088_GYRO /* PF4 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTF|GPIO_PIN4)
|
||||
#define GPIO_SPI1_CS4_BMI088_ACC /* PG10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN10)
|
||||
#define GPIO_SPI1_CS5_AUX_MEM /* PH5 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTH|GPIO_PIN5)
|
||||
|
||||
|
||||
/* Define the SPI1 Data Ready interrupts */
|
||||
|
||||
#define GPIO_SPI1_DRDY1_ICM20689 /* PB4 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN4)
|
||||
#define GPIO_SPI1_DRDY2_BMI088_GYRO /* PB14 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN14)
|
||||
#define GPIO_SPI1_DRDY3_BMI088_ACC /* PB15 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN15)
|
||||
#define GPIO_SPI1_DRDY5_BMI088_GYRO /* PC13 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTC|GPIO_PIN13)
|
||||
#define GPIO_SPI1_DRDY6_BMI088_ACC /* PD10 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN10)
|
||||
|
||||
/* SPI1 off */
|
||||
|
||||
#define GPIO_SPI1_SCK_OFF _PIN_OFF(GPIO_SPI1_SCK)
|
||||
#define GPIO_SPI1_MISO_OFF _PIN_OFF(GPIO_SPI1_MISO)
|
||||
#define GPIO_SPI1_MOSI_OFF _PIN_OFF(GPIO_SPI1_MOSI)
|
||||
|
||||
#define GPIO_DRDY_OFF_SPI1_DRDY1_ICM20689 _PIN_OFF(GPIO_SPI1_DRDY1_ICM20689)
|
||||
#define GPIO_DRDY_OFF_SPI1_DRDY2_BMI088_GYRO _PIN_OFF(GPIO_SPI1_DRDY2_BMI088_GYRO)
|
||||
#define GPIO_DRDY_OFF_SPI1_DRDY3_BMI088_ACC _PIN_OFF(GPIO_SPI1_DRDY3_BMI088_ACC)
|
||||
#define GPIO_DRDY_OFF_SPI1_DRDY5_BMI088_GYRO _PIN_OFF(GPIO_SPI1_DRDY5_BMI088_GYRO)
|
||||
#define GPIO_DRDY_OFF_SPI1_DRDY6_BMI088_ACC _PIN_OFF(GPIO_SPI1_DRDY6_BMI088_ACC)
|
||||
|
||||
/* SPI 2 CS */
|
||||
|
||||
#define GPIO_SPI2_CS_FRAM /* PF5 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTF|GPIO_PIN5)
|
||||
|
||||
/* SPI 4 CS */
|
||||
|
||||
#define GPIO_SPI4_CS1_MS5611 /* PF10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTF|GPIO_PIN10)
|
||||
|
||||
/* SPI 5 CS */
|
||||
|
||||
#define SPI5_CS1_EXTERNAL1 /* PI4 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN4)
|
||||
#define SPI5_CS2_EXTERNAL1 /* PI10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN10)
|
||||
|
||||
/* Define the SPI1 Data Ready and Control signals */
|
||||
|
||||
#define GPIO_SPI5_DRDY7_EXTERNAL1 /* PD15 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN15)
|
||||
|
||||
/* SPI 6 */
|
||||
|
||||
#define SPI6_CS1_EXTERNAL2 /* PI6 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN6)
|
||||
#define SPI6_CS2_EXTERNAL2 /* PI7 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN7)
|
||||
#define SPI6_CS3_EXTERNAL2 /* PI8 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN8)
|
||||
|
||||
/*
|
||||
* Define the ability to shut off off the sensor signals
|
||||
* by changing the signals to inputs
|
||||
*/
|
||||
|
||||
#define _PIN_OFF(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz))
|
||||
|
||||
|
||||
#define GPIO_DRDY_OFF_SPI5_DRDY7_EXTERNAL1 _PIN_OFF(GPIO_SPI5_DRDY7_EXTERNAL1)
|
||||
|
||||
|
||||
/* v BEGIN Legacy SPI defines TODO: fix this with enumeration */
|
||||
#define PX4_SPI_BUS_RAMTRON PX4_SPI_BUS_MEMORY
|
||||
/* ^ END Legacy SPI defines TODO: fix this with enumeration */
|
||||
|
||||
#include <drivers/drv_sensor.h>
|
||||
#define PX4_SPIDEV_ICM_20689 PX4_MK_SPI_SEL(0,DRV_IMU_DEVTYPE_ICM20689)
|
||||
#define PX4_SPIDEV_BMI088_GYR PX4_MK_SPI_SEL(0,DRV_GYR_DEVTYPE_BMI088)
|
||||
#define PX4_SPIDEV_BMI088_ACC PX4_MK_SPI_SEL(0,DRV_ACC_DEVTYPE_BMI088)
|
||||
#define PX4_SPIDEV_AUX_MEM PX4_MK_SPI_SEL(0,DRV_DEVTYPE_UNUSED)
|
||||
#define PX4_SENSOR_BUS_CS_GPIO {GPIO_SPI1_CS1_ICM20689, GPIO_SPI1_CS3_BMI088_GYRO, GPIO_SPI1_CS4_BMI088_ACC, GPIO_SPI1_CS5_AUX_MEM}
|
||||
|
||||
#define PX4_SPIDEV_MEMORY SPIDEV_FLASH(0)
|
||||
#define PX4_MEMORY_BUS_CS_GPIO {GPIO_SPI2_CS_FRAM}
|
||||
|
||||
#define PX4_SPIDEV_BARO PX4_MK_SPI_SEL(0,DRV_BARO_DEVTYPE_MS5611)
|
||||
#define PX4_BARO_BUS_CS_GPIO {GPIO_SPI4_CS1_MS5611}
|
||||
|
||||
#define PX4_SPIDEV_EXTERNAL1_1 PX4_MK_SPI_SEL(0,0)
|
||||
#define PX4_SPIDEV_EXTERNAL1_2 PX4_MK_SPI_SEL(0,1)
|
||||
#define PX4_EXTERNAL1_BUS_CS_GPIO {SPI5_CS1_EXTERNAL1, SPI5_CS2_EXTERNAL1}
|
||||
|
||||
#define PX4_SPIDEV_EXTERNAL2_1 PX4_MK_SPI_SEL(PX4_SPI_BUS_EXTERNAL2,0)
|
||||
#define PX4_SPIDEV_EXTERNAL2_2 PX4_MK_SPI_SEL(PX4_SPI_BUS_EXTERNAL2,1)
|
||||
#define PX4_SPIDEV_EXTERNAL2_3 PX4_MK_SPI_SEL(PX4_SPI_BUS_EXTERNAL2,2)
|
||||
#define PX4_EXTERNAL2_BUS_CS_GPIO {SPI6_CS1_EXTERNAL2, SPI6_CS2_EXTERNAL2, SPI6_CS3_EXTERNAL2}
|
||||
|
||||
|
||||
/* I2C busses */
|
||||
|
||||
#define PX4_I2C_BUS_EXPANSION 1
|
||||
#define PX4_I2C_BUS_EXPANSION1 2
|
||||
#define PX4_I2C_BUS_ONBOARD 3
|
||||
#define PX4_I2C_BUS_EXPANSION2 4
|
||||
#define PX4_I2C_BUS_LED PX4_I2C_BUS_EXPANSION
|
||||
|
||||
#define BOARD_NUMBER_I2C_BUSES 4
|
||||
#define BOARD_I2C_BUS_CLOCK_INIT {100000, 100000, 100000, 100000}
|
||||
|
||||
/*
|
||||
* ADC channels
|
||||
*
|
||||
|
|
|
|||
|
|
@ -64,46 +64,6 @@
|
|||
|
||||
#define FLASH_BASED_PARAMS
|
||||
|
||||
/* SPI busses
|
||||
*/
|
||||
#define PX4_SPI_BUS_SD_CARD 1
|
||||
#define PX4_SPI_BUS_OSD 2
|
||||
#define PX4_SPI_BUS_SENSORS 4
|
||||
|
||||
#include <drivers/drv_sensor.h>
|
||||
|
||||
/* Define the Chip Selects, Data Ready and Control signals per SPI bus */
|
||||
|
||||
#define GPIO_SPI1_CS1_SD_CARD /* PA4 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN4)
|
||||
|
||||
#define PX4_SD_CARD_BUS_CS_GPIO {GPIO_SPI1_CS1_SD_CARD}
|
||||
|
||||
#define GPIO_SPI2_CS1_OSD /* PB12 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN12)
|
||||
#define PX4_SPIDEV_OSD PX4_MK_SPI_SEL(0,DRV_OSD_DEVTYPE_ATXXXX)
|
||||
|
||||
#define PX4_OSD_BUS_CS_GPIO {GPIO_SPI2_CS1_OSD}
|
||||
|
||||
/* SPI 4 CS (SPI4_SS) */
|
||||
|
||||
#define GPIO_SPI4_CS1_ICM20689 /* PE4 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN4)
|
||||
|
||||
|
||||
/* Define the SPI4 Data Ready interrupts */
|
||||
|
||||
#define GPIO_SPI4_DRDY1_ICM20689 /* PE1 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTE|GPIO_PIN1)
|
||||
|
||||
|
||||
#define PX4_SPIDEV_MPU PX4_MK_SPI_SEL(0,DRV_IMU_DEVTYPE_MPU6000)
|
||||
#define PX4_SPIDEV_ICM_20689 PX4_MK_SPI_SEL(0,DRV_IMU_DEVTYPE_ICM20689)
|
||||
#define PX4_SENSOR_BUS_CS_GPIO {GPIO_SPI4_CS1_ICM20689}
|
||||
|
||||
/* I2C busses */
|
||||
|
||||
#define PX4_I2C_BUS_EXPANSION 1
|
||||
#define PX4_I2C_BUS_LED PX4_I2C_BUS_EXPANSION
|
||||
|
||||
#define BOARD_NUMBER_I2C_BUSES 1
|
||||
#define BOARD_I2C_BUS_CLOCK_INIT {100000}
|
||||
|
||||
/*
|
||||
* ADC channels
|
||||
|
|
|
|||
|
|
@ -71,26 +71,7 @@
|
|||
|
||||
#define GPIO_FORCE_BOOTLOADER (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_50MHz|GPIO_PORTA|GPIO_PIN11|GPIO_EXTI)
|
||||
|
||||
/*
|
||||
* I2C busses
|
||||
*
|
||||
* Peripheral Port
|
||||
* I2C1_SDA PB9
|
||||
* I2C1_SCL PB8
|
||||
*
|
||||
* I2C3_SDA PC9
|
||||
* I2C3_SCL PA8
|
||||
*
|
||||
*/
|
||||
|
||||
#define PX4_I2C_BUS_EXPANSION 1
|
||||
#define PX4_I2C_BUS_EXPANSION1 2
|
||||
#define PX4_I2C_BUS_ONBOARD 3
|
||||
|
||||
#include <drivers/drv_sensor.h>
|
||||
#define GPIO_SPI_CS_MPU6500 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN4)
|
||||
#define PX4_SPI_BUS_SENSORS 1
|
||||
#define PX4_SPIDEV_MPU PX4_MK_SPI_SEL(0, DRV_IMU_DEVTYPE_MPU9250)
|
||||
#define PX4_I2C_BUS_MTD 3
|
||||
|
||||
/*
|
||||
* STM32 ADC channels
|
||||
|
|
|
|||
|
|
@ -13,7 +13,7 @@ voxlpm -X -b 3 -T P5VDC start
|
|||
mpu6000 -R 6 -s -T 20602 start
|
||||
|
||||
# Internal SPI bus ICM-42688
|
||||
icm42688p -R 12 start
|
||||
icm42688p -R 12 -s start
|
||||
|
||||
# Internal SPI bus BMI088 accel
|
||||
bmi088 -A -R 4 -s start
|
||||
|
|
|
|||
|
|
@ -77,141 +77,14 @@
|
|||
# define BOARD_ARMED_STATE_LED LED_BLUE
|
||||
#endif
|
||||
|
||||
/* SPI
|
||||
*
|
||||
* SPI1 is sensors1
|
||||
* ICM-20602
|
||||
* CS PI9
|
||||
* DRDY PF2
|
||||
*
|
||||
* SPI2 is sensors2
|
||||
* ICM-42688
|
||||
* CS PH5
|
||||
* DRDY PH12
|
||||
*
|
||||
* SPI3 is not used
|
||||
*
|
||||
* SPI4 is not used
|
||||
*
|
||||
* SPI5 is FRAM
|
||||
* FM25V02A
|
||||
* CS PG7
|
||||
*
|
||||
* SPI6 is sensors3
|
||||
* BMI088
|
||||
* CS1 PI10
|
||||
* CS2 PA15
|
||||
* DRDY1 PI6
|
||||
* DRDY2 PI7
|
||||
*/
|
||||
|
||||
#define PX4_SPI_BUS_SENSORS1 1
|
||||
#define PX4_SPI_BUS_SENSORS2 2
|
||||
// SPI 3 not used
|
||||
// SPI 4 not used
|
||||
#define PX4_SPI_BUS_MEMORY 5
|
||||
#define PX4_SPI_BUS_SENSORS3 6
|
||||
|
||||
/* Define the Chip Selects, Data Ready and Control signals per SPI bus */
|
||||
|
||||
/* SPI 1 CS */
|
||||
|
||||
#define GPIO_SPI1_nCS1_ICM20602 /* PI9 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN9)
|
||||
|
||||
/* Define the SPI1 Data Ready interrupts */
|
||||
|
||||
#define GPIO_SPI1_DRDY1_ICM20602 /* PF2 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTF|GPIO_PIN2)
|
||||
|
||||
/* SPI1 off */
|
||||
|
||||
#define GPIO_SPI1_SCK_OFF _PIN_OFF(GPIO_SPI1_SCK)
|
||||
#define GPIO_SPI1_MISO_OFF _PIN_OFF(GPIO_SPI1_MISO)
|
||||
#define GPIO_SPI1_MOSI_OFF _PIN_OFF(GPIO_SPI1_MOSI)
|
||||
|
||||
#define GPIO_DRDY_OFF_SPI1_DRDY1_ICM20602 _PIN_OFF(GPIO_SPI1_DRDY1_ICM20602)
|
||||
|
||||
/* SPI 2 CS */
|
||||
|
||||
#define GPIO_SPI2_nCS1_ICM_42688 /* PH5 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTH|GPIO_PIN5)
|
||||
|
||||
/* Define the SPI2 Data Ready interrupts */
|
||||
#define GPIO_SPI2_DRDY1_ICM_42688 /* PH12 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTH|GPIO_PIN12) // IMU_2_INT -> PH12
|
||||
#define GPIO_SPI2_DRDY2_ICM_42688 /* PA0 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTA|GPIO_PIN0) // IMU_2_FSYNC <- PA0/TIM5_CH1
|
||||
|
||||
/* SPI2 off */
|
||||
|
||||
#define GPIO_SPI2_SCK_OFF _PIN_OFF(GPIO_SPI2_SCK)
|
||||
#define GPIO_SPI2_MISO_OFF _PIN_OFF(GPIO_SPI2_MISO)
|
||||
#define GPIO_SPI2_MOSI_OFF _PIN_OFF(GPIO_SPI2_MOSI)
|
||||
|
||||
/* SPI 5 CS */
|
||||
|
||||
#define GPIO_SPI5_nCS1_FRAM /* PG7 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN7)
|
||||
|
||||
/* SPI 6 CS */
|
||||
|
||||
#define GPIO_SPI6_nCS1_BMI088 /* PI10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN10)
|
||||
#define GPIO_SPI6_nCS2_BMI088 /* PA15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN15)
|
||||
|
||||
/* Define the SPI6 Data Ready interrupts */
|
||||
|
||||
#define GPIO_SPI6_DRDY1_BMI088_INT1_ACCEL /* PI6 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTI|GPIO_PIN6)
|
||||
#define GPIO_SPI6_DRDY2_BMI088_INT3_GYRO /* PI7 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTI|GPIO_PIN7)
|
||||
|
||||
/* Define the SPI6 Data Ready interrupts */
|
||||
|
||||
#define GPIO_DRDY_OFF_SPI6_DRDY1_BMI088 _PIN_OFF(GPIO_SPI6_DRDY1_BMI088_INT1_ACCEL)
|
||||
#define GPIO_DRDY_OFF_SPI6_DRDY2_BMI088 _PIN_OFF(GPIO_SPI6_DRDY2_BMI088_INT3_GYRO)
|
||||
|
||||
/* SPI6 off */
|
||||
|
||||
#define GPIO_SPI6_SCK_OFF _PIN_OFF(GPIO_SPI6_SCK)
|
||||
#define GPIO_SPI6_MISO_OFF _PIN_OFF(GPIO_SPI6_MISO)
|
||||
#define GPIO_SPI6_MOSI_OFF _PIN_OFF(GPIO_SPI6_MOSI)
|
||||
|
||||
#define GPIO_DRDY_OFF_SPI6_DRDY1 _PIN_OFF(GPIO_DRDY_OFF_SPI6_DRDY1_BMI088)
|
||||
#define GPIO_DRDY_OFF_SPI6_DRDY2 _PIN_OFF(GPIO_DRDY_OFF_SPI6_DRDY2_BMI088)
|
||||
|
||||
/*
|
||||
* Define the ability to shut off off the sensor signals
|
||||
* by changing the signals to inputs
|
||||
*/
|
||||
|
||||
#define _PIN_OFF(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz))
|
||||
#define PX4_SPI_BUS_RAMTRON PX4_SPI_BUS_MEMORY
|
||||
|
||||
#include <drivers/drv_sensor.h>
|
||||
|
||||
#define PX4_SPIDEV_ICM_20602 PX4_MK_SPI_SEL(0,DRV_IMU_DEVTYPE_ICM20602)
|
||||
#define PX4_SENSORS1_BUS_CS_GPIO {GPIO_SPI1_nCS1_ICM20602}
|
||||
|
||||
#define PX4_SPIDEV_ICM_42688 PX4_MK_SPI_SEL(0,DRV_IMU_DEVTYPE_ICM42688P)
|
||||
#define PX4_SENSORS2_BUS_CS_GPIO {GPIO_SPI2_nCS1_ICM_42688}
|
||||
|
||||
#define PX4_SPIDEV_MEMORY SPIDEV_FLASH(0)
|
||||
#define PX4_MEMORY_BUS_CS_GPIO {GPIO_SPI5_nCS1_FRAM}
|
||||
|
||||
#define PX4_SPIDEV_BMI088_GYR PX4_MK_SPI_SEL(0,DRV_GYR_DEVTYPE_BMI088)
|
||||
#define PX4_SPIDEV_BMI088_ACC PX4_MK_SPI_SEL(0,DRV_ACC_DEVTYPE_BMI088)
|
||||
#define PX4_SENSORS3_BUS_CS_GPIO {GPIO_SPI6_nCS2_BMI088, GPIO_SPI6_nCS1_BMI088}
|
||||
|
||||
/* I2C busses */
|
||||
|
||||
#define PX4_I2C_BUS_EXPANSION 1
|
||||
#define PX4_I2C_BUS_EXPANSION1 2
|
||||
#define PX4_I2C_BUS_EXPANSION2 3
|
||||
#define PX4_I2C_BUS_ONBOARD 4
|
||||
#define PX4_I2C_BUS_LED PX4_I2C_BUS_EXPANSION
|
||||
|
||||
/* Devices on the onboard bus.
|
||||
*
|
||||
* Note that these are unshifted addresses.
