av/x-v1 support PMW3901 on SPI2 (now treated as external)

boards/av/x-v1/default.cmake

@@ -40,7 +40,7 @@ px4_add_board(
 		#md25
 		mkblctrl
 		pca9685
-		#pmw3901
+		pmw3901
 		#protocol_splitter
 		#pwm_input
 		pwm_out_sim

boards/av/x-v1/init/rc.board_sensors

@@ -12,8 +12,12 @@ lsm303agr -R 4 start
 
 ms4525_airspeed -T 4515 -b 3 start
 
-# TODO: try to autostart pmw3901
-# TODO: try to autostart adis16497 start
+# try to autostart pmw3901 on SPI2 (external)
+if ! pmw3901 start
+then
+	# if pmw3901 failed to start, try starting the adis16497 (SPI2)
+	adis16497 start
+fi
 
 # Possible external compasses
 ist8310 -C -b 1 start

boards/av/x-v1/src/board_config.h

@@ -55,7 +55,7 @@
 #define BOARD_HAS_NBAT_I              0 // No Ibat ADC
 
 #define PX4_SPI_BUS_SENSOR1  1
-#define PX4_SPI_BUS_SENSOR2  2
+#define PX4_SPI_BUS_EXTERNAL1 2
 #define PX4_SPI_BUS_SENSOR4  4
 #define PX4_SPI_BUS_SENSOR5  5
 
@@ -80,6 +80,7 @@
 
 /*  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)
@@ -127,8 +128,8 @@
 #define PX4_SENSOR1_BUS_CS_GPIO    {GPIO_SPI1_CS1_ADIS16477}
 
 /* SPI2 */
-#define PX4_SPIDEV_ADIS16497       PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSOR2,0)
-#define PX4_SENSOR2_BUS_CS_GPIO    {GPIO_SPI2_CS1_ADIS16497}
+#define PX4_SPIDEV_EXTERNAL1_1     PX4_MK_SPI_SEL(PX4_SPI_BUS_EXTERNAL1,0)
+#define PX4_EXTERNAL1_BUS_CS_GPIO  {SPI2_CS1_EXTERNAL1}
 
 /* SPI4 */
 #define PX4_SPIDEV_LPS22HB         PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSOR4,0)

boards/av/x-v1/src/spi.cpp

@@ -58,7 +58,7 @@
 
 /* Define CS GPIO array */
 static constexpr uint32_t spi1selects_gpio[] = PX4_SENSOR1_BUS_CS_GPIO;
-static constexpr uint32_t spi2selects_gpio[] = PX4_SENSOR2_BUS_CS_GPIO;
+static constexpr uint32_t spi2selects_gpio[] = PX4_EXTERNAL1_BUS_CS_GPIO;
 static constexpr uint32_t spi4selects_gpio[] = PX4_SENSOR4_BUS_CS_GPIO;
 static constexpr uint32_t spi5selects_gpio[] = PX4_SENSOR5_BUS_CS_GPIO;
 
@@ -145,7 +145,7 @@ __EXPORT uint8_t stm32_spi1status(FAR struct spi_dev_s *dev, uint32_t devid)
 #if defined(CONFIG_STM32F7_SPI2)
 __EXPORT void stm32_spi2select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
 {
-	ASSERT(PX4_SPI_BUS_ID(devid) == PX4_SPI_BUS_SENSOR2);
+	ASSERT(PX4_SPI_BUS_ID(devid) == PX4_SPI_BUS_EXTERNAL1);
 
 	// Making sure the other peripherals are not selected
 	for (auto cs : spi2selects_gpio) {