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rt1170:spi_hw_description:Support Validation and HW selection

This commit is contained in:
David Sidrane 2023-11-15 09:55:53 -08:00
parent 6be8cbe439
commit b3048c3344
1 changed files with 86 additions and 2 deletions
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88
platforms/nuttx/src/px4/nxp/rt117x/include/px4_arch/spi_hw_description.h
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@ -40,6 +40,57 @@
#include <imxrt_gpio.h>
constexpr bool validateSPIConfig(const px4_spi_bus_t spi_busses_conf[SPI_BUS_MAX_BUS_ITEMS])
{
const bool nuttx_enabled_spi_buses[] = {
#ifdef CONFIG_IMXRT_LPSPI1
true,
#else
false,
#endif
#ifdef CONFIG_IMXRT_LPSPI2
true,
#else
false,
#endif
#ifdef CONFIG_IMXRT_LPSPI3
true,
#else
false,
#endif
#ifdef CONFIG_IMXRT_LPSPI4
true,
#else
false,
#endif
#ifdef CONFIG_IMXRT_LPSPI5
true,
#else
false,
#endif
#ifdef CONFIG_IMXRT_LPSPI6
true,
#else
false,
#endif
};
for (unsigned i = 0; i < sizeof(nuttx_enabled_spi_buses) / sizeof(nuttx_enabled_spi_buses[0]); ++i) {
bool found_bus = false;
for (int j = 0; j < SPI_BUS_MAX_BUS_ITEMS; ++j) {
if (spi_busses_conf[j].bus == (int)i + 1) {
found_bus = true;
}
}
// Either the bus is enabled in NuttX and configured in spi_busses_conf, or disabled and not configured
constexpr_assert(found_bus == nuttx_enabled_spi_buses[i], "SPI bus config mismatch (CONFIG_STM32H7_SPIx)");
}
return false;
}
static inline constexpr px4_spi_bus_device_t initSPIDevice(uint32_t devid, SPI::CS cs_gpio, SPI::DRDY drdy_gpio = {})
{
px4_spi_bus_device_t ret{};
@ -132,8 +183,41 @@ static inline constexpr SPI::bus_device_external_cfg_t initSPIConfigExternal(SPI
return ret;
}
constexpr bool validateSPIConfig(const px4_spi_bus_t spi_busses_conf[SPI_BUS_MAX_BUS_ITEMS])
struct px4_spi_bus_array_t {
px4_spi_bus_t item[SPI_BUS_MAX_BUS_ITEMS];
};
static inline constexpr px4_spi_bus_all_hw_t initSPIHWVersion(int hw_version_revision,
const px4_spi_bus_array_t &bus_items)
{
return true;
px4_spi_bus_all_hw_t ret{};
for (int i = 0; i < SPI_BUS_MAX_BUS_ITEMS; ++i) {
ret.buses[i] = bus_items.item[i];
}
ret.board_hw_version_revision = hw_version_revision;
return ret;
}
constexpr bool validateSPIConfig(const px4_spi_bus_t spi_buses_conf[SPI_BUS_MAX_BUS_ITEMS]);
constexpr bool validateSPIConfig(const px4_spi_bus_all_hw_t spi_buses_conf[BOARD_NUM_SPI_CFG_HW_VERSIONS])
{
for (int ver = 0; ver < BOARD_NUM_SPI_CFG_HW_VERSIONS; ++ver) {
validateSPIConfig(spi_buses_conf[ver].buses);
}
for (int ver = 1; ver < BOARD_NUM_SPI_CFG_HW_VERSIONS; ++ver) {
for (int i = 0; i < SPI_BUS_MAX_BUS_ITEMS; ++i) {
const bool equal_power_enable_gpio = spi_buses_conf[ver].buses[i].power_enable_gpio == spi_buses_conf[ver -
1].buses[i].power_enable_gpio;
// currently board_control_spi_sensors_power_configgpio() depends on that - this restriction can be removed
// by ensuring board_control_spi_sensors_power_configgpio() is called after the hw version is determined
// and SPI config is initialized.
constexpr_assert(equal_power_enable_gpio, "All HW versions must define the same power enable GPIO");
}
}
return false;
}
#endif // CONFIG_SPI