|
||||
*/
|
||||
#define PX4_I2C_OBDEV_A71CH 0x49
|
||||
|
||||
#define BOARD_NUMBER_I2C_BUSES 4
|
||||
#define BOARD_I2C_BUS_CLOCK_INIT {100000, 100000, 100000, 100000}
|
||||
|
||||
#define GPIO_I2C4_DRDY1_BMP388 /* PG5 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTG|GPIO_PIN5)
|
||||
#define GPIO_A71CH_nRST /* PH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTH|GPIO_PIN3)
|
||||
|
||||
|
|
|
|||
|
|
@ -65,66 +65,6 @@
|
|||
#define BOARD_OVERLOAD_LED LED_RED
|
||||
#define BOARD_ARMED_STATE_LED LED_BLUE
|
||||
|
||||
#define PX4_SPI_BUS_1 1
|
||||
#define PX4_SPI_BUS_2 2
|
||||
#define PX4_SPI_BUS_5 5
|
||||
|
||||
/*
|
||||
* Define the ability to shut off off the sensor signals
|
||||
* by changing the signals to inputs
|
||||
*/
|
||||
#define _PIN_OFF(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz))
|
||||
|
||||
/* Define the Chip Selects, Data Ready and Control signals per SPI bus */
|
||||
|
||||
/* SPI 1 CS */
|
||||
#define GPIO_SPI1_CS1_ICM20602 /* PC2 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN2)
|
||||
#define GPIO_SPI1_CS2_ICM20948 /* PE15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN15)
|
||||
|
||||
/* Define the SPI1 Data Ready interrupts */
|
||||
#define GPIO_SPI1_DRDY1_ICM20602 /* PD15 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN15)
|
||||
#define GPIO_SPI1_DRDY2_ICM20948 /* PE12 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTE|GPIO_PIN12)
|
||||
|
||||
/* SPI 2 CS */
|
||||
#define GPIO_SPI2_CS1_FRAM /* PD10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN10)
|
||||
#define GPIO_SPI2_CS2_BARO /* PD7 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN7)
|
||||
|
||||
/* SPI 5 CS */
|
||||
#define GPIO_SPI5_CS1_BMI088_ACCEL /* PF6 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTF|GPIO_PIN6)
|
||||
#define GPIO_SPI5_CS2_BMI088_GYRO /* PF10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTF|GPIO_PIN10)
|
||||
|
||||
/* SPI 5 BMI088 Data Ready interrupts */
|
||||
#define GPIO_DRDY_BMI088_INT1_ACCEL /* PF1 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTF|GPIO_PIN1)
|
||||
#define GPIO_DRDY_BMI088_INT2_ACCEL /* PF2 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTF|GPIO_PIN2)
|
||||
#define GPIO_DRDY_BMI088_INT3_GYRO /* PF3 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTF|GPIO_PIN3)
|
||||
#define GPIO_DRDY_BMI088_INT4_GYRO /* PF4 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTF|GPIO_PIN4)
|
||||
|
||||
/* v BEGIN Legacy SPI defines TODO: fix this with enumeration */
|
||||
#define PX4_SPI_BUS_RAMTRON PX4_SPI_BUS_2
|
||||
/* ^ END Legacy SPI defines TODO: fix this with enumeration */
|
||||
|
||||
#include <drivers/drv_sensor.h>
|
||||
#define PX4_SPIDEV_ICM_20602 PX4_MK_SPI_SEL(0,DRV_IMU_DEVTYPE_ICM20602)
|
||||
#define PX4_SPIDEV_ICM_20948 PX4_MK_SPI_SEL(0,DRV_DEVTYPE_UNUSED)
|
||||
#define PX4_SPI_BUS_1_CS_GPIO {GPIO_SPI1_CS1_ICM20602, GPIO_SPI1_CS2_ICM20948}
|
||||
|
||||
#define PX4_SPIDEV_MEMORY SPIDEV_FLASH(0)
|
||||
#define PX4_SPIDEV_BARO PX4_MK_SPI_SEL(0,DRV_BARO_DEVTYPE_DPS310)
|
||||
#define PX4_SPI_BUS_2_CS_GPIO {GPIO_SPI2_CS1_FRAM, GPIO_SPI2_CS2_BARO}
|
||||
|
||||
#define PX4_SPIDEV_BMI088_ACC PX4_MK_SPI_SEL(0,DRV_ACC_DEVTYPE_BMI088)
|
||||
#define PX4_SPIDEV_BMI088_GYR PX4_MK_SPI_SEL(0,DRV_GYR_DEVTYPE_BMI088)
|
||||
#define PX4_SPI_BUS_5_CS_GPIO {GPIO_SPI5_CS1_BMI088_ACCEL, GPIO_SPI5_CS2_BMI088_GYRO}
|
||||
|
||||
|
||||
/* I2C busses */
|
||||
|
||||
#define PX4_I2C_BUS_EXPANSION 1
|
||||
#define PX4_I2C_BUS_LED PX4_I2C_BUS_EXPANSION
|
||||
|
||||
#define BOARD_NUMBER_I2C_BUSES 1
|
||||
#define BOARD_I2C_BUS_CLOCK_INIT {100000}
|
||||
|
||||
/*
|
||||
* ADC channels
|
||||
*
|
||||
|
|
|
|||
|
|
@ -75,50 +75,6 @@
|
|||
#define GPIO_LED1 (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN12)
|
||||
#define BOARD_OVERLOAD_LED LED_RED
|
||||
|
||||
/* External interrupts but on board*/
|
||||
#define GPIO_EXTI_MPU_DRDY (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN15)
|
||||
|
||||
/* Data ready pins but on board */
|
||||
|
||||
#define GPIO_EXTI_ICM_2060X_DRDY (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTC|GPIO_PIN14)
|
||||
|
||||
/* Data ready pins off */
|
||||
#define GPIO_EXTI_MPU_DRDY_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_EXTI|GPIO_PORTD|GPIO_PIN15)
|
||||
#define GPIO_EXTI_ICM_2060X_DRDY_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_EXTI|GPIO_PORTC|GPIO_PIN14)
|
||||
|
||||
/* SPI1 off */
|
||||
#define GPIO_SPI1_SCK_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN5)
|
||||
#define GPIO_SPI1_MISO_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN6)
|
||||
#define GPIO_SPI1_MOSI_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN7)
|
||||
|
||||
/* SPI1 chip selects off */
|
||||
#define GPIO_SPI_CS_ICM_2060X_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN15)
|
||||
#define GPIO_SPI_CS_BARO_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTD|GPIO_PIN7)
|
||||
#define GPIO_SPI_CS_MPU_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN2)
|
||||
|
||||
/* SPI chip selects */
|
||||
#define GPIO_SPI_CS_ICM_2060X (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN15)
|
||||
#define GPIO_SPI_CS_BARO (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN7)
|
||||
#define GPIO_SPI_CS_FRAM (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN10)
|
||||
#define GPIO_SPI_CS_MPU (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN2)
|
||||
|
||||
#define PX4_SPI_BUS_SENSORS 1
|
||||
#define PX4_SPI_BUS_RAMTRON 2
|
||||
#define PX4_SPI_BUS_BARO PX4_SPI_BUS_SENSORS
|
||||
|
||||
/* Use these in place of the uint32_t enumeration to select a specific SPI device on SPI1 */
|
||||
#include <drivers/drv_sensor.h>
|
||||
#define PX4_SPIDEV_ICM_20602 PX4_MK_SPI_SEL(0, DRV_IMU_DEVTYPE_ICM20602)
|
||||
#define PX4_SPIDEV_ICM_20608 PX4_MK_SPI_SEL(0, DRV_IMU_DEVTYPE_ICM20608)
|
||||
#define PX4_SPIDEV_BARO PX4_MK_SPI_SEL(0, DRV_BARO_DEVTYPE_MS5611)
|
||||
#define PX4_SPIDEV_MPU PX4_MK_SPI_SEL(0, DRV_IMU_DEVTYPE_MPU9250)
|
||||
|
||||
/* I2C busses */
|
||||
|
||||
/* There is no I2C2 so there is not notion of internal / external*/
|
||||
#define PX4_I2C_BUS_EXPANSION 1
|
||||
#define PX4_I2C_BUS_LED PX4_I2C_BUS_EXPANSION
|
||||
|
||||
/*
|
||||
* ADC channels
|
||||
*
|
||||
|
|
|
|||
|
|
@ -73,50 +73,6 @@
|
|||
#define GPIO_LED1 (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN12)
|
||||
#define BOARD_OVERLOAD_LED LED_RED
|
||||
|
||||
/* External interrupts but on board*/
|
||||
#define GPIO_EXTI_MPU_DRDY (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN15)
|
||||
|
||||
/* Data ready pins but on board */
|
||||
|
||||
#define GPIO_EXTI_ICM_2060X_DRDY (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTC|GPIO_PIN14)
|
||||
|
||||
/* Data ready pins off */
|
||||
#define GPIO_EXTI_MPU_DRDY_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_EXTI|GPIO_PORTD|GPIO_PIN15)
|
||||
#define GPIO_EXTI_ICM_2060X_DRDY_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_EXTI|GPIO_PORTC|GPIO_PIN14)
|
||||
|
||||
/* SPI1 off */
|
||||
#define GPIO_SPI1_SCK_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN5)
|
||||
#define GPIO_SPI1_MISO_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN6)
|
||||
#define GPIO_SPI1_MOSI_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN7)
|
||||
|
||||
/* SPI1 chip selects off */
|
||||
#define GPIO_SPI_CS_ICM_2060X_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN15)
|
||||
#define GPIO_SPI_CS_BARO_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTD|GPIO_PIN7)
|
||||
#define GPIO_SPI_CS_MPU_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN2)
|
||||
|
||||
/* SPI chip selects */
|
||||
#define GPIO_SPI_CS_ICM_2060X (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN15)
|
||||
#define GPIO_SPI_CS_BARO (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN7)
|
||||
#define GPIO_SPI_CS_FRAM (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN10)
|
||||
#define GPIO_SPI_CS_MPU (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN2)
|
||||
|
||||
#define PX4_SPI_BUS_SENSORS 1
|
||||
#define PX4_SPI_BUS_RAMTRON 2
|
||||
#define PX4_SPI_BUS_BARO PX4_SPI_BUS_SENSORS
|
||||
|
||||
/* Use these in place of the uint32_t enumeration to select a specific SPI device on SPI1 */
|
||||
#include <drivers/drv_sensor.h>
|
||||
#define PX4_SPIDEV_ICM_20602 PX4_MK_SPI_SEL(0, DRV_IMU_DEVTYPE_ICM20602)
|
||||
#define PX4_SPIDEV_ICM_20608 PX4_MK_SPI_SEL(0, DRV_IMU_DEVTYPE_ICM20608)
|
||||
#define PX4_SPIDEV_BARO PX4_MK_SPI_SEL(0, DRV_BARO_DEVTYPE_MS5611)
|
||||
#define PX4_SPIDEV_MPU PX4_MK_SPI_SEL(0, DRV_IMU_DEVTYPE_MPU9250)
|
||||
|
||||
/* I2C busses */
|
||||
|
||||
/* There is no I2C2 so there is not notion of internal / external*/
|
||||
#define PX4_I2C_BUS_EXPANSION 1
|
||||
#define PX4_I2C_BUS_LED PX4_I2C_BUS_EXPANSION
|
||||
|
||||
/*
|
||||
* ADC channels
|
||||
*
|
||||
|
|
|
|||
|
|
@ -279,9 +279,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
|
|||
SPI_SETFREQUENCY(spi1, 10000000);
|
||||
SPI_SETBITS(spi1, 8);
|
||||
SPI_SETMODE(spi1, SPIDEV_MODE3);
|
||||
SPI_SELECT(spi1, PX4_SPIDEV_ICM_20608, false);
|
||||
SPI_SELECT(spi1, PX4_SPIDEV_BARO, false);
|
||||
SPI_SELECT(spi1, PX4_SPIDEV_MPU, false);
|
||||
up_udelay(20);
|
||||
|
||||
/* Get the SPI port for the FRAM */
|
||||
|
|
|
|||
|
|
@ -191,31 +191,6 @@ __END_DECLS
|
|||
|
||||
//#define GPIO_SD_CARDDETECT (GPIO_PULLUP | PIN_INT_BOTH | PIN_PORTD | PIN10)
|
||||
|
||||
/* SPI
|
||||
*
|
||||
* SD Card is on SPI 0
|
||||
* FXOS8700CQ Accelerometer & Magnetometer is on SPI 1
|
||||
* FXAS21002CQ Gyro is on SPI 2
|
||||
*/
|
||||
|
||||
/* SPI Bus assignments */
|
||||
|
||||
#define PX4_SPI_BUS_MEMORY PX4_BUS_NUMBER_TO_PX4(0)
|
||||
#define PX4_SPI_BUS_SENSORS PX4_BUS_NUMBER_TO_PX4(1)
|
||||
#define PX4_SPI_BUS_EXTERNAL PX4_BUS_NUMBER_TO_PX4(2)
|
||||
#define PX4_SPI_BUS_RAMTRON PX4_SPI_BUS_MEMORY
|
||||
#define PX4_SPI_BUS_EXT PX4_SPI_BUS_EXTERNAL
|
||||
|
||||
|
||||
/* SPI chip selects */
|
||||
|
||||
#define GPIO_SPI_CS_MEMORY (GPIO_LOWDRIVE | GPIO_OUTPUT_ONE | PIN_PORTC | PIN2)
|
||||
#define GPIO_SPI_CS_FXAS21002CQ_GYRO (GPIO_LOWDRIVE | GPIO_OUTPUT_ONE | PIN_PORTB | PIN9)
|
||||
#define GPIO_SPI_CS_FXOS8700CQ_ACCEL_MAG (GPIO_LOWDRIVE | GPIO_OUTPUT_ONE | PIN_PORTB | PIN10)
|
||||
#define GPIO_SPI1_CS_CALMEM (GPIO_LOWDRIVE | GPIO_OUTPUT_ONE | PIN_PORTA | PIN19)
|
||||
#define GPIO_SPI2_CS (GPIO_LOWDRIVE | GPIO_OUTPUT_ONE | PIN_PORTB | PIN20)
|
||||
#define GPIO_SPI2_EXT (GPIO_LOWDRIVE | GPIO_OUTPUT_ONE | PIN_PORTD | PIN15)
|
||||
|
||||
/* SPI device reset signals
|
||||
* In Active state
|
||||
*/
|
||||
|
|
@ -233,41 +208,6 @@ __END_DECLS
|
|||
#define GPIO_EXTI_BARO_INT1 (GPIO_PULLUP | PIN_INT_BOTH | PIN_PORTD | PIN11)
|
||||
#define GPIO_EXTI_BARO_INT2 (GPIO_PULLUP | PIN_INT_BOTH | PIN_PORTD | PIN7)
|
||||
|
||||
/* Use these in place of the uint32_t enumeration to select a specific SPI device on SPI1 */
|
||||
|
||||
#include <drivers/drv_sensor.h>
|
||||
#define PX4_SPIDEV_MEMORY SPIDEV_FLASH(0)
|
||||
#define PX4_MEMORY_BUS_CS_GPIO {GPIO_SPI_CS_MEMORY}
|
||||
#define PX4_MEMORY_BUS_FIRST_CS PX4_SPIDEV_MEMORY
|
||||
#define PX4_MEMORY_BUS_LAST_CS PX4_SPIDEV_MEMORY
|
||||
|
||||
#define PX4_SPIDEV_ACCEL_MAG PX4_MK_SPI_SEL(0,DRV_ACC_DEVTYPE_FXOS8701C)
|
||||
#define PX4_SPIDEV_GYRO PX4_MK_SPI_SEL(0,DRV_GYR_DEVTYPE_FXAS2100C)
|
||||
#define PX4_SPIDEV_CALMEM PX4_MK_SPI_SEL(0,DRV_DEVTYPE_UNUSED)
|
||||
#define PX4_SENSOR_BUS_CS_GPIO {GPIO_SPI_CS_FXOS8700CQ_ACCEL_MAG, GPIO_SPI_CS_FXAS21002CQ_GYRO, GPIO_SPI1_CS_CALMEM}
|
||||
#define PX4_SENSOR_BUS_FIRST_CS PX4_SPIDEV_ACCEL_MAG
|
||||
#define PX4_SENSOR_BUS_LAST_CS PX4_SPIDEV_CALMEM
|
||||
|
||||
#define PX4_SPIDEV_EXTERNAL1 PX4_MK_SPI_SEL(0,0)
|
||||
#define PX4_SPIDEV_EXTERNAL2 PX4_MK_SPI_SEL(0,1)
|
||||
#define PX4_EXTERNAL_BUS_CS_GPIO {GPIO_SPI2_CS, GPIO_SPI2_EXT}
|
||||
#define PX4_EXTERNAL_BUS_FIRST_CS PX4_SPIDEV_EXTERNAL1
|
||||
#define PX4_EXTERNAL_BUS_LAST_CS PX4_SPIDEV_EXTERNAL2
|
||||
|
||||
#define PX4_SPIDEV_ICM_20602 PX4_SPIDEV_EXTERNAL1
|
||||
#define PX4_SPIDEV_ICM_20608 PX4_SPIDEV_EXTERNAL1
|
||||
#define PX4_SPIDEV_ICM_20689 PX4_SPIDEV_EXTERNAL1
|
||||
#define PX4_SPIDEV_EXT_MPU PX4_SPIDEV_EXTERNAL1
|
||||
#define PX4_SPIDEV_MPU PX4_SPIDEV_EXTERNAL1
|
||||
|
||||
/* I2C busses */
|
||||
|
||||
#define PX4_I2C_BUS_ONBOARD PX4_BUS_NUMBER_TO_PX4(1)
|
||||
#define PX4_I2C_BUS_EXPANSION PX4_BUS_NUMBER_TO_PX4(0)
|
||||
|
||||
|
||||
#define PX4_I2C_BUS_LED PX4_I2C_BUS_EXPANSION
|
||||
|
||||
/*
|
||||
* ADC channels
|
||||
*
|
||||
|
|
|
|||
|
|
@ -25,9 +25,9 @@ px4_add_board(
|
|||
distance_sensor # all available distance sensor drivers
|
||||
# dshot not ported
|
||||
gps
|
||||
imu/adis16448
|
||||
imu/adis16477
|
||||
imu/adis16497
|
||||
#imu/adis16448
|
||||
#imu/adis16477
|
||||
#imu/adis16497
|
||||
#imu # all available imu drivers
|
||||
imu/bmi055
|
||||
imu/mpu6000
|
||||
|
|
|
|||
|
|
@ -90,16 +90,6 @@
|
|||
#define BOARD_OVERLOAD_LED LED_RED
|
||||
#define BOARD_ARMED_STATE_LED LED_BLUE
|
||||
|
||||
/* SENSORS are on SPI1, 3
|
||||
* MEMORY is on bus SPI2
|
||||
* MS5611 is on bus SPI4
|
||||
*/
|
||||
|
||||
#define PX4_SPI_BUS_SENSORS 1
|
||||
#define PX4_SPI_BUS_MEMORY 2
|
||||
#define PX4_SPI_BUS_BARO 3
|
||||
#define PX4_SPI_BUS_EXTERNAL1 4
|
||||
|
||||
/*
|
||||
* Define the ability to shut off off the sensor signals
|
||||
* by changing the signals to inputs
|
||||
|
|
@ -112,24 +102,6 @@
|
|||
#define CS_IOMUX (IOMUX_CMOS_OUTPUT | IOMUX_PULL_UP_100K | IOMUX_DRIVE_33OHM | IOMUX_SPEED_LOW | IOMUX_SLEW_FAST)
|
||||
#define OUT_IOMUX (IOMUX_CMOS_OUTPUT | IOMUX_PULL_UP_100K | IOMUX_DRIVE_50OHM | IOMUX_SPEED_MEDIUM | IOMUX_SLEW_FAST)
|
||||
|
||||
/* SPI 1 CS */
|
||||
#define GPIO_SPI1_CS1_ICM20689 /* GPIO_EMC_40 GPIO3_IO26 */ (GPIO_PORT3 | GPIO_PIN26 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | CS_IOMUX)
|
||||
// GPIO_SPI1_CS2_ICM20602 is not wired from CPU
|
||||
#define GPIO_SPI1_CS3_BMI055_GYRO /* GPIO_B1_10 GPIO2_IO26 */ (GPIO_PORT2 | GPIO_PIN26 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | CS_IOMUX)
|
||||
#define GPIO_SPI1_CS4_BMI055_ACCEL /* GPIO_B1_15 GPIO2_IO31 */ (GPIO_PORT2 | GPIO_PIN31 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | CS_IOMUX)
|
||||
|
||||
#define SPI1_CS5_AUX_MEM /* GPIO_SD_B1_00 GPIO3_IO00 */ (GPIO_PORT3 | GPIO_PIN0 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | CS_IOMUX)
|
||||
|
||||
/* Define the SPI1 Data Ready interrupts */
|
||||
|
||||
#define DRDY_IOMUX (IOMUX_SCHMITT_TRIGGER | IOMUX_PULL_UP_47K | IOMUX_DRIVE_HIZ)
|
||||
|
||||
// todo add IRQ-ness!
|
||||
|
||||
#define GPIO_SPI1_DRDY1_ICM20689 /* GPIO_EMC_15 GPIO4_IO15 */ (GPIO_PORT4 | GPIO_PIN15 | GPIO_INPUT | DRDY_IOMUX)
|
||||
#define GPIO_SPI1_DRDY2_BMI055_GYRO /* GPIO_EMC_16 GPIO4_IO16 */ (GPIO_PORT4 | GPIO_PIN16 | GPIO_INPUT | DRDY_IOMUX)
|
||||
#define GPIO_SPI1_DRDY3_BMI055_ACCEL /* GPIO_EMC_37 GPIO3_IO23 */ (GPIO_PORT3 | GPIO_PIN23 | GPIO_INPUT | DRDY_IOMUX)
|
||||
#define SPI1_DRDY4_ICM20602 /* GPIO_EMC_12 GPIO4_IO12 N.B . The ICM20602 CS is not wired */ (GPIO_PORT4 | GPIO_PIN12 | GPIO_INPUT | DRDY_IOMUX)
|
||||
|
||||
/* SPI1 off */
|
||||
|
||||
|
|
@ -141,19 +113,6 @@
|
|||
#define GPIO_SPI1_MISO_OFF _PIN_OFF(_GPIO_LPSPI1_MISO)
|
||||
#define GPIO_SPI1_MOSI_OFF _PIN_OFF(_GPIO_LPSPI1_MOSI)
|
||||
|
||||
#define GPIO_DRDY_OFF_SPI1_DRDY1_ICM20689 _PIN_OFF(GPIO_SPI1_DRDY1_ICM20689)
|
||||
#define GPIO_DRDY_OFF_SPI1_DRDY2_BMI055_GYRO _PIN_OFF(GPIO_SPI1_DRDY2_BMI055_GYRO)
|
||||
#define GPIO_DRDY_OFF_SPI1_DRDY3_BMI055_ACC _PIN_OFF(GPIO_SPI1_DRDY3_BMI055_ACCEL)
|
||||
#define GPIO_DRDY_OFF_SPI1_DRDY4_ICM20602 _PIN_OFF(GPIO_SPI1_DRDY4_ICM20602)
|
||||
|
||||
/* SPI 2 CS */
|
||||
|
||||
#define GPIO_SPI2_CS_FRAM /* GPIO_EMC_34 G GPIO3_IO20 */ (GPIO_PORT3 | GPIO_PIN20 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | CS_IOMUX)
|
||||
|
||||
/* SPI 3 CS */
|
||||
|
||||
#define GPIO_SPI3_CS1_MS5611 /* GPIO_EMC_14 GPIO4_IO14 */ (GPIO_PORT4 | GPIO_PIN14 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | CS_IOMUX)
|
||||
|
||||
#define _GPIO_LPSPI3_SCK /* GPIO_AD_B1_15 GPIO1_IO27 */ (GPIO_PORT1 | GPIO_PIN31 | CS_IOMUX)
|
||||
#define _GPIO_LPSPI3_MISO /* GPIO_AD_B1_13 GPIO1_IO27 */ (GPIO_PORT1 | GPIO_PIN29 | CS_IOMUX)
|
||||
#define _GPIO_LPSPI3_MOSI /* GPIO_AD_B1_14 GPIO1_IO27 */ (GPIO_PORT1 | GPIO_PIN30 | CS_IOMUX)
|
||||
|
|
@ -162,12 +121,6 @@
|
|||
#define GPIO_SPI3_MISO_OFF _PIN_OFF(_GPIO_LPSPI3_MISO)
|
||||
#define GPIO_SPI3_MOSI_OFF _PIN_OFF(_GPIO_LPSPI3_MOSI)
|
||||
|
||||
/* SPI 4 CS */
|
||||
|
||||
#define SPI4_CS1_EXTERNAL1 /* GPIO_EMC_07 GPIO4_IO07 */ (GPIO_PORT4 | GPIO_PIN7 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | CS_IOMUX)
|
||||
#define SPI4_CS2_EXTERNAL1 /* GPIO_B1_14 GPIO2_IO30 */ (GPIO_PORT2 | GPIO_PIN30 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | CS_IOMUX)
|
||||
#define SPI4_CS3_EXTERNAL1 /* GPIO_EMC_11 GPIO4_IO011 */ (GPIO_PORT4 | GPIO_PIN11 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | CS_IOMUX)
|
||||
|
||||
/* Define the SPI4 Data Ready and Control signals */
|
||||
|
||||
#define GPIO_SPI4_DRDY7_EXTERNAL1 /* GPIO_EMC_35 GPIO3_IO21*/ (GPIO_PORT3 | GPIO_PIN21 | GPIO_INPUT | DRDY_IOMUX)
|
||||
|
|
@ -179,52 +132,6 @@
|
|||
#define GPIO_SPI4_SYNC_EXTERNAL1_OFF _PIN_OFF(GPIO_SPI4_SYNC_EXTERNAL1)
|
||||
|
||||
|
||||
/* v BEGIN Legacy SPI defines TODO: fix this with enumeration */
|
||||
|
||||
#define PX4_SPI_BUS_RAMTRON PX4_SPI_BUS_MEMORY
|
||||
#define PX4_SPIDEV_BMA 0
|
||||
#define PX4_SPIDEV_BMI 0
|
||||
|
||||
/* ^ END Legacy SPI defines TODO: fix this with enumeration */
|
||||
#include <drivers/drv_sensor.h>
|
||||
|
||||
#define PX4_SPIDEV_ICM_20689 PX4_MK_SPI_SEL(0,DRV_IMU_DEVTYPE_ICM20689)
|
||||
#define PX4_SPIDEV_BMI055_GYR PX4_MK_SPI_SEL(0,DRV_GYR_DEVTYPE_BMI055)
|
||||
#define PX4_SPIDEV_BMI055_ACC PX4_MK_SPI_SEL(0,DRV_ACC_DEVTYPE_BMI055)
|
||||
#define PX4_SPIDEV_AUX_MEM PX4_MK_SPI_SEL(0,DRV_DEVTYPE_UNUSED)
|
||||
|
||||
#define PX4_SENSOR_BUS_CS_GPIO {GPIO_SPI1_CS1_ICM20689, GPIO_SPI1_CS3_BMI055_GYRO, GPIO_SPI1_CS4_BMI055_ACCEL, SPI1_CS5_AUX_MEM}
|
||||
#define PX4_SENSORS_BUS_FIRST_CS PX4_SPIDEV_ICM_20689
|
||||
#define PX4_SENSORS_BUS_LAST_CS PX4_SPIDEV_AUX_MEM
|
||||
|
||||
#define PX4_SPIDEV_MEMORY SPIDEV_FLASH(0)
|
||||
#define PX4_MEMORY_BUS_CS_GPIO {GPIO_SPI2_CS_FRAM}
|
||||
#define PX4_MEMORY_BUS_FIRST_CS PX4_SPIDEV_MEMORY
|
||||
#define PX4_MEMORY_BUS_LAST_CS PX4_SPIDEV_MEMORY
|
||||
|
||||
#define PX4_SPIDEV_BARO PX4_MK_SPI_SEL(0,DRV_BARO_DEVTYPE_MS5611)
|
||||
#define PX4_BARO_BUS_CS_GPIO {GPIO_SPI3_CS1_MS5611}
|
||||
#define PX4_BARO_BUS_FIRST_CS PX4_SPIDEV_BARO
|
||||
#define PX4_BARO_BUS_LAST_CS PX4_SPIDEV_BARO
|
||||
|
||||
#define PX4_SPIDEV_EXTERNAL1_1 PX4_MK_SPI_SEL(0,0)
|
||||
#define PX4_SPIDEV_EXTERNAL1_2 PX4_MK_SPI_SEL(0,1)
|
||||
#define PX4_SPIDEV_EXTERNAL1_3 PX4_MK_SPI_SEL(0,2)
|
||||
#define PX4_EXTERNAL1_BUS_CS_GPIO {SPI4_CS1_EXTERNAL1, SPI4_CS2_EXTERNAL1, SPI4_CS3_EXTERNAL1}
|
||||
#define PX4_EXTERNAL1_BUS_FIRST_CS PX4_SPIDEV_EXTERNAL1_1
|
||||
#define PX4_EXTERNAL1_BUS_LAST_CS PX4_SPIDEV_EXTERNAL1_3
|
||||
|
||||
/* I2C busses */
|
||||
|
||||
#define PX4_I2C_BUS_EXPANSION 1
|
||||
#define PX4_I2C_BUS_EXPANSION1 2
|
||||
#define PX4_I2C_BUS_ONBOARD 3
|
||||
#define PX4_I2C_BUS_LED PX4_I2C_BUS_EXPANSION
|
||||
|
||||
#define BOARD_NUMBER_I2C_BUSES 3
|
||||
#define BOARD_I2C_BUS_CLOCK_INIT {100000, 100000, 100000}
|
||||
|
||||
|
||||
#define ADC_IOMUX (IOMUX_CMOS_INPUT | IOMUX_PULL_NONE | IOMUX_DRIVE_HIZ)
|
||||
|
||||
#define ADC1_CH(n) (n)
|
||||
|
|
|
|||
|
|
@ -37,6 +37,7 @@ add_library(drivers_board
|
|||
bringup.c
|
||||
buttons.c
|
||||
clockconfig.c
|
||||
i2c.cpp
|
||||
init.c
|
||||
periphclocks.c
|
||||
spi.c
|
||||
|
|
|
|||
|
|
@ -94,10 +94,6 @@ __BEGIN_DECLS
|
|||
|
||||
#define NUM_OF_PERIPHERAL_CLOCKS_0 15
|
||||
|
||||
/* I2C busses */
|
||||
|
||||
#define PX4_I2C_BUS_ONBOARD PX4_BUS_NUMBER_TO_PX4(1)
|
||||
#define PX4_I2C_BUS_EXPANSION PX4_BUS_NUMBER_TO_PX4(0)
|
||||
|
||||
/****************************************************************************
|
||||
* Public Types
|
||||
|
|
|
|||
|
|
@ -0,0 +1,40 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2020 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#include <px4_arch/i2c_hw_description.h>
|
||||
|
||||
constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
|
||||
initI2CBusInternal(PX4_BUS_NUMBER_TO_PX4(1)),
|
||||
initI2CBusExternal(PX4_BUS_NUMBER_TO_PX4(0)),
|
||||
};
|
||||
|
||||
|
|
@ -108,93 +108,12 @@
|
|||
//#define GPIO_GPIO4_OUTPUT _MK_GPIO_OUTPUT(GPIO_TIM5_CH2OUT)
|
||||
//#define GPIO_GPIO5_OUTPUT _MK_GPIO_OUTPUT(GPIO_TIM1_CH1OUT)
|
||||
|
||||
/*----------------------------------------------------------*/
|
||||
/* OMNIBUSF4SD SPI chip selects and DRDY */
|
||||
/*----------------------------------------------------------*/
|
||||
|
||||
#include <drivers/drv_sensor.h>
|
||||
|
||||
/* SPI chip selects */
|
||||
/*
|
||||
* Define the Chip Selects for SPI1
|
||||
*
|
||||
* MPU6000: PA4
|
||||
*
|
||||
*/
|
||||
#define GPIO_SPI_CS_MEMS (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN4)
|
||||
|
||||
/*
|
||||
* Define the Chip Selects for SPI2
|
||||
*
|
||||
* SD Card: PB12
|
||||
*
|
||||
*/
|
||||
#define GPIO_SPI_CS_SDCARD (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN12)
|
||||
|
||||
/*
|
||||
* Define the Chip Selects for SPI3
|
||||
*
|
||||
* BMP280: PB3
|
||||
* ABT7456: PA15
|
||||
*
|
||||
*/
|
||||
|
||||
#define GPIO_SPI3_CS_BARO (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN3)
|
||||
#define GPIO_SPI3_CS_OSD (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN15)
|
||||
|
||||
/*
|
||||
* Define the ability to shut off off the sensor signals
|
||||
* by changing the signals to inputs
|
||||
*/
|
||||
|
||||
#define _PIN_OFF(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz))
|
||||
|
||||
/* SPI 1 bus off */
|
||||
#define GPIO_SPI1_SCK_OFF _PIN_OFF(GPIO_SPI1_SCK)
|
||||
#define GPIO_SPI1_MISO_OFF _PIN_OFF(GPIO_SPI1_MISO)
|
||||
#define GPIO_SPI1_MOSI_OFF _PIN_OFF(GPIO_SPI1_MOSI)
|
||||
/* SPI 1 CS's off */
|
||||
#define GPIO_SPI1_CS_MEMS_OFF _PIN_OFF(GPIO_SPI_CS_MEMS)
|
||||
|
||||
/* SPI 2 bus off */
|
||||
#define GPIO_SPI2_SCK_OFF _PIN_OFF(GPIO_SPI2_SCK)
|
||||
#define GPIO_SPI2_MISO_OFF _PIN_OFF(GPIO_SPI2_MISO)
|
||||
#define GPIO_SPI2_MOSI_OFF _PIN_OFF(GPIO_SPI2_MOSI)
|
||||
/* SPI 2 CS's off */
|
||||
#define GPIO_SPI2_CS_SDCARD_OFF _PIN_OFF(GPIO_SPI_CS_SDCARD)
|
||||
|
||||
/* SPI 3 bus off */
|
||||
#define GPIO_SPI3_SCK_OFF _PIN_OFF(GPIO_SPI3_SCK)
|
||||
#define GPIO_SPI3_MISO_OFF _PIN_OFF(GPIO_SPI3_MISO)
|
||||
#define GPIO_SPI3_MOSI_OFF _PIN_OFF(GPIO_SPI3_MOSI)
|
||||
/* SPI 3 CS's off */
|
||||
#define GPIO_SPI3_CS_BARO_OFF _PIN_OFF(GPIO_SPI3_CS_BARO)
|
||||
#define GPIO_SPI3_CS_OSD_OFF _PIN_OFF(GPIO_SPI3_CS_OSD)
|
||||
|
||||
// One device per bus
|
||||
#define PX4_SPI_BUS_SENSORS 1
|
||||
#define PX4_SPIDEV_MPU PX4_MK_SPI_SEL(0, DRV_IMU_DEVTYPE_MPU6000)
|
||||
#define PX4_SPIDEV_ICM_20602 PX4_MK_SPI_SEL(0, DRV_IMU_DEVTYPE_ICM20602)
|
||||
#define PX4_SPIDEV_BARO_BUS 3
|
||||
#define PX4_SPIDEV_BARO PX4_MK_SPI_SEL(0, DRV_BARO_DEVTYPE_BMP280)
|
||||
#define PX4_SPIDEV_OSD PX4_MK_SPI_SEL(0, DRV_OSD_DEVTYPE_ATXXXX)
|
||||
|
||||
/* USB OTG FS
|
||||
*
|
||||
* PA9 OTG_FS_VBUS VBUS sensing
|
||||
*/
|
||||
#define GPIO_OTGFS_VBUS (GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_100MHz|GPIO_OPENDRAIN|GPIO_PORTC|GPIO_PIN5)
|
||||
|
||||
/*----------------------------------------------------------*/
|
||||
/* End OMNIBUSF4SD SPI chip selects and DRDY */
|
||||
/*----------------------------------------------------------*/
|
||||
|
||||
#define PX4_SPI_BUS_BARO 3
|
||||
#define PX4_SPI_BUS_OSD 3
|
||||
|
||||
#define PX4_I2C_BUS_EXPANSION 2
|
||||
#define PX4_I2C_BUS_LED PX4_I2C_BUS_EXPANSION
|
||||
|
||||
/* PWM
|
||||
*
|
||||
* Alternatively CH3/CH4 could be assigned to UART6_TX/RX
|
||||
|
|
|
|||
|
|
@ -284,7 +284,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
|
|||
SPI_SETFREQUENCY(spi1, 10000000);
|
||||
SPI_SETBITS(spi1, 8);
|
||||
SPI_SETMODE(spi1, SPIDEV_MODE3);
|
||||
SPI_SELECT(spi1, PX4_SPIDEV_MPU, false);
|
||||
up_udelay(20);
|
||||
|
||||
// SPI2: SDCard
|
||||
|
|
@ -327,7 +326,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
|
|||
SPI_SETFREQUENCY(spi3, 10 * 1000 * 1000);
|
||||
SPI_SETBITS(spi3, 8);
|
||||
SPI_SETMODE(spi3, SPIDEV_MODE3);
|
||||
SPI_SELECT(spi3, PX4_SPIDEV_BARO, false);
|
||||
up_udelay(20);
|
||||
|
||||
#if defined(FLASH_BASED_PARAMS)
|
||||
|
|
|
|||
|
|
@ -88,271 +88,12 @@
|
|||
#define GPIO_LED1 (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN12)
|
||||
#define BOARD_OVERLOAD_LED LED_AMBER
|
||||
|
||||
#include <drivers/drv_sensor.h>
|
||||
|
||||
/* Due to inconsistent use of chip select and dry signal on
|
||||
* different board that use this build. We are defining the GPIO
|
||||
* inclusive of the SPI port and GPIO to help identify pins the
|
||||
* are part of the sensor Net's controlled by different power
|
||||
* domains.
|
||||
*
|
||||
* Only the GPIO_SPIb_xxx_Ppi will be used in the code to insure this are no
|
||||
* cross connections.
|
||||
*
|
||||
* --------------- SPI1 -------------------- SPI4 -------------- Incompatibilities ---------
|
||||
* FMUv2: FmuV3 Cube PixhawkMini
|
||||
* Power Domain: VDD_3V3_SENSORS_EN nVDD_5V_PERIPH_EN V3V:SPI1&SPI4 V3V:SPI1 No SPI4
|
||||
* PA5 SPI_INT_SCK
|
||||
* PA6 SPI_INT_MISO
|
||||
* PA7 SPI_INT_MOSI
|
||||
* PB0 GYRO_DRDY SPI4:EXTERN_DRDY NC
|
||||
* PB1 MAG_DRDY +SPI4:nEXTERN_CS NC
|
||||
* PB4 ACCEL_DRDY NC NC
|
||||
* PC1 Spare ADC ( NC ) +SPI1:SPI_INT_MAG_!CS
|
||||
* PC2 nMPU_CS @MPU6000|MPU9250 @MPU9250
|
||||
* PC13 nGYRO_CS SPI4:nGYRO_EXT_CS NC
|
||||
* PC14 GPIO_EXT_1 nBARO_EXT_CS -20608_DRDY
|
||||
* PC15 nACCEL_MAG_CS SPI4:nACCEL_MAG_EXT_CS 20608_CS
|
||||
* PD7 nBARO_CS
|
||||
* PD15 nMPU_DRDY @MPU6000|MPU9250 @MPU9250
|
||||
* PE2 SPI_EXT_SCK NC
|
||||
* PE4 nSPI_EXT_NSS SPI4:nMPU_EXT_CS NC
|
||||
* PE5 SPI_EXT_MISO NC
|
||||
* PE6 SPI_EXT_MOSI NC
|
||||
*
|
||||
* Notes: Prefixed with @ Does not effect board control
|
||||
* Prefixed with + Input used as Output
|
||||
* Prefixed with - Output used as Input
|
||||
* Prefixed with SPIn: Bus changed
|
||||
*
|
||||
* The board API provides for mechanism to perform a SPI bus reset.
|
||||
* To facilitate a SPI bus reset
|
||||
*
|
||||
* 1) All the pins: SPIn, CD, DRDY associated with the SPI bus are turned to inputs
|
||||
* with outputs driven low. (OFFIng)
|
||||
* 2) The power domain of that bus is turned off.
|
||||
* 3) A usleep it done for ms.
|
||||
* 4) The power domain of that bus is turned back on.
|
||||
* 5) The SPIn pins are re-initialized.
|
||||
* 6) The SPI CS, DRDY pins are re-initialized.
|
||||
*
|
||||
* To insure the complete net is de-energized and is not bing back fed, it is important to
|
||||
* note the all signals in the net list of the parts/bus.
|
||||
*
|
||||
* I.E. Not OFFIng PC1 on V3 would leave that pin back feeding the HMC part. As would not
|
||||
* OFFIng PE4, not associated with SPI1 on V2, but would back feed an MPUxxxx on V3
|
||||
*
|
||||
*/
|
||||
|
||||
|
||||
/*----------------------------------------------------------*/
|
||||
/* FMUv2 SPI chip selects and DRDY */
|
||||
/*----------------------------------------------------------*/
|
||||
|
||||
/* FMUv2 SPI1 chip selects */
|
||||
/* PC1 Spare ADC IN10 */
|
||||
#define GPIO_SPI1_CS_PC2 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN2)
|
||||
#define GPIO_SPI1_CS_PC13 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN13)
|
||||
#define GPIO_SPI1_CS_PC15 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN15)
|
||||
#define GPIO_SPI1_CS_PD7 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN7)
|
||||
|
||||
/* FMUv2 SPI2 chip selects */
|
||||
#define GPIO_SPI2_CS_PD10 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN10)
|
||||
|
||||
/* FMUv2 SPI4 chip selects */
|
||||
#define GPIO_SPI4_GPIO_PC14 /* !V2M */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN14)
|
||||
#define GPIO_SPI4_NSS_PE4 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN4)
|
||||
|
||||
/* FMUv2 SPI1 chip selects Assignments */
|
||||
|
||||
#define GPIO_SPI1_CS_MPU GPIO_SPI1_CS_PC2
|
||||
#define GPIO_SPI1_CS_GYRO GPIO_SPI1_CS_PC13
|
||||
#define GPIO_SPI1_CS_ACCEL_MAG GPIO_SPI1_CS_PC15
|
||||
#define GPIO_SPI1_CS_BARO GPIO_SPI1_CS_PD7
|
||||
|
||||
/* FMUv2 SPI2 chip selects Assignments */
|
||||
|
||||
#define GPIO_SPI2_CS_FRAM GPIO_SPI2_CS_PD10
|
||||
|
||||
/* FMUv2 SPI4 chip selects Assignments */
|
||||
|
||||
#define GPIO_SPI4_GPIO_EXT GPIO_SPI4_GPIO_PC14
|
||||
#define GPIO_SPI4_EXT_NSS GPIO_SPI4_NSS_PE4
|
||||
|
||||
/* FMUv2 DRDY */
|
||||
|
||||
#define GPIO_SPI1_EXTI_DRDY_PB0 (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN0)
|
||||
#define GPIO_SPI1_EXTI_DRDY_PB1 /*!V3 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN1)
|
||||
#define GPIO_SPI1_EXTI_DRDY_PB4 (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN4)
|
||||
#define GPIO_SPI1_EXTI_DRDY_PD15 (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN15)
|
||||
|
||||
/* FMUv2 DRDY Assignments */
|
||||
|
||||
#define GPIO_SPI1_EXTI_GYRO_DRDY GPIO_SPI1_EXTI_DRDY_PB0
|
||||
#define GPIO_SPI1_EXTI_MAG_DRDY GPIO_SPI1_EXTI_DRDY_PB1
|
||||
#define GPIO_SPI1_EXTI_ACCEL_DRDY GPIO_SPI1_EXTI_DRDY_PB4
|
||||
#define GPIO_SPI1_EXTI_MPU_DRDY GPIO_SPI1_EXTI_DRDY_PD15
|
||||
|
||||
/*----------------------------------------------------------*/
|
||||
/* End FMUv2 SPI chip selects and DRDY */
|
||||
/*----------------------------------------------------------*/
|
||||
|
||||
#define PX4_SPI_BUS_SENSORS 1
|
||||
#define PX4_SPI_BUS_RAMTRON 2
|
||||
#define PX4_SPI_BUS_EXT 4
|
||||
#define PX4_SPI_BUS_BARO PX4_SPI_BUS_SENSORS
|
||||
|
||||
/* Use these to select a specific SPI device on SPI1 */
|
||||
|
||||
#define PX4_SPIDEV_GYRO PX4_MK_SPI_SEL(0, DRV_GYR_DEVTYPE_L3GD20)
|
||||
#define PX4_SPIDEV_ACCEL_MAG PX4_MK_SPI_SEL(0, DRV_ACC_DEVTYPE_LSM303D)
|
||||
#define PX4_SPIDEV_BARO PX4_MK_SPI_SEL(0, DRV_BARO_DEVTYPE_MS5611)
|
||||
#define PX4_SPIDEV_MPU PX4_MK_SPI_SEL(0, DRV_IMU_DEVTYPE_MPU6000)
|
||||
|
||||
/* FMUv3 SPI on external bus */
|
||||
|
||||
#define PX4_SPIDEV_EXT_GYRO PX4_MK_SPI_SEL(0, DRV_GYR_DEVTYPE_L3GD20)
|
||||
#define PX4_SPIDEV_EXT_ACCEL_MAG PX4_MK_SPI_SEL(0, DRV_ACC_DEVTYPE_LSM303D)
|
||||
#define PX4_SPIDEV_EXT_BARO PX4_MK_SPI_SEL(0, DRV_BARO_DEVTYPE_MS5611)
|
||||
#define PX4_SPIDEV_EXT_MPU PX4_MK_SPI_SEL(0, DRV_IMU_DEVTYPE_MPU6000)
|
||||
#define PX4_SPIDEV_EXT_BMI PX4_MK_SPI_SEL(0, DRV_GYR_DEVTYPE_BMI055)
|
||||
|
||||
/* I2C busses */
|
||||
#define BOARD_OVERRIDE_I2C_BUS_EXTERNAL
|
||||
#define PX4_I2C_BUS_EXPANSION 1
|
||||
#define PX4_I2C_BUS_ONBOARD 2
|
||||
#define PX4_I2C_BUS_LED PX4_I2C_BUS_ONBOARD
|
||||
|
||||
#define BOARD_SPI_BUS_MAX_BUS_ITEMS 3
|
||||
|
||||
/*----------------------------------------------------------*/
|
||||
/* FMUv3 Cube SPI chip selects and DRDY */
|
||||
/*----------------------------------------------------------*/
|
||||
/* Due to inconsistent use of chip select and dry signal on
|
||||
* different board that use this build. We are defining the GPIO
|
||||
* inclusive of the SPI port and GPIO to help identify pins the
|
||||
* are part of the sensor Net's controlled by different power
|
||||
* domains.
|
||||
*
|
||||
* --------------- SPI1 -------------------- SPI4 -------------- Incompatibilities ---------
|
||||
* FMUv3 Cube: FmuV2 PixhawkMini
|
||||
* Power Domain: VDD_3V3_SENSORS_EN NA V3V:SPI V5:SPI4 V3V:SPI1 No SPI4
|
||||
* PA5 SPI_INT_SCK
|
||||
* PA6 SPI_INT_MISO
|
||||
* PA7 SPI_INT_MOSI
|
||||
* PB0 EXTERN_DRDY SPI1:GYRO_DRDY NC
|
||||
* PB1 MAG_DRDY nEXTERN_CS -SPI1:MAG_DRDY NC
|
||||
* PB4 NC SPI1:ACCEL_DRDY NC
|
||||
* PC1 SPI_INT_MAG_!CS -ADC1_IN11 NC
|
||||
* PC2 nMPU_CS @MPU6000 @MPU9250
|
||||
* PC13 nGYRO_EXT_CS SPI1:nGYRO_CS NC
|
||||
* PC14 nBARO_EXT_CS GPIO_EXT_1 -20608_DRDY
|
||||
* PC15 nACCEL_MAG_EXT_CS SPI1:nACCEL_MAG_CS 20608_CS
|
||||
* PD7 nBARO_CS
|
||||
* PD15 nMPU_DRDY @MPU6000 @MPU9250
|
||||
* PE2 SPI_EXT_SCK NC
|
||||
* PE4 MPU_EXT_CS SPI4:nSPI_EXT_NSS NC
|
||||
* PE5 SPI_EXT_MISO NC
|
||||
* PE6 SPI_EXT_MOSI NC
|
||||
*
|
||||
*
|
||||
* Notes: Prefixed with @ Does not effect board control
|
||||
* Prefixed with + Input used as Output
|
||||
* Prefixed with - Output used as Input
|
||||
* Prefixed with SPIn: Bus changed
|
||||
*
|
||||
*/
|
||||
|
||||
/* FMUv3 Cube SPI1 chip selects */
|
||||
/* Was a spare ACD IN10 on V2 */
|
||||
#define GPIO_SPI1_CS_PC1 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN1)
|
||||
#define GPIO_SPI4_CS_PB1 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN1)
|
||||
#define GPIO_SPI4_CS_PC13 GPIO_SPI1_CS_PC13
|
||||
#define GPIO_SPI4_CS_PC14 GPIO_SPI4_GPIO_PC14
|
||||
#define GPIO_SPI4_CS_PC15 GPIO_SPI1_CS_PC15
|
||||
|
||||
/* FMUv3 Cube chip selects Assignments */
|
||||
/* Cube 2.0 V2.1 */
|
||||
#define GPIO_SPI1_CS_MPU GPIO_SPI1_CS_PC2 /* MPU600 MPU9250 */
|
||||
#define GPIO_SPI1_CS_BARO GPIO_SPI1_CS_PD7 /* MS5611 MS5611 */
|
||||
#define GPIO_SPI1_CS_HMC GPIO_SPI1_CS_PC1 /* HMC5983 Removed */
|
||||
|
||||
/* N.B. bus moves from SPI1 to SPI4 */
|
||||
#define GPIO_SPI4_GYRO_EXT_CS GPIO_SPI4_CS_PC13
|
||||
#define GPIO_SPI4_BARO_EXT_CS GPIO_SPI4_CS_PC14
|
||||
#define GPIO_SPI4_ACCEL_MAG_EXT_CS GPIO_SPI4_CS_PC15
|
||||
|
||||
/* No move */
|
||||
#define GPIO_SPI4_MPU_EXT_CS GPIO_SPI4_NSS_PE4
|
||||
|
||||
/* FMUv3 DRDY Assignments */
|
||||
#define GPIO_SPI4_EXTI_DRDY_PB0 GPIO_SPI1_EXTI_DRDY_PB0
|
||||
#define GPIO_SPI4_EXTI_EXTERN_DRDY GPIO_SPI4_EXTI_DRDY_PB0
|
||||
#define GPIO_SPI4_EXTERN_CS GPIO_SPI4_CS_PB1
|
||||
/* PB1 is an External CS on V3 */
|
||||
|
||||
#define PX4_SPIDEV_HMC PX4_MK_SPI_SEL(0, DRV_MAG_DEVTYPE_HMC5883)
|
||||
|
||||
/*----------------------------------------------------------*/
|
||||
/* End FMUv3 Cube SPI chip selects and DRDY */
|
||||
/*----------------------------------------------------------*/
|
||||
/*----------------------------------------------------------*/
|
||||
/* Due to inconsistent use of chip select and dry signal on
|
||||
* different board that use this build. We are defining the GPIO
|
||||
* inclusive of the SPI port and GPIO to help identify pins the
|
||||
* are part of the sensor Net's controlled by different power
|
||||
* domains.
|
||||
*
|
||||
* --------------- SPI1 -------------------- SPI4 -------------- Incompatibilities ---------
|
||||
* FMUv2 Pixhawk Mini FmuV2 FmuV3 Cube
|
||||
* Power Domain: VDD_3V3_SENSORS_EN NA V3V:SPI V5:SPI4 V3V:SPI1&SPI4
|
||||
* PA5 SPI_INT_SCK
|
||||
* PA6 SPI_INT_MISO
|
||||
* PA7 SPI_INT_MOSI
|
||||
* PB0 NC SPI1:GYRO_DRDY SPI4:EXTERN_DRDY
|
||||
* PB1 NC -SPI1:MAG_DRDY +SPI4:nEXTERN_CS
|
||||
* PB4 NC SPI1:ACCEL_DRDY NC
|
||||
* PC1 Spare ADC ( NC ) +SPI1:SPI_INT_MAG_!CS
|
||||
* PC2 nMPU_CS @MPU6000 @MPU6000|MPU9250
|
||||
* PC13 NC SPI1:nGYRO_CS SPI4:nGYRO_EXT_CS
|
||||
* PC14 20608_DRDY +GPIO_EXT_1 nBARO_EXT_CS
|
||||
* PC15 20608_CS nACCEL_MAG_CS SPI4:nACCEL_MAG_EXT_CS
|
||||
* PD7 nBARO_CS
|
||||
* PD15 nMPU_DRDY @MPU6000 @MPU6000|MPU9250
|
||||
* PE2 NC SPI_EXT_SCK SPI_EXT_SCK
|
||||
* PE4 NC SPI4:nSPI_EXT_NSS SPI4:nMPU_EXT_CS
|
||||
* PE5 NC SPI_EXT_MISO SPI_EXT_MISO
|
||||
* PE6 NC SPI_EXT_MOSI SPI_EXT_MOSI
|
||||
*
|
||||
* Notes: Prefixed with @ Does not effect board control
|
||||
* Prefixed with + Input used as Output
|
||||
* Prefixed with - Output used as Input
|
||||
* Prefixed with SPIn: Bus changed
|
||||
*
|
||||
*/
|
||||
|
||||
/*----------------------------------------------------------*/
|
||||
/* FMUv2 PixhawkMini SPI chip selects and DRDY */
|
||||
/*----------------------------------------------------------*/
|
||||
|
||||
/* FMUv2 PixhawkMini SPI1 chip selects */
|
||||
|
||||
/* FMUv3 Cube chip selects Assignments */
|
||||
|
||||
#define GPIO_SPI1_CS_MPU GPIO_SPI1_CS_PC2 /* MPU9250 */
|
||||
#define GPIO_SPI1_CS_BARO GPIO_SPI1_CS_PD7 /* MS5611 */
|
||||
#define GPIO_SPI1_CS_20608 GPIO_SPI1_CS_PC15 /* ICM20608 */
|
||||
|
||||
/* FMUv3 DRDY Assignments */
|
||||
|
||||
/* Pixhawk mini has reused the PC14 GPIO_SPI_CS_EXT1 signal that was associated
|
||||
* with SPI4.
|
||||
*/
|
||||
#define GPIO_SPI1_EXTI_20608_DRDY_PC14 (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTC|GPIO_PIN14)
|
||||
|
||||
#define PX4_SPIDEV_ICM_20608 PX4_MK_SPI_SEL(0, DRV_IMU_DEVTYPE_ICM20608)
|
||||
|
||||
|
||||
/* I2C busses */
|
||||
#define BOARD_OVERRIDE_I2C_BUS_EXTERNAL
|
||||
|
||||
/*
|
||||
* ADC channels
|
||||
|
|
|
|||
|
|
@ -35,6 +35,116 @@
|
|||
#include <px4_arch/spi_hw_description.h>
|
||||
#include <drivers/drv_sensor.h>
|
||||
|
||||
/* Due to inconsistent use of chip select and data ready signal on
|
||||
* different board that use this build, we are using different
|
||||
* versions.
|
||||
*
|
||||
* --------------- SPI1 -------------------- SPI4 -------------- Incompatibilities ---------
|
||||
* FMUv2: FmuV3 Cube PixhawkMini
|
||||
* Power Domain: VDD_3V3_SENSORS_EN nVDD_5V_PERIPH_EN V3V:SPI1&SPI4 V3V:SPI1 No SPI4
|
||||
* PA5 SPI_INT_SCK
|
||||
* PA6 SPI_INT_MISO
|
||||
* PA7 SPI_INT_MOSI
|
||||
* PB0 GYRO_DRDY SPI4:EXTERN_DRDY NC
|
||||
* PB1 MAG_DRDY +SPI4:nEXTERN_CS NC
|
||||
* PB4 ACCEL_DRDY NC NC
|
||||
* PC1 Spare ADC ( NC ) +SPI1:SPI_INT_MAG_!CS
|
||||
* PC2 nMPU_CS @MPU6000|MPU9250 @MPU9250
|
||||
* PC13 nGYRO_CS SPI4:nGYRO_EXT_CS NC
|
||||
* PC14 GPIO_EXT_1 nBARO_EXT_CS -20608_DRDY
|
||||
* PC15 nACCEL_MAG_CS SPI4:nACCEL_MAG_EXT_CS 20608_CS
|
||||
* PD7 nBARO_CS
|
||||
* PD15 nMPU_DRDY @MPU6000|MPU9250 @MPU9250
|
||||
* PE2 SPI_EXT_SCK NC
|
||||
* PE4 nSPI_EXT_NSS SPI4:nMPU_EXT_CS NC
|
||||
* PE5 SPI_EXT_MISO NC
|
||||
* PE6 SPI_EXT_MOSI NC
|
||||
*
|
||||
* Notes: Prefixed with @ Does not effect board control
|
||||
* Prefixed with + Input used as Output
|
||||
* Prefixed with - Output used as Input
|
||||
* Prefixed with SPIn: Bus changed
|
||||
*
|
||||
* The board API provides for mechanism to perform a SPI bus reset.
|
||||
* To facilitate a SPI bus reset
|
||||
*
|
||||
* 1) All the pins: SPIn, CD, DRDY associated with the SPI bus are turned to inputs
|
||||
* with outputs driven low. (OFFIng)
|
||||
* 2) The power domain of that bus is turned off.
|
||||
* 3) A usleep it done for ms.
|
||||
* 4) The power domain of that bus is turned back on.
|
||||
* 5) The SPIn pins are re-initialized.
|
||||
* 6) The SPI CS, DRDY pins are re-initialized.
|
||||
*
|
||||
* To insure the complete net is de-energized and is not bing back fed, it is important to
|
||||
* note the all signals in the net list of the parts/bus.
|
||||
*
|
||||
* I.E. Not OFFIng PC1 on V3 would leave that pin back feeding the HMC part. As would not
|
||||
* OFFIng PE4, not associated with SPI1 on V2, but would back feed an MPUxxxx on V3
|
||||
*
|
||||
*/
|
||||
|
||||
/*
|
||||
*
|
||||
* --------------- SPI1 -------------------- SPI4 -------------- Incompatibilities ---------
|
||||
* FMUv3 Cube: FmuV2 PixhawkMini
|
||||
* Power Domain: VDD_3V3_SENSORS_EN NA V3V:SPI V5:SPI4 V3V:SPI1 No SPI4
|
||||
* PA5 SPI_INT_SCK
|
||||
* PA6 SPI_INT_MISO
|
||||
* PA7 SPI_INT_MOSI
|
||||
* PB0 EXTERN_DRDY SPI1:GYRO_DRDY NC
|
||||
* PB1 MAG_DRDY nEXTERN_CS -SPI1:MAG_DRDY NC
|
||||
* PB4 NC SPI1:ACCEL_DRDY NC
|
||||
* PC1 SPI_INT_MAG_!CS -ADC1_IN11 NC
|
||||
* PC2 nMPU_CS @MPU6000 @MPU9250
|
||||
* PC13 nGYRO_EXT_CS SPI1:nGYRO_CS NC
|
||||
* PC14 nBARO_EXT_CS GPIO_EXT_1 -20608_DRDY
|
||||
* PC15 nACCEL_MAG_EXT_CS SPI1:nACCEL_MAG_CS 20608_CS
|
||||
* PD7 nBARO_CS
|
||||
* PD15 nMPU_DRDY @MPU6000 @MPU9250
|
||||
* PE2 SPI_EXT_SCK NC
|
||||
* PE4 MPU_EXT_CS SPI4:nSPI_EXT_NSS NC
|
||||
* PE5 SPI_EXT_MISO NC
|
||||
* PE6 SPI_EXT_MOSI NC
|
||||
*
|
||||
*
|
||||
* Notes: Prefixed with @ Does not effect board control
|
||||
* Prefixed with + Input used as Output
|
||||
* Prefixed with - Output used as Input
|
||||
* Prefixed with SPIn: Bus changed
|
||||
*
|
||||
*/
|
||||
|
||||
/*----------------------------------------------------------*/
|
||||
/*
|
||||
* --------------- SPI1 -------------------- SPI4 -------------- Incompatibilities ---------
|
||||
* FMUv2 Pixhawk Mini FmuV2 FmuV3 Cube
|
||||
* Power Domain: VDD_3V3_SENSORS_EN NA V3V:SPI V5:SPI4 V3V:SPI1&SPI4
|
||||
* PA5 SPI_INT_SCK
|
||||
* PA6 SPI_INT_MISO
|
||||
* PA7 SPI_INT_MOSI
|
||||
* PB0 NC SPI1:GYRO_DRDY SPI4:EXTERN_DRDY
|
||||
* PB1 NC -SPI1:MAG_DRDY +SPI4:nEXTERN_CS
|
||||
* PB4 NC SPI1:ACCEL_DRDY NC
|
||||
* PC1 Spare ADC ( NC ) +SPI1:SPI_INT_MAG_!CS
|
||||
* PC2 nMPU_CS @MPU6000 @MPU6000|MPU9250
|
||||
* PC13 NC SPI1:nGYRO_CS SPI4:nGYRO_EXT_CS
|
||||
* PC14 20608_DRDY +GPIO_EXT_1 nBARO_EXT_CS
|
||||
* PC15 20608_CS nACCEL_MAG_CS SPI4:nACCEL_MAG_EXT_CS
|
||||
* PD7 nBARO_CS
|
||||
* PD15 nMPU_DRDY @MPU6000 @MPU6000|MPU9250
|
||||
* PE2 NC SPI_EXT_SCK SPI_EXT_SCK
|
||||
* PE4 NC SPI4:nSPI_EXT_NSS SPI4:nMPU_EXT_CS
|
||||
* PE5 NC SPI_EXT_MISO SPI_EXT_MISO
|
||||
* PE6 NC SPI_EXT_MOSI SPI_EXT_MOSI
|
||||
*
|
||||
* Notes: Prefixed with @ Does not effect board control
|
||||
* Prefixed with + Input used as Output
|
||||
* Prefixed with - Output used as Input
|
||||
* Prefixed with SPIn: Bus changed
|
||||
*
|
||||
*/
|
||||
|
||||
constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSIONS] = {
|
||||
initSPIHWVersion(HW_VER_FMUV2, {
|
||||
initSPIBus(SPI::Bus::SPI1, {
|
||||
|
|
|
|||
|
|
@ -88,271 +88,12 @@
|
|||
#define GPIO_LED1 (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN12)
|
||||
#define BOARD_OVERLOAD_LED LED_AMBER
|
||||
|
||||
#include <drivers/drv_sensor.h>
|
||||
|
||||
/* Due to inconsistent use of chip select and dry signal on
|
||||
* different board that use this build. We are defining the GPIO
|
||||
* inclusive of the SPI port and GPIO to help identify pins the
|
||||
* are part of the sensor Net's controlled by different power
|
||||
* domains.
|
||||
*
|
||||
* Only the GPIO_SPIb_xxx_Ppi will be used in the code to insure this are no
|
||||
* cross connections.
|
||||
*
|
||||
* --------------- SPI1 -------------------- SPI4 -------------- Incompatibilities ---------
|
||||
* FMUv2: FmuV3 Cube PixhawkMini
|
||||
* Power Domain: VDD_3V3_SENSORS_EN nVDD_5V_PERIPH_EN V3V:SPI1&SPI4 V3V:SPI1 No SPI4
|
||||
* PA5 SPI_INT_SCK
|
||||
* PA6 SPI_INT_MISO
|
||||
* PA7 SPI_INT_MOSI
|
||||
* PB0 GYRO_DRDY SPI4:EXTERN_DRDY NC
|
||||
* PB1 MAG_DRDY +SPI4:nEXTERN_CS NC
|
||||
* PB4 ACCEL_DRDY NC NC
|
||||
* PC1 Spare ADC ( NC ) +SPI1:SPI_INT_MAG_!CS
|
||||
* PC2 nMPU_CS @MPU6000|MPU9250 @MPU9250
|
||||
* PC13 nGYRO_CS SPI4:nGYRO_EXT_CS NC
|
||||
* PC14 GPIO_EXT_1 nBARO_EXT_CS -20608_DRDY
|
||||
* PC15 nACCEL_MAG_CS SPI4:nACCEL_MAG_EXT_CS 20608_CS
|
||||
* PD7 nBARO_CS
|
||||
* PD15 nMPU_DRDY @MPU6000|MPU9250 @MPU9250
|
||||
* PE2 SPI_EXT_SCK NC
|
||||
* PE4 nSPI_EXT_NSS SPI4:nMPU_EXT_CS NC
|
||||
* PE5 SPI_EXT_MISO NC
|
||||
* PE6 SPI_EXT_MOSI NC
|
||||
*
|
||||
* Notes: Prefixed with @ Does not effect board control
|
||||
* Prefixed with + Input used as Output
|
||||
* Prefixed with - Output used as Input
|
||||
* Prefixed with SPIn: Bus changed
|
||||
*
|
||||
* The board API provides for mechanism to perform a SPI bus reset.
|
||||
* To facilitate a SPI bus reset
|
||||
*
|
||||
* 1) All the pins: SPIn, CD, DRDY associated with the SPI bus are turned to inputs
|
||||
* with outputs driven low. (OFFIng)
|
||||
* 2) The power domain of that bus is turned off.
|
||||
* 3) A usleep it done for ms.
|
||||
* 4) The power domain of that bus is turned back on.
|
||||
* 5) The SPIn pins are re-initialized.
|
||||
* 6) The SPI CS, DRDY pins are re-initialized.
|
||||
*
|
||||
* To insure the complete net is de-energized and is not bing back fed, it is important to
|
||||
* note the all signals in the net list of the parts/bus.
|
||||
*
|
||||
* I.E. Not OFFIng PC1 on V3 would leave that pin back feeding the HMC part. As would not
|
||||
* OFFIng PE4, not associated with SPI1 on V2, but would back feed an MPUxxxx on V3
|
||||
*
|
||||
*/
|
||||
|
||||
|
||||
/*----------------------------------------------------------*/
|
||||
/* FMUv2 SPI chip selects and DRDY */
|
||||
/*----------------------------------------------------------*/
|
||||
|
||||
/* FMUv2 SPI1 chip selects */
|
||||
/* PC1 Spare ADC IN10 */
|
||||
#define GPIO_SPI1_CS_PC2 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN2)
|
||||
#define GPIO_SPI1_CS_PC13 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN13)
|
||||
#define GPIO_SPI1_CS_PC15 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN15)
|
||||
#define GPIO_SPI1_CS_PD7 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN7)
|
||||
|
||||
/* FMUv2 SPI2 chip selects */
|
||||
#define GPIO_SPI2_CS_PD10 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN10)
|
||||
|
||||
/* FMUv2 SPI4 chip selects */
|
||||
#define GPIO_SPI4_GPIO_PC14 /* !V2M */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN14)
|
||||
#define GPIO_SPI4_NSS_PE4 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN4)
|
||||
|
||||
/* FMUv2 SPI1 chip selects Assignments */
|
||||
|
||||
#define GPIO_SPI1_CS_MPU GPIO_SPI1_CS_PC2
|
||||
#define GPIO_SPI1_CS_GYRO GPIO_SPI1_CS_PC13
|
||||
#define GPIO_SPI1_CS_ACCEL_MAG GPIO_SPI1_CS_PC15
|
||||
#define GPIO_SPI1_CS_BARO GPIO_SPI1_CS_PD7
|
||||
|
||||
/* FMUv2 SPI2 chip selects Assignments */
|
||||
|
||||
#define GPIO_SPI2_CS_FRAM GPIO_SPI2_CS_PD10
|
||||
|
||||
/* FMUv2 SPI4 chip selects Assignments */
|
||||
|
||||
#define GPIO_SPI4_GPIO_EXT GPIO_SPI4_GPIO_PC14
|
||||
#define GPIO_SPI4_EXT_NSS GPIO_SPI4_NSS_PE4
|
||||
|
||||
/* FMUv2 DRDY */
|
||||
|
||||
#define GPIO_SPI1_EXTI_DRDY_PB0 (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN0)
|
||||
#define GPIO_SPI1_EXTI_DRDY_PB1 /*!V3 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN1)
|
||||
#define GPIO_SPI1_EXTI_DRDY_PB4 (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN4)
|
||||
#define GPIO_SPI1_EXTI_DRDY_PD15 (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN15)
|
||||
|
||||
/* FMUv2 DRDY Assignments */
|
||||
|
||||
#define GPIO_SPI1_EXTI_GYRO_DRDY GPIO_SPI1_EXTI_DRDY_PB0
|
||||
#define GPIO_SPI1_EXTI_MAG_DRDY GPIO_SPI1_EXTI_DRDY_PB1
|
||||
#define GPIO_SPI1_EXTI_ACCEL_DRDY GPIO_SPI1_EXTI_DRDY_PB4
|
||||
#define GPIO_SPI1_EXTI_MPU_DRDY GPIO_SPI1_EXTI_DRDY_PD15
|
||||
|
||||
/*----------------------------------------------------------*/
|
||||
/* End FMUv2 SPI chip selects and DRDY */
|
||||
/*----------------------------------------------------------*/
|
||||
|
||||
#define PX4_SPI_BUS_SENSORS 1
|
||||
#define PX4_SPI_BUS_RAMTRON 2
|
||||
#define PX4_SPI_BUS_EXT 4
|
||||
#define PX4_SPI_BUS_BARO PX4_SPI_BUS_SENSORS
|
||||
|
||||
/* Use these to select a specific SPI device on SPI1 */
|
||||
|
||||
#define PX4_SPIDEV_GYRO PX4_MK_SPI_SEL(0, DRV_GYR_DEVTYPE_L3GD20)
|
||||
#define PX4_SPIDEV_ACCEL_MAG PX4_MK_SPI_SEL(0, DRV_ACC_DEVTYPE_LSM303D)
|
||||
#define PX4_SPIDEV_BARO PX4_MK_SPI_SEL(0, DRV_BARO_DEVTYPE_MS5611)
|
||||
#define PX4_SPIDEV_MPU PX4_MK_SPI_SEL(0, DRV_IMU_DEVTYPE_MPU6000)
|
||||
|
||||
/* FMUv3 SPI on external bus */
|
||||
|
||||
#define PX4_SPIDEV_EXT_GYRO PX4_MK_SPI_SEL(0, DRV_GYR_DEVTYPE_L3GD20)
|
||||
#define PX4_SPIDEV_EXT_ACCEL_MAG PX4_MK_SPI_SEL(0, DRV_ACC_DEVTYPE_LSM303D)
|
||||
#define PX4_SPIDEV_EXT_BARO PX4_MK_SPI_SEL(0, DRV_BARO_DEVTYPE_MS5611)
|
||||
#define PX4_SPIDEV_EXT_MPU PX4_MK_SPI_SEL(0, DRV_IMU_DEVTYPE_MPU6000)
|
||||
#define PX4_SPIDEV_EXT_BMI PX4_MK_SPI_SEL(0, DRV_GYR_DEVTYPE_BMI055)
|
||||
|
||||
/* I2C busses */
|
||||
#define BOARD_OVERRIDE_I2C_BUS_EXTERNAL
|
||||
#define PX4_I2C_BUS_EXPANSION 1
|
||||
#define PX4_I2C_BUS_ONBOARD 2
|
||||
#define PX4_I2C_BUS_LED PX4_I2C_BUS_ONBOARD
|
||||
|
||||
#define BOARD_SPI_BUS_MAX_BUS_ITEMS 3
|
||||
|
||||
/*----------------------------------------------------------*/
|
||||
/* FMUv3 Cube SPI chip selects and DRDY */
|
||||
/*----------------------------------------------------------*/
|
||||
/* Due to inconsistent use of chip select and dry signal on
|
||||
* different board that use this build. We are defining the GPIO
|
||||
* inclusive of the SPI port and GPIO to help identify pins the
|
||||
* are part of the sensor Net's controlled by different power
|
||||
* domains.
|
||||
*
|
||||
* --------------- SPI1 -------------------- SPI4 -------------- Incompatibilities ---------
|
||||
* FMUv3 Cube: FmuV2 PixhawkMini
|
||||
* Power Domain: VDD_3V3_SENSORS_EN NA V3V:SPI V5:SPI4 V3V:SPI1 No SPI4
|
||||
* PA5 SPI_INT_SCK
|
||||
* PA6 SPI_INT_MISO
|
||||
* PA7 SPI_INT_MOSI
|
||||
* PB0 EXTERN_DRDY SPI1:GYRO_DRDY NC
|
||||
* PB1 MAG_DRDY nEXTERN_CS -SPI1:MAG_DRDY NC
|
||||
* PB4 NC SPI1:ACCEL_DRDY NC
|
||||
* PC1 SPI_INT_MAG_!CS -ADC1_IN11 NC
|
||||
* PC2 nMPU_CS @MPU6000 @MPU9250
|
||||
* PC13 nGYRO_EXT_CS SPI1:nGYRO_CS NC
|
||||
* PC14 nBARO_EXT_CS GPIO_EXT_1 -20608_DRDY
|
||||
* PC15 nACCEL_MAG_EXT_CS SPI1:nACCEL_MAG_CS 20608_CS
|
||||
* PD7 nBARO_CS
|
||||
* PD15 nMPU_DRDY @MPU6000 @MPU9250
|
||||
* PE2 SPI_EXT_SCK NC
|
||||
* PE4 MPU_EXT_CS SPI4:nSPI_EXT_NSS NC
|
||||
* PE5 SPI_EXT_MISO NC
|
||||
* PE6 SPI_EXT_MOSI NC
|
||||
*
|
||||
*
|
||||
* Notes: Prefixed with @ Does not effect board control
|
||||
* Prefixed with + Input used as Output
|
||||
* Prefixed with - Output used as Input
|
||||
* Prefixed with SPIn: Bus changed
|
||||
*
|
||||
*/
|
||||
|
||||
/* FMUv3 Cube SPI1 chip selects */
|
||||
/* Was a spare ACD IN10 on V2 */
|
||||
#define GPIO_SPI1_CS_PC1 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN1)
|
||||
#define GPIO_SPI4_CS_PB1 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN1)
|
||||
#define GPIO_SPI4_CS_PC13 GPIO_SPI1_CS_PC13
|
||||
#define GPIO_SPI4_CS_PC14 GPIO_SPI4_GPIO_PC14
|
||||
#define GPIO_SPI4_CS_PC15 GPIO_SPI1_CS_PC15
|
||||
|
||||
/* FMUv3 Cube chip selects Assignments */
|
||||
/* Cube 2.0 V2.1 */
|
||||
#define GPIO_SPI1_CS_MPU GPIO_SPI1_CS_PC2 /* MPU600 MPU9250 */
|
||||
#define GPIO_SPI1_CS_BARO GPIO_SPI1_CS_PD7 /* MS5611 MS5611 */
|
||||
#define GPIO_SPI1_CS_HMC GPIO_SPI1_CS_PC1 /* HMC5983 Removed */
|
||||
|
||||
/* N.B. bus moves from SPI1 to SPI4 */
|
||||
#define GPIO_SPI4_GYRO_EXT_CS GPIO_SPI4_CS_PC13
|
||||
#define GPIO_SPI4_BARO_EXT_CS GPIO_SPI4_CS_PC14
|
||||
#define GPIO_SPI4_ACCEL_MAG_EXT_CS GPIO_SPI4_CS_PC15
|
||||
|
||||
/* No move */
|
||||
#define GPIO_SPI4_MPU_EXT_CS GPIO_SPI4_NSS_PE4
|
||||
|
||||
/* FMUv3 DRDY Assignments */
|
||||
#define GPIO_SPI4_EXTI_DRDY_PB0 GPIO_SPI1_EXTI_DRDY_PB0
|
||||
#define GPIO_SPI4_EXTI_EXTERN_DRDY GPIO_SPI4_EXTI_DRDY_PB0
|
||||
#define GPIO_SPI4_EXTERN_CS GPIO_SPI4_CS_PB1
|
||||
/* PB1 is an External CS on V3 */
|
||||
|
||||
#define PX4_SPIDEV_HMC PX4_MK_SPI_SEL(0, DRV_MAG_DEVTYPE_HMC5883)
|
||||
|
||||
/*----------------------------------------------------------*/
|
||||
/* End FMUv3 Cube SPI chip selects and DRDY */
|
||||
/*----------------------------------------------------------*/
|
||||
/*----------------------------------------------------------*/
|
||||
/* Due to inconsistent use of chip select and dry signal on
|
||||
* different board that use this build. We are defining the GPIO
|
||||
* inclusive of the SPI port and GPIO to help identify pins the
|
||||
* are part of the sensor Net's controlled by different power
|
||||
* domains.
|
||||
*
|
||||
* --------------- SPI1 -------------------- SPI4 -------------- Incompatibilities ---------
|
||||
* FMUv2 Pixhawk Mini FmuV2 FmuV3 Cube
|
||||
* Power Domain: VDD_3V3_SENSORS_EN NA V3V:SPI V5:SPI4 V3V:SPI1&SPI4
|
||||
* PA5 SPI_INT_SCK
|
||||
* PA6 SPI_INT_MISO
|
||||
* PA7 SPI_INT_MOSI
|
||||
* PB0 NC SPI1:GYRO_DRDY SPI4:EXTERN_DRDY
|
||||
* PB1 NC -SPI1:MAG_DRDY +SPI4:nEXTERN_CS
|
||||
* PB4 NC SPI1:ACCEL_DRDY NC
|
||||
* PC1 Spare ADC ( NC ) +SPI1:SPI_INT_MAG_!CS
|
||||
* PC2 nMPU_CS @MPU6000 @MPU6000|MPU9250
|
||||
* PC13 NC SPI1:nGYRO_CS SPI4:nGYRO_EXT_CS
|
||||
* PC14 20608_DRDY +GPIO_EXT_1 nBARO_EXT_CS
|
||||
* PC15 20608_CS nACCEL_MAG_CS SPI4:nACCEL_MAG_EXT_CS
|
||||
* PD7 nBARO_CS
|
||||
* PD15 nMPU_DRDY @MPU6000 @MPU6000|MPU9250
|
||||
* PE2 NC SPI_EXT_SCK SPI_EXT_SCK
|
||||
* PE4 NC SPI4:nSPI_EXT_NSS SPI4:nMPU_EXT_CS
|
||||
* PE5 NC SPI_EXT_MISO SPI_EXT_MISO
|
||||
* PE6 NC SPI_EXT_MOSI SPI_EXT_MOSI
|
||||
*
|
||||
* Notes: Prefixed with @ Does not effect board control
|
||||
* Prefixed with + Input used as Output
|
||||
* Prefixed with - Output used as Input
|
||||
* Prefixed with SPIn: Bus changed
|
||||
*
|
||||
*/
|
||||
|
||||
/*----------------------------------------------------------*/
|
||||
/* FMUv2 PixhawkMini SPI chip selects and DRDY */
|
||||
/*----------------------------------------------------------*/
|
||||
|
||||
/* FMUv2 PixhawkMini SPI1 chip selects */
|
||||
|
||||
/* FMUv3 Cube chip selects Assignments */
|
||||
|
||||
#define GPIO_SPI1_CS_MPU GPIO_SPI1_CS_PC2 /* MPU9250 */
|
||||
#define GPIO_SPI1_CS_BARO GPIO_SPI1_CS_PD7 /* MS5611 */
|
||||
#define GPIO_SPI1_CS_20608 GPIO_SPI1_CS_PC15 /* ICM20608 */
|
||||
|
||||
/* FMUv3 DRDY Assignments */
|
||||
|
||||
/* Pixhawk mini has reused the PC14 GPIO_SPI_CS_EXT1 signal that was associated
|
||||
* with SPI4.
|
||||
*/
|
||||
#define GPIO_SPI1_EXTI_20608_DRDY_PC14 (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTC|GPIO_PIN14)
|
||||
|
||||
#define PX4_SPIDEV_ICM_20608 PX4_MK_SPI_SEL(0, DRV_IMU_DEVTYPE_ICM20608)
|
||||
|
||||
|
||||
/* I2C busses */
|
||||
#define BOARD_OVERRIDE_I2C_BUS_EXTERNAL
|
||||
|
||||
/*
|
||||
* ADC channels
|
||||
|
|
|
|||
|
|
@ -35,6 +35,116 @@
|
|||
#include <px4_arch/spi_hw_description.h>
|
||||
#include <drivers/drv_sensor.h>
|
||||
|
||||
/* Due to inconsistent use of chip select and data ready signal on
|
||||
* different board that use this build, we are using different
|
||||
* versions.
|
||||
*
|
||||
* --------------- SPI1 -------------------- SPI4 -------------- Incompatibilities ---------
|
||||
* FMUv2: FmuV3 Cube PixhawkMini
|
||||
* Power Domain: VDD_3V3_SENSORS_EN nVDD_5V_PERIPH_EN V3V:SPI1&SPI4 V3V:SPI1 No SPI4
|
||||
* PA5 SPI_INT_SCK
|
||||
* PA6 SPI_INT_MISO
|
||||
* PA7 SPI_INT_MOSI
|
||||
* PB0 GYRO_DRDY SPI4:EXTERN_DRDY NC
|
||||
* PB1 MAG_DRDY +SPI4:nEXTERN_CS NC
|
||||
* PB4 ACCEL_DRDY NC NC
|
||||
* PC1 Spare ADC ( NC ) +SPI1:SPI_INT_MAG_!CS
|
||||
* PC2 nMPU_CS @MPU6000|MPU9250 @MPU9250
|
||||
* PC13 nGYRO_CS SPI4:nGYRO_EXT_CS NC
|
||||
* PC14 GPIO_EXT_1 nBARO_EXT_CS -20608_DRDY
|
||||
* PC15 nACCEL_MAG_CS SPI4:nACCEL_MAG_EXT_CS 20608_CS
|
||||
* PD7 nBARO_CS
|
||||
* PD15 nMPU_DRDY @MPU6000|MPU9250 @MPU9250
|
||||
* PE2 SPI_EXT_SCK NC
|
||||
* PE4 nSPI_EXT_NSS SPI4:nMPU_EXT_CS NC
|
||||
* PE5 SPI_EXT_MISO NC
|
||||
* PE6 SPI_EXT_MOSI NC
|
||||
*
|
||||
* Notes: Prefixed with @ Does not effect board control
|
||||
* Prefixed with + Input used as Output
|
||||
* Prefixed with - Output used as Input
|
||||
* Prefixed with SPIn: Bus changed
|
||||
*
|
||||
* The board API provides for mechanism to perform a SPI bus reset.
|
||||
* To facilitate a SPI bus reset
|
||||
*
|
||||
* 1) All the pins: SPIn, CD, DRDY associated with the SPI bus are turned to inputs
|
||||
* with outputs driven low. (OFFIng)
|
||||
* 2) The power domain of that bus is turned off.
|
||||
* 3) A usleep it done for ms.
|
||||
* 4) The power domain of that bus is turned back on.
|
||||
* 5) The SPIn pins are re-initialized.
|
||||
* 6) The SPI CS, DRDY pins are re-initialized.
|
||||
*
|
||||
* To insure the complete net is de-energized and is not bing back fed, it is important to
|
||||
* note the all signals in the net list of the parts/bus.
|
||||
*
|
||||
* I.E. Not OFFIng PC1 on V3 would leave that pin back feeding the HMC part. As would not
|
||||
* OFFIng PE4, not associated with SPI1 on V2, but would back feed an MPUxxxx on V3
|
||||
*
|
||||
*/
|
||||
|
||||
/*
|
||||
*
|
||||
* --------------- SPI1 -------------------- SPI4 -------------- Incompatibilities ---------
|
||||
* FMUv3 Cube: FmuV2 PixhawkMini
|
||||
* Power Domain: VDD_3V3_SENSORS_EN NA V3V:SPI V5:SPI4 V3V:SPI1 No SPI4
|
||||
* PA5 SPI_INT_SCK
|
||||
* PA6 SPI_INT_MISO
|
||||
* PA7 SPI_INT_MOSI
|
||||
* PB0 EXTERN_DRDY SPI1:GYRO_DRDY NC
|
||||
* PB1 MAG_DRDY nEXTERN_CS -SPI1:MAG_DRDY NC
|
||||
* PB4 NC SPI1:ACCEL_DRDY NC
|
||||
* PC1 SPI_INT_MAG_!CS -ADC1_IN11 NC
|
||||
* PC2 nMPU_CS @MPU6000 @MPU9250
|
||||
* PC13 nGYRO_EXT_CS SPI1:nGYRO_CS NC
|
||||
* PC14 nBARO_EXT_CS GPIO_EXT_1 -20608_DRDY
|
||||
* PC15 nACCEL_MAG_EXT_CS SPI1:nACCEL_MAG_CS 20608_CS
|
||||
* PD7 nBARO_CS
|
||||
* PD15 nMPU_DRDY @MPU6000 @MPU9250
|
||||
* PE2 SPI_EXT_SCK NC
|
||||
* PE4 MPU_EXT_CS SPI4:nSPI_EXT_NSS NC
|
||||
* PE5 SPI_EXT_MISO NC
|
||||
* PE6 SPI_EXT_MOSI NC
|
||||
*
|
||||
*
|
||||
* Notes: Prefixed with @ Does not effect board control
|
||||
* Prefixed with + Input used as Output
|
||||
* Prefixed with - Output used as Input
|
||||
* Prefixed with SPIn: Bus changed
|
||||
*
|
||||
*/
|
||||
|
||||
/*----------------------------------------------------------*/
|
||||
/*
|
||||
* --------------- SPI1 -------------------- SPI4 -------------- Incompatibilities ---------
|
||||
* FMUv2 Pixhawk Mini FmuV2 FmuV3 Cube
|
||||
* Power Domain: VDD_3V3_SENSORS_EN NA V3V:SPI V5:SPI4 V3V:SPI1&SPI4
|
||||
* PA5 SPI_INT_SCK
|
||||
* PA6 SPI_INT_MISO
|
||||
* PA7 SPI_INT_MOSI
|
||||
* PB0 NC SPI1:GYRO_DRDY SPI4:EXTERN_DRDY
|
||||
* PB1 NC -SPI1:MAG_DRDY +SPI4:nEXTERN_CS
|
||||
* PB4 NC SPI1:ACCEL_DRDY NC
|
||||
* PC1 Spare ADC ( NC ) +SPI1:SPI_INT_MAG_!CS
|
||||
* PC2 nMPU_CS @MPU6000 @MPU6000|MPU9250
|
||||
* PC13 NC SPI1:nGYRO_CS SPI4:nGYRO_EXT_CS
|
||||
* PC14 20608_DRDY +GPIO_EXT_1 nBARO_EXT_CS
|
||||
* PC15 20608_CS nACCEL_MAG_CS SPI4:nACCEL_MAG_EXT_CS
|
||||
* PD7 nBARO_CS
|
||||
* PD15 nMPU_DRDY @MPU6000 @MPU6000|MPU9250
|
||||
* PE2 NC SPI_EXT_SCK SPI_EXT_SCK
|
||||
* PE4 NC SPI4:nSPI_EXT_NSS SPI4:nMPU_EXT_CS
|
||||
* PE5 NC SPI_EXT_MISO SPI_EXT_MISO
|
||||
* PE6 NC SPI_EXT_MOSI SPI_EXT_MOSI
|
||||
*
|
||||
* Notes: Prefixed with @ Does not effect board control
|
||||
* Prefixed with + Input used as Output
|
||||
* Prefixed with - Output used as Input
|
||||
* Prefixed with SPIn: Bus changed
|
||||
*
|
||||
*/
|
||||
|
||||
constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSIONS] = {
|
||||
initSPIHWVersion(HW_VER_FMUV2, {
|
||||
initSPIBus(SPI::Bus::SPI1, {
|
||||
|
|
|
|||
|
|
@ -67,106 +67,9 @@
|
|||
#define BOARD_ARMED_LED LED_BLUE
|
||||
#define BOARD_ARMED_STATE_LED LED_GREEN
|
||||
|
||||
/**
|
||||
* Define the Chip Selects for SPI1
|
||||
* CS Devices DRDY
|
||||
* ---- ----------------------------------------------- -----
|
||||
* PC2 MPU9250 PD15
|
||||
* PC15 ICM, ICM_20602, ICM_20608 PC14
|
||||
* PE15 HMC5983 PE12
|
||||
* ---- ----------------------------------------------- -----
|
||||
*/
|
||||
#define GPIO_SPI1_CS_PORTC_PIN2 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN2)
|
||||
#define GPIO_SPI1_CS_PORTC_PIN15 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN15)
|
||||
#define GPIO_SPI1_CS_PORTE_PIN15 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN15)
|
||||
|
||||
/* Define the Data Ready interrupts On SPI 1. */
|
||||
#define GPIO_DRDY_PORTD_PIN15 (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN15)
|
||||
#define GPIO_DRDY_PORTC_PIN14 (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTC|GPIO_PIN14)
|
||||
#define GPIO_DRDY_PORTE_PIN12 (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTE|GPIO_PIN12)
|
||||
|
||||
|
||||
/* Define the Chip Selects for SPI2. */
|
||||
#define GPIO_SPI2_CS_MS5611 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN7)
|
||||
#define GPIO_SPI2_CS_FRAM (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN10)
|
||||
|
||||
/* Define the Chip Selects for SPI4. */
|
||||
|
||||
#ifdef CONFIG_STM32_SPI4
|
||||
# define BOARD_HAS_BUS_MANIFEST 1 // We support a bus manifest because spi 4 is optional
|
||||
# define GPIO_SPI4_CS_1 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN8) //ESP_RTS_PIN
|
||||
#endif /* CONFIG_STM32_SPI4 */
|
||||
/**
|
||||
* Define the ability to shut off off the sensor signals
|
||||
* by changing the signals to inputs.
|
||||
*/
|
||||
#define _PIN_OFF(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz))
|
||||
|
||||
/* SPI 1 bus off. */
|
||||
#define GPIO_SPI1_SCK_OFF _PIN_OFF(GPIO_SPI1_SCK)
|
||||
#define GPIO_SPI1_MISO_OFF _PIN_OFF(GPIO_SPI1_MISO)
|
||||
#define GPIO_SPI1_MOSI_OFF _PIN_OFF(GPIO_SPI1_MOSI)
|
||||
|
||||
/* SPI 1 CS's off. */
|
||||
#define GPIO_SPI1_CS_OFF_PORTC_PIN2 _PIN_OFF(GPIO_SPI1_CS_PORTC_PIN2)
|
||||
#define GPIO_SPI1_CS_OFF_PORTC_PIN15 _PIN_OFF(GPIO_SPI1_CS_PORTC_PIN15)
|
||||
#define GPIO_SPI1_CS_OFF_PORTE_PIN15 _PIN_OFF(GPIO_SPI1_CS_PORTE_PIN15)
|
||||
|
||||
/* SPI 1 DRDY's off. */
|
||||
#define GPIO_DRDY_OFF_PORTD_PIN15 _PIN_OFF(GPIO_DRDY_PORTD_PIN15)
|
||||
#define GPIO_DRDY_OFF_PORTC_PIN14 _PIN_OFF(GPIO_DRDY_PORTC_PIN14)
|
||||
#define GPIO_DRDY_OFF_PORTE_PIN12 _PIN_OFF(GPIO_DRDY_PORTE_PIN12)
|
||||
|
||||
/* SPI 4 bus off. */
|
||||
#ifdef CONFIG_STM32_SPI4
|
||||
# define GPIO_SPI4_SCK_OFF _PIN_OFF(GPIO_SPI4_SCK)
|
||||
# define GPIO_SPI4_MISO_OFF _PIN_OFF(GPIO_SPI4_MISO)
|
||||
# define GPIO_SPI4_MOSI_OFF _PIN_OFF(GPIO_SPI4_MOSI)
|
||||
#endif /* CONFIG_STM32_SPI4 */
|
||||
|
||||
/**
|
||||
* N.B we do not have control over the SPI 2 buss powered devices
|
||||
* so the the ms5611 is not resetable.
|
||||
*
|
||||
*/
|
||||
|
||||
#define PX4_SPI_BUS_SENSORS 1
|
||||
#define PX4_SPI_BUS_RAMTRON 2
|
||||
#define PX4_SPI_BUS_BARO PX4_SPI_BUS_RAMTRON
|
||||
|
||||
#ifdef CONFIG_STM32_SPI4
|
||||
# define PX4_SPI_BUS_EXTERNAL 4
|
||||
/* The mask passes to init the SPI bus pins
|
||||
* N.B This works ONLY with buss numbers that are powers of 2
|
||||
* Adding SPI3 would break this!
|
||||
*/
|
||||
# define SPI_BUS_INIT_MASK_EXT PX4_SPI_BUS_EXTERNAL
|
||||
#endif /* CONFIG_STM32_SPI4 */
|
||||
|
||||
#include <drivers/drv_sensor.h>
|
||||
|
||||
/* Use these in place of the uint32_t enumeration to select a specific SPI device on SPI1 */
|
||||
#define PX4_SPIDEV_MPU PX4_MK_SPI_SEL(0, DRV_IMU_DEVTYPE_MPU6000)
|
||||
#define PX4_SPIDEV_HMC PX4_MK_SPI_SEL(0, DRV_MAG_DEVTYPE_HMC5883)
|
||||
#define PX4_SPIDEV_LIS PX4_MK_SPI_SEL(0, DRV_MAG_DEVTYPE_LIS3MDL)
|
||||
#define PX4_SPIDEV_ICM_20608 PX4_MK_SPI_SEL(0, DRV_IMU_DEVTYPE_ICM20608)
|
||||
#define PX4_SPIDEV_ICM_20602 PX4_MK_SPI_SEL(0, DRV_IMU_DEVTYPE_ICM20602)
|
||||
#define PX4_SPIDEV_MPU2 PX4_MK_SPI_SEL(0, DRV_IMU_DEVTYPE_MPU9250)
|
||||
|
||||
/**
|
||||
* Onboard MS5611 and FRAM are both on bus SPI2.
|
||||
* spi_dev_e:SPIDEV_FLASH has the value 2 and is used in the NuttX ramtron driver.
|
||||
* PX4_MK_SPI_SEL differentiate by adding in PX4_SPI_DEVICE_ID.
|
||||
*/
|
||||
#define PX4_SPIDEV_BARO PX4_MK_SPI_SEL(0, DRV_BARO_DEVTYPE_MS5611)
|
||||
|
||||
#ifdef CONFIG_STM32_SPI4
|
||||
# define PX4_SPIDEV_EXTERNAL PX4_MK_SPI_SEL(0, 0)
|
||||
#endif /* CONFIG_STM32_SPI4 */
|
||||
|
||||
/* I2C busses. */
|
||||
#define PX4_I2C_BUS_EXPANSION 1
|
||||
#define PX4_I2C_BUS_LED PX4_I2C_BUS_EXPANSION
|
||||
|
||||
/**
|
||||
* ADC channels:
|
||||
|
|
|
|||
|
|
@ -306,12 +306,10 @@ __EXPORT int board_app_initialize(uintptr_t arg)
|
|||
}
|
||||
|
||||
|
||||
// Default SPI1 to 1MHz and de-assert the known chip selects.
|
||||
// Default SPI1 to 1MHz
|
||||
SPI_SETFREQUENCY(spi1, 10000000);
|
||||
SPI_SETBITS(spi1, 8);
|
||||
SPI_SETMODE(spi1, SPIDEV_MODE3);
|
||||
SPI_SELECT(spi1, PX4_SPIDEV_HMC, false);
|
||||
SPI_SELECT(spi1, PX4_SPIDEV_MPU, false);
|
||||
up_udelay(20);
|
||||
|
||||
// Get the SPI port for the FRAM.
|
||||
|
|
@ -332,8 +330,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
|
|||
SPI_SETFREQUENCY(spi2, 20 * 1000 * 1000);
|
||||
SPI_SETBITS(spi2, 8);
|
||||
SPI_SETMODE(spi2, SPIDEV_MODE3);
|
||||
SPI_SELECT(spi2, SPIDEV_FLASH(0), false);
|
||||
SPI_SELECT(spi2, PX4_SPIDEV_BARO, false);
|
||||
|
||||
#if defined(CONFIG_STM32_SPI4)
|
||||
|
||||
|
|
@ -347,11 +343,10 @@ __EXPORT int board_app_initialize(uintptr_t arg)
|
|||
syslog(LOG_ERR, "[boot] FAILED to initialize SPI port 4\n");
|
||||
|
||||
} else {
|
||||
// Default SPI4 to 20 MHz and de-assert the known chip selects.
|
||||
// Default SPI4 to 20 MHz
|
||||
SPI_SETFREQUENCY(spi4, 20 * 1000 * 1000);
|
||||
SPI_SETBITS(spi4, 8);
|
||||
SPI_SETMODE(spi4, SPIDEV_MODE3);
|
||||
SPI_SELECT(spi4, PX4_SPIDEV_EXTERNAL, false);
|
||||
}
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -92,95 +92,9 @@
|
|||
#define BOARD_ARMED_LED LED_BLUE
|
||||
#define BOARD_ARMED_STATE_LED LED_GREEN
|
||||
|
||||
/* Define the Chip Selects */
|
||||
|
||||
/* SPI Bus 1 Internal Sensors */
|
||||
|
||||
#define GPIO_SPI_CS_MPU9250 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN2)
|
||||
#define GPIO_SPI_CS_LIS3MDL (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN15)
|
||||
#define GPIO_SPI_CS_MS5611 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN7)
|
||||
#define GPIO_SPI_CS_ICM_2060X (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN15)
|
||||
/* SPI */
|
||||
#define GPIO_SPI_CS_TEMPCAL_EEPROM (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTH|GPIO_PIN5)
|
||||
|
||||
/* SPI Bus 2 Memory */
|
||||
|
||||
#define GPIO_SPI_CS_FRAM (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN10)
|
||||
|
||||
/* Aux Chip selects (not pined out on RC0 HW) */
|
||||
|
||||
#define GPIO_AUX_CS0 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTF|GPIO_PIN10)
|
||||
#define GPIO_AUX_CS1 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTF|GPIO_PIN11)
|
||||
#define GPIO_AUX_CS2 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTF|GPIO_PIN12)
|
||||
#define GPIO_AUX_CS3 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTF|GPIO_PIN13)
|
||||
#define GPIO_AUX_CS4 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTF|GPIO_PIN14)
|
||||
#define GPIO_AUX_CS5 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTF|GPIO_PIN15)
|
||||
|
||||
|
||||
/* External Chip selects on Connectors ahead PAD3 */
|
||||
|
||||
#define GPIO_SPI5_CS (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTF|GPIO_PIN6)
|
||||
#define GPIO_SPI6_CS (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN11)
|
||||
|
||||
/* Define the Ready interrupts */
|
||||
|
||||
#define GPIO_DRDY_MPU9250 (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN15)
|
||||
#define GPIO_DRDY_LIS3MDL (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTE|GPIO_PIN12)
|
||||
#define GPIO_DRDY_ICM_2060X (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTC|GPIO_PIN14)
|
||||
|
||||
|
||||
/*
|
||||
* Define the ability to shut off off the sensor signals
|
||||
* by changing the signals to inputs
|
||||
*/
|
||||
|
||||
#define _PIN_OFF(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz))
|
||||
|
||||
#define GPIO_SPI_CS_OFF_MPU9250 _PIN_OFF(GPIO_SPI_CS_MPU9250)
|
||||
#define GPIO_SPI_CS_OFF_LIS3MDL _PIN_OFF(GPIO_SPI_CS_LIS3MDL)
|
||||
#define GPIO_SPI_CS_OFF_MS5611 _PIN_OFF(GPIO_SPI_CS_MS5611)
|
||||
#define GPIO_SPI_CS_OFF_ICM_2060X _PIN_OFF(GPIO_SPI_CS_ICM_2060X)
|
||||
#define GPIO_SPI_CS_OFF_TEMPCAL_EEPROM _PIN_OFF(GPIO_SPI_CS_OFF_TEMPCAL_EEPROM)
|
||||
|
||||
#define GPIO_DRDY_OFF_MPU9250 _PIN_OFF(GPIO_DRDY_MPU9250)
|
||||
#define GPIO_DRDY_OFF_LIS3MDL _PIN_OFF(GPIO_DRDY_LIS3MDL)
|
||||
#define GPIO_DRDY_OFF_ICM_2060X _PIN_OFF(GPIO_DRDY_ICM_2060X)
|
||||
|
||||
|
||||
/* SPI1 off */
|
||||
|
||||
#define GPIO_SPI1_SCK_OFF _PIN_OFF(GPIO_SPI1_SCK)
|
||||
#define GPIO_SPI1_MISO_OFF _PIN_OFF(GPIO_SPI1_MISO)
|
||||
#define GPIO_SPI1_MOSI_OFF _PIN_OFF(GPIO_SPI1_MOSI)
|
||||
|
||||
#define PX4_SPI_BUS_SENSORS 1
|
||||
#define PX4_SPI_BUS_RAMTRON 2
|
||||
#define PX4_SPI_BUS_BARO PX4_SPI_BUS_SENSORS
|
||||
#define PX4_SPI_BUS_EXT0 5
|
||||
#define PX4_SPI_BUS_EXT1 6
|
||||
|
||||
#define PX4_SPI_BUS_EXT PX4_SPI_BUS_EXT0
|
||||
|
||||
/* Use these in place of the uint32_t enumeration to select a specific SPI device on SPI1 */
|
||||
|
||||
#include <drivers/drv_sensor.h>
|
||||
#define PX4_SPIDEV_BARO PX4_MK_SPI_SEL(0, DRV_BARO_DEVTYPE_MS5611)
|
||||
#define PX4_SPIDEV_MPU PX4_MK_SPI_SEL(0, DRV_IMU_DEVTYPE_MPU9250)
|
||||
#define PX4_SPIDEV_HMC PX4_MK_SPI_SEL(0, DRV_MAG_DEVTYPE_HMC5883)
|
||||
#define PX4_SPIDEV_LIS PX4_MK_SPI_SEL(0, DRV_MAG_DEVTYPE_LIS3MDL)
|
||||
#define PX4_SPIDEV_EEPROM PX4_MK_SPI_SEL(0, DRV_DEVTYPE_UNUSED)
|
||||
#define PX4_SPIDEV_ICM_20608 PX4_MK_SPI_SEL(0, DRV_IMU_DEVTYPE_ICM20608)
|
||||
#define PX4_SPIDEV_ICM_20602 PX4_MK_SPI_SEL(0, DRV_IMU_DEVTYPE_ICM20602)
|
||||
|
||||
#define PX4_SPIDEV_EXT0 PX4_MK_SPI_SEL(0, 0)
|
||||
#define PX4_SPIDEV_EXT1 PX4_MK_SPI_SEL(0, 1)
|
||||
|
||||
#define PX4_SPIDEV_RM_EXT PX4_SPIDEV_EXT0
|
||||
|
||||
/* I2C busses */
|
||||
#define PX4_I2C_BUS_ONBOARD 1
|
||||
#define PX4_I2C_BUS_EXPANSION 2
|
||||
#define PX4_I2C_BUS_LED PX4_I2C_BUS_ONBOARD
|
||||
|
||||
/*
|
||||
* ADC channels
|
||||
*
|
||||
|
|
|
|||
|
|
@ -328,11 +328,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
|
|||
SPI_SETFREQUENCY(spi1, 10000000);
|
||||
SPI_SETBITS(spi1, 8);
|
||||
SPI_SETMODE(spi1, SPIDEV_MODE3);
|
||||
SPI_SELECT(spi1, PX4_SPIDEV_ICM_20602, false);
|
||||
SPI_SELECT(spi1, PX4_SPIDEV_BARO, false);
|
||||
SPI_SELECT(spi1, PX4_SPIDEV_LIS, false);
|
||||
SPI_SELECT(spi1, PX4_SPIDEV_MPU, false);
|
||||
SPI_SELECT(spi1, PX4_SPIDEV_EEPROM, false);
|
||||
up_udelay(20);
|
||||
|
||||
/* Get the SPI port for the FRAM */
|
||||
|
|
@ -352,7 +347,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
|
|||
SPI_SETFREQUENCY(spi2, 20 * 1000 * 1000);
|
||||
SPI_SETBITS(spi2, 8);
|
||||
SPI_SETMODE(spi2, SPIDEV_MODE3);
|
||||
SPI_SELECT(spi2, SPIDEV_FLASH(0), false);
|
||||
|
||||
/* Configure SPI 5-based devices */
|
||||
|
||||
|
|
@ -368,7 +362,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
|
|||
SPI_SETFREQUENCY(spi5, 10000000);
|
||||
SPI_SETBITS(spi5, 8);
|
||||
SPI_SETMODE(spi5, SPIDEV_MODE3);
|
||||
SPI_SELECT(spi5, PX4_SPIDEV_EXT0, false);
|
||||
|
||||
/* Configure SPI 6-based devices */
|
||||
|
||||
|
|
@ -384,7 +377,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
|
|||
SPI_SETFREQUENCY(spi6, 10000000);
|
||||
SPI_SETBITS(spi6, 8);
|
||||
SPI_SETMODE(spi6, SPIDEV_MODE3);
|
||||
SPI_SELECT(spi6, PX4_SPIDEV_EXT1, false);
|
||||
|
||||
#ifdef CONFIG_MMCSD
|
||||
/* First, get an instance of the SDIO interface */
|
||||
|
|
|
|||
|
|
@ -96,130 +96,6 @@
|
|||
#define BOARD_OVERLOAD_LED LED_RED
|
||||
#define BOARD_ARMED_STATE_LED LED_BLUE
|
||||
|
||||
/* SENSORS are on SPI1, 5, 6
|
||||
* MEMORY is on bus SPI2
|
||||
* MS5611 is on bus SPI4
|
||||
*/
|
||||
|
||||
#define PX4_SPI_BUS_SENSORS 1
|
||||
#define PX4_SPI_BUS_MEMORY 2
|
||||
#define PX4_SPI_BUS_BARO 4
|
||||
#define PX4_SPI_BUS_EXTERNAL1 5
|
||||
#define PX4_SPI_BUS_EXTERNAL2 6
|
||||
|
||||
/* Define the Chip Selects, Data Ready and Control signals per SPI bus */
|
||||
|
||||
/* SPI 1 CS */
|
||||
|
||||
#define GPIO_SPI1_CS1_ICM20689 /* PF2 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTF|GPIO_PIN2)
|
||||
#define GPIO_SPI1_CS2_ICM20602 /* PF3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTF|GPIO_PIN3)
|
||||
#define GPIO_SPI1_CS3_BMI055_GYRO /* PF4 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTF|GPIO_PIN4)
|
||||
#define GPIO_SPI1_CS4_BMI055_ACC /* PG10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN10)
|
||||
#define GPIO_SPI1_CS5_AUX_MEM /* PH5 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTH|GPIO_PIN5)
|
||||
|
||||
|
||||
/* Define the SPI1 Data Ready interrupts */
|
||||
|
||||
#define GPIO_SPI1_DRDY1_ICM20689 /* PB4 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN4)
|
||||
#define GPIO_SPI1_DRDY2_BMI055_GYRO /* PB14 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN14)
|
||||
#define GPIO_SPI1_DRDY3_BMI055_ACC /* PB15 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN15)
|
||||
#define GPIO_SPI1_DRDY4_ICM20602 /* PC5 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTC|GPIO_PIN5)
|
||||
#define GPIO_SPI1_DRDY5_BMI055_GYRO /* PC13 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTC|GPIO_PIN13)
|
||||
#define GPIO_SPI1_DRDY6_BMI055_ACC /* PD10 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN10)
|
||||
|
||||
/* SPI1 off */
|
||||
|
||||
#define GPIO_SPI1_SCK_OFF _PIN_OFF(GPIO_SPI1_SCK)
|
||||
#define GPIO_SPI1_MISO_OFF _PIN_OFF(GPIO_SPI1_MISO)
|
||||
#define GPIO_SPI1_MOSI_OFF _PIN_OFF(GPIO_SPI1_MOSI)
|
||||
|
||||
#define GPIO_DRDY_OFF_SPI1_DRDY1_ICM20689 _PIN_OFF(GPIO_SPI1_DRDY1_ICM20689)
|
||||
#define GPIO_DRDY_OFF_SPI1_DRDY2_BMI055_GYRO _PIN_OFF(GPIO_SPI1_DRDY2_BMI055_GYRO)
|
||||
#define GPIO_DRDY_OFF_SPI1_DRDY3_BMI055_ACC _PIN_OFF(GPIO_SPI1_DRDY3_BMI055_ACC)
|
||||
#define GPIO_DRDY_OFF_SPI1_DRDY4_ICM20602 _PIN_OFF(GPIO_SPI1_DRDY4_ICM20602)
|
||||
#define GPIO_DRDY_OFF_SPI1_DRDY5_BMI055_GYRO _PIN_OFF(GPIO_SPI1_DRDY5_BMI055_GYRO)
|
||||
#define GPIO_DRDY_OFF_SPI1_DRDY6_BMI055_ACC _PIN_OFF(GPIO_SPI1_DRDY6_BMI055_ACC)
|
||||
|
||||
/* SPI 2 CS */
|
||||
|
||||
#define GPIO_SPI2_CS_FRAM /* PF5 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTF|GPIO_PIN5)
|
||||
|
||||
/* SPI 4 CS */
|
||||
|
||||
#define GPIO_SPI4_CS1_MS5611 /* PF10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTF|GPIO_PIN10)
|
||||
#define GPIO_SPI4_CS2 /* PF11 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTF|GPIO_PIN11)
|
||||
|
||||
/* SPI 5 CS */
|
||||
|
||||
#define SPI5_CS1_EXTERNAL1 /* PI4 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN4)
|
||||
#define SPI5_CS2_EXTERNAL1 /* PI10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN10)
|
||||
#define SPI5_CS3_EXTERNAL1 /* PI11 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN11)
|
||||
|
||||
/* Define the SPI1 Data Ready and Control signals */
|
||||
|
||||
#define GPIO_SPI5_DRDY7_EXTERNAL1 /* PD15 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN15)
|
||||
#define GPIO_nSPI5_RESET_EXTERNAL1 /* PB10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN10)
|
||||
#define GPIO_SPI5_SYNC_EXTERNAL1 /* PH15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|PORTH|PIN15)
|
||||
|
||||
/* SPI 6 */
|
||||
|
||||
#define SPI6_CS1_EXTERNAL2 /* PI6 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN6)
|
||||
#define SPI6_CS2_EXTERNAL2 /* PI7 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN7)
|
||||
#define SPI6_CS3_EXTERNAL2 /* PI8 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN8)
|
||||
|
||||
|
||||
/*
|
||||
* Define the ability to shut off off the sensor signals
|
||||
* by changing the signals to inputs
|
||||
*/
|
||||
|
||||
#define _PIN_OFF(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz))
|
||||
|
||||
|
||||
#define GPIO_DRDY_OFF_SPI5_DRDY7_EXTERNAL1 _PIN_OFF(GPIO_SPI5_DRDY7_EXTERNAL1)
|
||||
|
||||
|
||||
/* v BEGIN Legacy SPI defines TODO: fix this with enumeration */
|
||||
#define PX4_SPI_BUS_RAMTRON PX4_SPI_BUS_MEMORY
|
||||
/* ^ END Legacy SPI defines TODO: fix this with enumeration */
|
||||
#include <drivers/drv_sensor.h>
|
||||
|
||||
#define PX4_SPIDEV_ICM_20689 PX4_MK_SPI_SEL(0,DRV_IMU_DEVTYPE_ICM20689)
|
||||
#define PX4_SPIDEV_ICM_20602 PX4_MK_SPI_SEL(0,DRV_IMU_DEVTYPE_ICM20602)
|
||||
#define PX4_SPIDEV_BMI055_GYR PX4_MK_SPI_SEL(0,DRV_GYR_DEVTYPE_BMI055)
|
||||
#define PX4_SPIDEV_BMI055_ACC PX4_MK_SPI_SEL(0,DRV_ACC_DEVTYPE_BMI055)
|
||||
#define PX4_SPIDEV_AUX_MEM PX4_MK_SPI_SEL(0,4)
|
||||
#define PX4_SENSOR_BUS_CS_GPIO {GPIO_SPI1_CS1_ICM20689, GPIO_SPI1_CS2_ICM20602, GPIO_SPI1_CS3_BMI055_GYRO, GPIO_SPI1_CS4_BMI055_ACC, GPIO_SPI1_CS5_AUX_MEM}
|
||||
|
||||
#define PX4_SPIDEV_MEMORY SPIDEV_FLASH(0)
|
||||
#define PX4_MEMORY_BUS_CS_GPIO {GPIO_SPI2_CS_FRAM}
|
||||
|
||||
#define PX4_SPIDEV_BARO PX4_MK_SPI_SEL(0,DRV_BARO_DEVTYPE_MS5611)
|
||||
#define PX4_SPIDEV_SPI4_CS2 PX4_MK_SPI_SEL(PX4_SPI_BUS_BARO,1)
|
||||
#define PX4_BARO_BUS_CS_GPIO {GPIO_SPI4_CS1_MS5611, GPIO_SPI4_CS2}
|
||||
|
||||
#define PX4_SPIDEV_EXTERNAL1_1 PX4_MK_SPI_SEL(PX4_SPI_BUS_EXTERNAL1,0)
|
||||
#define PX4_SPIDEV_EXTERNAL1_2 PX4_MK_SPI_SEL(PX4_SPI_BUS_EXTERNAL1,1)
|
||||
#define PX4_SPIDEV_EXTERNAL1_3 PX4_MK_SPI_SEL(PX4_SPI_BUS_EXTERNAL1,2)
|
||||
#define PX4_EXTERNAL1_BUS_CS_GPIO {SPI5_CS1_EXTERNAL1, SPI5_CS2_EXTERNAL1, SPI5_CS3_EXTERNAL1}
|
||||
|
||||
#define PX4_SPIDEV_EXTERNAL2_1 PX4_MK_SPI_SEL(PX4_SPI_BUS_EXTERNAL2,0)
|
||||
#define PX4_SPIDEV_EXTERNAL2_2 PX4_MK_SPI_SEL(PX4_SPI_BUS_EXTERNAL2,1)
|
||||
#define PX4_SPIDEV_EXTERNAL2_3 PX4_MK_SPI_SEL(PX4_SPI_BUS_EXTERNAL2,2)
|
||||
#define PX4_EXTERNAL2_BUS_CS_GPIO {SPI6_CS1_EXTERNAL2, SPI6_CS2_EXTERNAL2, SPI6_CS3_EXTERNAL2}
|
||||
|
||||
|
||||
/* I2C busses */
|
||||
|
||||
#define PX4_I2C_BUS_EXPANSION 1
|
||||
#define PX4_I2C_BUS_EXPANSION1 2
|
||||
#define PX4_I2C_BUS_ONBOARD 3
|
||||
#define PX4_I2C_BUS_EXPANSION2 4
|
||||
#define PX4_I2C_BUS_LED PX4_I2C_BUS_EXPANSION
|
||||
|
||||
#define BOARD_NUMBER_I2C_BUSES 4
|
||||
#define BOARD_I2C_BUS_CLOCK_INIT {100000, 100000, 100000, 100000}
|
||||
|
||||
/*
|
||||
* ADC channels
|
||||
*
|
||||
|
|
|
|||
|
|
@ -100,169 +100,19 @@
|
|||
# define BOARD_ARMED_STATE_LED LED_BLUE
|
||||
#endif
|
||||
|
||||
/* SPI
|
||||
*
|
||||
* SPI1 is sensors1
|
||||
* ICM-20602
|
||||
* CS PI9
|
||||
* DRDY PF2
|
||||
*
|
||||
* SPI2 is sensors2
|
||||
* ISM330
|
||||
* CS PH5
|
||||
* DRDY PH12
|
||||
*
|
||||
* SPI3 is sensors3
|
||||
* BMI088
|
||||
* CS ACCL PI4
|
||||
* CS GYRO PI8
|
||||
* DRDY ACCL PI6
|
||||
* DRDY GYRO PI7
|
||||
*
|
||||
* SPI5 is FRAM
|
||||
* FM25V02A
|
||||
* CS PG7
|
||||
*
|
||||
* SPI6 is EXTERNAL1
|
||||
*
|
||||
* CS1 PI10
|
||||
* CS2 PA15
|
||||
* DRDY1 PD11
|
||||
* DRDY2 PD12
|
||||
*
|
||||
*/
|
||||
/* SPI */
|
||||
|
||||
#define PX4_SPI_BUS_SENSORS1 1
|
||||
#define PX4_SPI_BUS_SENSORS2 2
|
||||
#define PX4_SPI_BUS_SENSORS3 3
|
||||
#define PX4_SPI_BUS_SENSORS4 4
|
||||
|
||||
#define PX4_SPI_BUS_MAG PX4_SPI_BUS_SENSORS4
|
||||
#define PX4_SPI_BUS_MEMORY 5
|
||||
#define PX4_SPI_BUS_EXTERNAL1 6
|
||||
|
||||
/* Define the Chip Selects, Data Ready and Control signals per SPI bus */
|
||||
|
||||
/* SPI 1 CS */
|
||||
|
||||
#define GPIO_SPI1_nCS1_ICM20602 /* PI9 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN9)
|
||||
|
||||
/* Define the SPI1 Data Ready interrupts */
|
||||
|
||||
#define GPIO_SPI1_DRDY1_ICM20602 /* PF2 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTF|GPIO_PIN2)
|
||||
|
||||
/* SPI1 off */
|
||||
|
||||
#define GPIO_SPI1_SCK_OFF _PIN_OFF(GPIO_SPI1_SCK)
|
||||
#define GPIO_SPI1_MISO_OFF _PIN_OFF(GPIO_SPI1_MISO)
|
||||
#define GPIO_SPI1_MOSI_OFF _PIN_OFF(GPIO_SPI1_MOSI)
|
||||
|
||||
#define GPIO_DRDY_OFF_SPI1_DRDY1_ICM20602 _PIN_OFF(GPIO_SPI1_DRDY1_ICM20602)
|
||||
|
||||
/* SPI 2 CS */
|
||||
|
||||
#define GPIO_SPI2_nCS1_ISM330 /* PH5 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTH|GPIO_PIN5)
|
||||
|
||||
/* Define the SPI2 Data Ready interrupts */
|
||||
|
||||
#define GPIO_SPI2_DRDY1_ISM330 /* PH12 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTH|GPIO_PIN12)
|
||||
|
||||
/* SPI2 off */
|
||||
|
||||
#define GPIO_SPI2_SCK_OFF _PIN_OFF(GPIO_SPI2_SCK)
|
||||
#define GPIO_SPI2_MISO_OFF _PIN_OFF(GPIO_SPI2_MISO)
|
||||
#define GPIO_SPI2_MOSI_OFF _PIN_OFF(GPIO_SPI2_MOSI)
|
||||
|
||||
#define GPIO_DRDY_OFF_SPI2_DRDY1_ISM330 _PIN_OFF(GPIO_SPI2_DRDY1_ISM330)
|
||||
|
||||
/* SPI 3 CS */
|
||||
|
||||
#define GPIO_SPI3_nCS1_BMI088_ACCEL /* PI4 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN4)
|
||||
#define GPIO_SPI3_nCS2_BMI088_GYRO /* PI8 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN8)
|
||||
|
||||
/* Define the SPI3 Data Ready interrupts */
|
||||
#define SPI6_nRESET_EXTERNAL1 /* PF10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN10)
|
||||
#define GPIO_SYNC /* PH10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_100MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN10)
|
||||
|
||||
#define GPIO_SPI3_DRDY1_BMI088_INT1_ACCEL /* PI6 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTI|GPIO_PIN6)
|
||||
#define GPIO_SPI3_DRDY2_BMI088_INT3_GYRO /* PI7 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTI|GPIO_PIN7)
|
||||
|
||||
/* SPI3 off */
|
||||
|
||||
#define GPIO_SPI3_SCK_OFF _PIN_OFF(GPIO_SPI3_SCK)
|
||||
#define GPIO_SPI3_MISO_OFF _PIN_OFF(GPIO_SPI3_MISO)
|
||||
#define GPIO_SPI3_MOSI_OFF _PIN_OFF(GPIO_SPI3_MOSI)
|
||||
|
||||
#define GPIO_DRDY_OFF_SPI3_DRDY1_BMI088 _PIN_OFF(GPIO_SPI3_DRDY1_BMI088_INT1_ACCEL)
|
||||
#define GPIO_DRDY_OFF_SPI3_DRDY2_BMI088 _PIN_OFF(GPIO_SPI3_DRDY2_BMI088_INT3_GYRO)
|
||||
|
||||
/* SPI 5 CS */
|
||||
|
||||
#define GPIO_SPI5_nCS1_FRAM /* PG7 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN7)
|
||||
|
||||
/* SPI 6 */
|
||||
|
||||
#define GPIO_SPI6_nCS1_EXTERNAL1 /* PI10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN10)
|
||||
#define GPIO_SPI6_nCS2_EXTERNAL1 /* PA15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN15)
|
||||
|
||||
/* Define the SPI6 Data Ready interrupts */
|
||||
|
||||
#define GPIO_SPI6_DRDY1_EXTERNAL1 /* PD11 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN11)
|
||||
#define GPIO_SPI6_DRDY2_EXTERNAL1 /* PD12 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN12)
|
||||
#define SPI6_nRESET_EXTERNAL1 /* PF10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN10)
|
||||
|
||||
/* SPI6 off */
|
||||
|
||||
#define GPIO_SPI6_SCK_OFF _PIN_OFF(GPIO_SPI6_SCK)
|
||||
#define GPIO_SPI6_MISO_OFF _PIN_OFF(GPIO_SPI6_MISO)
|
||||
#define GPIO_SPI6_MOSI_OFF _PIN_OFF(GPIO_SPI6_MOSI)
|
||||
|
||||
#define GPIO_DRDY_OFF_SPI6_DRDY1 _PIN_OFF(GPIO_SPI6_DRDY1_EXTERNAL1)
|
||||
#define GPIO_DRDY_OFF_SPI6_DRDY2 _PIN_OFF(GPIO_SPI6_DRDY2_EXTERNAL1)
|
||||
|
||||
/*
|
||||
* Define the ability to shut off off the sensor signals
|
||||
* by changing the signals to inputs
|
||||
*/
|
||||
|
||||
#define _PIN_OFF(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz))
|
||||
#define PX4_SPI_BUS_RAMTRON PX4_SPI_BUS_MEMORY
|
||||
|
||||
#include <drivers/drv_sensor.h>
|
||||
#define PX4_SPIDEV_ICM_20602 PX4_MK_SPI_SEL(0,DRV_IMU_DEVTYPE_ICM20602)
|
||||
#define PX4_SENSORS1_BUS_CS_GPIO {GPIO_SPI1_nCS1_ICM20602}
|
||||
|
||||
#define PX4_SPIDEV_ISM330 PX4_MK_SPI_SEL(0,DRV_IMU_DEVTYPE_ST_ISM330DLC)
|
||||
#define PX4_SENSORS2_BUS_CS_GPIO {GPIO_SPI2_nCS1_ISM330}
|
||||
|
||||
#define PX4_SPIDEV_BMI088_GYR PX4_MK_SPI_SEL(0,DRV_GYR_DEVTYPE_BMI088)
|
||||
#define PX4_SPIDEV_BMI088_ACC PX4_MK_SPI_SEL(0,DRV_ACC_DEVTYPE_BMI088)
|
||||
#define PX4_SENSORS3_BUS_CS_GPIO {GPIO_SPI3_nCS2_BMI088_GYRO, GPIO_SPI3_nCS1_BMI088_ACCEL}
|
||||
|
||||
#define PX4_SPIDEV_MEMORY SPIDEV_FLASH(0)
|
||||
#define PX4_MEMORY_BUS_CS_GPIO {GPIO_SPI5_nCS1_FRAM}
|
||||
|
||||
#define PX4_SPIDEV_EXTERNAL1_1 PX4_MK_SPI_SEL(0,0)
|
||||
#define PX4_SPIDEV_EXTERNAL1_2 PX4_MK_SPI_SEL(0,1)
|
||||
#define PX4_EXTERNAL1_BUS_CS_GPIO {GPIO_SPI6_nCS1_EXTERNAL1, GPIO_SPI6_nCS2_EXTERNAL1}
|
||||
|
||||
|
||||
/* I2C busses */
|
||||
|
||||
#define PX4_I2C_BUS_EXPANSION 1
|
||||
#define PX4_I2C_BUS_EXPANSION1 2
|
||||
#define PX4_I2C_BUS_EXPANSION2 3
|
||||
#define PX4_I2C_BUS_ONBOARD 4
|
||||
#define PX4_I2C_BUS_LED PX4_I2C_BUS_EXPANSION
|
||||
|
||||
/* Devices on the onboard buses.
|
||||
*
|
||||
* Note that these are unshifted addresses.
|
||||
*/
|
||||
#define PX4_I2C_OBDEV_A71CH 0x49
|
||||
|
||||
#define BOARD_NUMBER_I2C_BUSES 4
|
||||
#define BOARD_I2C_BUS_CLOCK_INIT {100000, 100000, 100000, 100000}
|
||||
|
||||
#define GPIO_I2C4_DRDY1_BMP388 /* PG5 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTG|GPIO_PIN5)
|
||||
#define GPIO_SE050_nRST /* PG6 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN6)
|
||||
|
||||
|
|
|
|||
|
|
@ -48,15 +48,8 @@
|
|||
/*
|
||||
* I2C busses
|
||||
*/
|
||||
#define PX4_I2C_BUS_ONBOARD 1
|
||||
#define PX4_I2C_BUS_EXPANSION 0
|
||||
|
||||
#define PX4_NUMBER_I2C_BUSES 2
|
||||
|
||||
// SPI
|
||||
#define PX4_SPI_BUS_SENSORS 0
|
||||
#define PX4_SPIDEV_MPU PX4_MK_SPI_SEL(0, 0) // spidev0.0
|
||||
|
||||
#define ADC_BATTERY_VOLTAGE_CHANNEL 0
|
||||
#define ADC_BATTERY_CURRENT_CHANNEL -1
|
||||
#define ADC_AIRSPEED_VOLTAGE_CHANNEL 2
|
||||
|
|
|
|||
|
|
@ -47,8 +47,6 @@
|
|||
#define BOARD_HAS_POWER_CONTROL
|
||||
#define BOARD_HAS_NO_BOOTLOADER
|
||||
|
||||
#define PX4_I2C_BUS_EXPANSION 1
|
||||
#define PX4_I2C_BUS_ONBOARD 2
|
||||
#define PX4_NUMBER_I2C_BUSES 1
|
||||
|
||||
#define BOARD_NUMBER_BRICKS 0
|
||||
|
|
|
|||
|
|
@ -67,108 +67,9 @@
|
|||
#define BOARD_ARMED_LED LED_BLUE
|
||||
#define BOARD_ARMED_STATE_LED LED_GREEN
|
||||
|
||||
/**
|
||||
* The MPU9250 is default. The wrong driver will fail during start because of an incorrect WHO_AM_I register.
|
||||
*/
|
||||
#define GPIO_SPI1_CS_PORTC_PIN2 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN2)
|
||||
|
||||
/**
|
||||
* The ICM20608G is default. The wrong driver will fail during start because of an incorrect WHO_AM_I register.
|
||||
*/
|
||||
#define GPIO_SPI1_CS_PORTC_PIN15 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN15)
|
||||
|
||||
/**
|
||||
* Reserved. The wrong driver will fail during start because of an incorrect WHO_AM_I register.
|
||||
*/
|
||||
#define GPIO_SPI1_CS_PORTE_PIN15 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN15)
|
||||
|
||||
/* Define the Data Ready interrupts On SPI 1. */
|
||||
#define GPIO_DRDY_PORTD_PIN15 (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN15)
|
||||
#define GPIO_DRDY_PORTC_PIN14 (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTC|GPIO_PIN14)
|
||||
#define GPIO_DRDY_PORTE_PIN12 (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTE|GPIO_PIN12)
|
||||
|
||||
|
||||
/* Define the Chip Selects for SPI2. */
|
||||
#define GPIO_SPI2_CS_MS5611 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN7)
|
||||
#define GPIO_SPI2_CS_FRAM (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN10)
|
||||
|
||||
/* Define the Chip Selects for SPI4. */
|
||||
|
||||
#ifdef CONFIG_STM32_SPI4
|
||||
# define BOARD_HAS_BUS_MANIFEST 1 // We support a bus manifest because spi 4 is optional
|
||||
# define GPIO_SPI4_CS_1 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN8) //ESP_RTS_PIN
|
||||
#endif /* CONFIG_STM32_SPI4 */
|
||||
/**
|
||||
* Define the ability to shut off off the sensor signals
|
||||
* by changing the signals to inputs.
|
||||
*/
|
||||
#define _PIN_OFF(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz))
|
||||
|
||||
/* SPI 1 bus off. */
|
||||
#define GPIO_SPI1_SCK_OFF _PIN_OFF(GPIO_SPI1_SCK)
|
||||
#define GPIO_SPI1_MISO_OFF _PIN_OFF(GPIO_SPI1_MISO)
|
||||
#define GPIO_SPI1_MOSI_OFF _PIN_OFF(GPIO_SPI1_MOSI)
|
||||
|
||||
/* SPI 1 CS's off. */
|
||||
#define GPIO_SPI1_CS_OFF_PORTC_PIN2 _PIN_OFF(GPIO_SPI1_CS_PORTC_PIN2)
|
||||
#define GPIO_SPI1_CS_OFF_PORTC_PIN15 _PIN_OFF(GPIO_SPI1_CS_PORTC_PIN15)
|
||||
#define GPIO_SPI1_CS_OFF_PORTE_PIN15 _PIN_OFF(GPIO_SPI1_CS_PORTE_PIN15)
|
||||
|
||||
/* SPI 1 DRDY's off. */
|
||||
#define GPIO_DRDY_OFF_PORTD_PIN15 _PIN_OFF(GPIO_DRDY_PORTD_PIN15)
|
||||
#define GPIO_DRDY_OFF_PORTC_PIN14 _PIN_OFF(GPIO_DRDY_PORTC_PIN14)
|
||||
#define GPIO_DRDY_OFF_PORTE_PIN12 _PIN_OFF(GPIO_DRDY_PORTE_PIN12)
|
||||
|
||||
/* SPI 4 bus off. */
|
||||
#ifdef CONFIG_STM32_SPI4
|
||||
# define GPIO_SPI4_SCK_OFF _PIN_OFF(GPIO_SPI4_SCK)
|
||||
# define GPIO_SPI4_MISO_OFF _PIN_OFF(GPIO_SPI4_MISO)
|
||||
# define GPIO_SPI4_MOSI_OFF _PIN_OFF(GPIO_SPI4_MOSI)
|
||||
#endif /* CONFIG_STM32_SPI4 */
|
||||
|
||||
/**
|
||||
* N.B we do not have control over the SPI 2 buss powered devices
|
||||
* so the the ms5611 is not resetable.
|
||||
*
|
||||
*/
|
||||
|
||||
#define PX4_SPI_BUS_SENSORS 1
|
||||
#define PX4_SPI_BUS_RAMTRON 2
|
||||
#define PX4_SPI_BUS_BARO PX4_SPI_BUS_RAMTRON
|
||||
|
||||
#ifdef CONFIG_STM32_SPI4
|
||||
# define PX4_SPI_BUS_EXTERNAL 4
|
||||
/* The mask passes to init the SPI bus pins
|
||||
* N.B This works ONLY with buss numbers that are powers of 2
|
||||
* Adding SPI3 would break this!
|
||||
*/
|
||||
# define SPI_BUS_INIT_MASK_EXT PX4_SPI_BUS_EXTERNAL
|
||||
#endif /* CONFIG_STM32_SPI4 */
|
||||
|
||||
#include <drivers/drv_sensor.h>
|
||||
|
||||
/* Use these in place of the uint32_t enumeration to select a specific SPI device on SPI1 */
|
||||
#define PX4_SPIDEV_MPU PX4_MK_SPI_SEL(0, DRV_IMU_DEVTYPE_MPU6000)
|
||||
#define PX4_SPIDEV_HMC PX4_MK_SPI_SEL(0, DRV_MAG_DEVTYPE_HMC5883)
|
||||
#define PX4_SPIDEV_LIS PX4_MK_SPI_SEL(0, DRV_MAG_DEVTYPE_LIS3MDL)
|
||||
#define PX4_SPIDEV_ICM_20608 PX4_MK_SPI_SEL(0, DRV_IMU_DEVTYPE_ICM20608)
|
||||
#define PX4_SPIDEV_ICM_20602 PX4_MK_SPI_SEL(0, DRV_IMU_DEVTYPE_ICM20602)
|
||||
#define PX4_SPIDEV_MPU2 PX4_MK_SPI_SEL(0, DRV_IMU_DEVTYPE_MPU9250)
|
||||
|
||||
/**
|
||||
* Onboard MS5611 and FRAM are both on bus SPI2.
|
||||
* spi_dev_e:SPIDEV_FLASH has the value 2 and is used in the NuttX ramtron driver.
|
||||
* PX4_MK_SPI_SEL differentiate by adding in PX4_SPI_DEVICE_ID.
|
||||
*/
|
||||
#define PX4_SPIDEV_BARO PX4_MK_SPI_SEL(0, DRV_BARO_DEVTYPE_MS5611)
|
||||
|
||||
#ifdef CONFIG_STM32_SPI4
|
||||
# define PX4_SPIDEV_EXTERNAL PX4_MK_SPI_SEL(0, 0)
|
||||
#endif /* CONFIG_STM32_SPI4 */
|
||||
|
||||
/* I2C busses. */
|
||||
#define PX4_I2C_BUS_EXPANSION 1
|
||||
#define PX4_I2C_BUS_LED PX4_I2C_BUS_EXPANSION
|
||||
|
||||
/**
|
||||
* ADC channels:
|
||||
|
|
|
|||
|
|
@ -310,8 +310,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
|
|||
SPI_SETFREQUENCY(spi1, 10000000);
|
||||
SPI_SETBITS(spi1, 8);
|
||||
SPI_SETMODE(spi1, SPIDEV_MODE3);
|
||||
SPI_SELECT(spi1, PX4_SPIDEV_HMC, false);
|
||||
SPI_SELECT(spi1, PX4_SPIDEV_MPU, false);
|
||||
up_udelay(20);
|
||||
|
||||
// Get the SPI port for the FRAM.
|
||||
|
|
@ -332,8 +330,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
|
|||
SPI_SETFREQUENCY(spi2, 20 * 1000 * 1000);
|
||||
SPI_SETBITS(spi2, 8);
|
||||
SPI_SETMODE(spi2, SPIDEV_MODE3);
|
||||
SPI_SELECT(spi2, SPIDEV_FLASH(0), false);
|
||||
SPI_SELECT(spi2, PX4_SPIDEV_BARO, false);
|
||||
|
||||
#if defined(CONFIG_STM32_SPI4)
|
||||
|
||||
|
|
@ -351,7 +347,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
|
|||
SPI_SETFREQUENCY(spi4, 20 * 1000 * 1000);
|
||||
SPI_SETBITS(spi4, 8);
|
||||
SPI_SETMODE(spi4, SPIDEV_MODE3);
|
||||
SPI_SELECT(spi4, PX4_SPIDEV_EXTERNAL, false);
|
||||
}
|
||||
}
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue