From db5dbb25b3f6643659cabc747f6df0d79c9194e1 Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Mon, 15 Apr 2019 12:22:49 -0400
Subject: [PATCH] av/x-v1 board support cleanup and sync with fmu-v5
---
boards/av/x-v1/default.cmake | 11 +-
boards/av/x-v1/init/rc.board_sensors | 12 +-
boards/av/x-v1/src/CMakeLists.txt | 2 +-
boards/av/x-v1/src/board_config.h | 70 +----
boards/av/x-v1/src/init.c | 37 +--
boards/av/x-v1/src/manifest.c | 5 +-
boards/av/x-v1/src/sdio.c | 8 +-
boards/av/x-v1/src/spi.c | 428 ---------------------------
boards/av/x-v1/src/spi.cpp | 336 +++++++++++++++++++++
boards/av/x-v1/src/timer_config.c | 76 +++--
10 files changed, 426 insertions(+), 559 deletions(-)
delete mode 100644 boards/av/x-v1/src/spi.c
create mode 100644 boards/av/x-v1/src/spi.cpp
diff --git a/boards/av/x-v1/default.cmake b/boards/av/x-v1/default.cmake
index a62cc1bac7..6016c56e89 100644
--- a/boards/av/x-v1/default.cmake
+++ b/boards/av/x-v1/default.cmake
@@ -3,6 +3,7 @@ px4_add_board(
PLATFORM nuttx
VENDOR av
MODEL x-v1
+ LABEL default
TOOLCHAIN arm-none-eabi
ARCHITECTURE cortex-m7
ROMFSROOT px4fmu_common
@@ -19,8 +20,8 @@ px4_add_board(
DRIVERS
barometer # all available barometer drivers
batt_smbus
- camera_trigger
camera_capture
+ camera_trigger
differential_pressure # all available differential pressure drivers
distance_sensor # all available distance sensor drivers
gps
@@ -31,21 +32,22 @@ px4_add_board(
irlock
lights/blinkm
#lights/oreoled
+ #lights/pca8574
#lights/rgbled
+ #lights/rgbled_ncp5623c
#lights/rgbled_pwm
magnetometer # all available magnetometer drivers
#md25
mkblctrl
- #lights/pca8574
pca9685
#pmw3901
- protocol_splitter
+ #protocol_splitter
#pwm_input
pwm_out_sim
px4flow
px4fmu
rc_input
- roboclaw
+ #roboclaw
stm32
stm32/adc
stm32/armv7-m_dcache
@@ -104,7 +106,6 @@ px4_add_board(
top
topic_listener
tune_control
- #usb_connected
ver
EXAMPLES
diff --git a/boards/av/x-v1/init/rc.board_sensors b/boards/av/x-v1/init/rc.board_sensors
index 8309f659de..5b3ceeddc6 100644
--- a/boards/av/x-v1/init/rc.board_sensors
+++ b/boards/av/x-v1/init/rc.board_sensors
@@ -6,10 +6,18 @@
adis16477 -R 8 start
-#adis16497 start
-
lps22hb -S start
lsm303agr -R 4 start
ms4525_airspeed -T 4515 -b 3 start
+
+# TODO: try to autostart pmw3901
+# TODO: try to autostart adis16497 start
+
+# Possible external compasses
+ist8310 -C -b 1 start
+ist8310 -C -b 2 start
+hmc5883 -C -T -X start
+qmc5883 -X start
+
diff --git a/boards/av/x-v1/src/CMakeLists.txt b/boards/av/x-v1/src/CMakeLists.txt
index 4a80e72d5b..c72373d5b3 100644
--- a/boards/av/x-v1/src/CMakeLists.txt
+++ b/boards/av/x-v1/src/CMakeLists.txt
@@ -35,7 +35,7 @@ px4_add_library(drivers_board
init.c
manifest.c
sdio.c
- spi.c
+ spi.cpp
timer_config.c
)
target_link_libraries(drivers_board
diff --git a/boards/av/x-v1/src/board_config.h b/boards/av/x-v1/src/board_config.h
index 90324a6a06..c363a3330a 100644
--- a/boards/av/x-v1/src/board_config.h
+++ b/boards/av/x-v1/src/board_config.h
@@ -54,11 +54,6 @@
#define BOARD_HAS_NBAT_V 1 // Only one Vbat to ADC
#define BOARD_HAS_NBAT_I 0 // No Ibat ADC
-/* SENSORS are on SPI1, 5, 6
- * MEMORY is on bus SPI2
- * MS5611 is on bus SPI4
- */
-
#define PX4_SPI_BUS_SENSOR1 1
#define PX4_SPI_BUS_SENSOR2 2
#define PX4_SPI_BUS_SENSOR4 4
@@ -130,27 +125,19 @@
/* SPI1 */
#define PX4_SPIDEV_ADIS16477 PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSOR1,0)
#define PX4_SENSOR1_BUS_CS_GPIO {GPIO_SPI1_CS1_ADIS16477}
-#define PX4_SENSOR1_BUS_FIRST_CS PX4_SPIDEV_ADIS16477
-#define PX4_SENSOR1_BUS_LAST_CS PX4_SPIDEV_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_SENSOR2_BUS_FIRST_CS PX4_SPIDEV_ADIS16497
-#define PX4_SENSOR2_BUS_LAST_CS PX4_SPIDEV_ADIS16497
/* SPI4 */
#define PX4_SPIDEV_LPS22HB PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSOR4,0)
#define PX4_SENSOR4_BUS_CS_GPIO {GPIO_SPI4_CS1_LPS22HB}
-#define PX4_SENSOR4_BUS_FIRST_CS PX4_SPIDEV_LPS22HB
-#define PX4_SENSOR4_BUS_LAST_CS PX4_SPIDEV_LPS22HB
/* SPI5 */
#define PX4_SPIDEV_LSM303A_M PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSOR5,0)
#define PX4_SPIDEV_LSM303A_X PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSOR5,1)
#define PX4_SENSOR5_BUS_CS_GPIO {GPIO_SPI5_CS1_LSM303A_M, GPIO_SPI5_CS1_LSM303A_X}
-#define PX4_SENSOR5_BUS_FIRST_CS PX4_SPIDEV_LSM303A_M
-#define PX4_SENSOR5_BUS_LAST_CS PX4_SPIDEV_LSM303A_X
/* I2C busses */
#define PX4_I2C_BUS_EXPANSION 2
@@ -190,50 +177,9 @@
/* Define Channel numbers must match above GPIO pin IN(n)*/
#define ADC_BATTERY1_VOLTAGE_CHANNEL /* PA0 */ ADC1_CH(0)
-#define ADC_BATTERY1_CURRENT_CHANNEL /* PA1 */ ADC1_CH(1)
-#define ADC1_SPARE_2_CHANNEL /* PA4 */ ADC1_CH(4)
-#define ADC_RSSI_IN_CHANNEL /* PB0 */ ADC1_CH(8)
-#define ADC_SCALED_V5_CHANNEL /* PC0 */ ADC1_CH(10)
-#define ADC_SCALED_VDD_3V3_SENSORS_CHANNEL /* PC1 */ ADC1_CH(11)
-#define ADC_HW_VER_SENSE_CHANNEL /* PC2 */ ADC1_CH(12)
-#define ADC_HW_REV_SENSE_CHANNEL /* PC3 */ ADC1_CH(13)
-#define ADC1_SPARE_1_CHANNEL /* PC4 */ ADC1_CH(14)
-
-#if BOARD_HAS_NBAT_V == 2 && BOARD_HAS_NBAT_I == 2
-#define ADC_CHANNELS \
- ((1 << ADC_BATTERY1_VOLTAGE_CHANNEL) | \
- (1 << ADC_BATTERY1_CURRENT_CHANNEL) | \
- (1 << ADC_BATTERY2_VOLTAGE_CHANNEL) | \
- (1 << ADC_BATTERY2_CURRENT_CHANNEL) | \
- (1 << ADC1_SPARE_2_CHANNEL) | \
- (1 << ADC_RSSI_IN_CHANNEL) | \
- (1 << ADC_SCALED_V5_CHANNEL) | \
- (1 << ADC_SCALED_VDD_3V3_SENSORS_CHANNEL) | \
- (1 << ADC_HW_VER_SENSE_CHANNEL) | \
- (1 << ADC_HW_REV_SENSE_CHANNEL) | \
- (1 << ADC1_SPARE_1_CHANNEL))
-#elif BOARD_HAS_NBAT_V == 1 && BOARD_HAS_NBAT_I == 1
-#define ADC_CHANNELS \
- ((1 << ADC_BATTERY1_VOLTAGE_CHANNEL) | \
- (1 << ADC_BATTERY1_CURRENT_CHANNEL) | \
- (1 << ADC1_SPARE_2_CHANNEL) | \
- (1 << ADC_RSSI_IN_CHANNEL) | \
- (1 << ADC_SCALED_V5_CHANNEL) | \
- (1 << ADC_SCALED_VDD_3V3_SENSORS_CHANNEL) | \
- (1 << ADC_HW_VER_SENSE_CHANNEL) | \
- (1 << ADC_HW_REV_SENSE_CHANNEL) | \
- (1 << ADC1_SPARE_1_CHANNEL))
-#elif BOARD_HAS_NBAT_V == 1 && BOARD_HAS_NBAT_I == 0
+
#define ADC_CHANNELS \
- ((1 << ADC_BATTERY1_VOLTAGE_CHANNEL) | \
- (1 << ADC1_SPARE_2_CHANNEL) | \
- (1 << ADC_RSSI_IN_CHANNEL) | \
- (1 << ADC_SCALED_V5_CHANNEL) | \
- (1 << ADC_SCALED_VDD_3V3_SENSORS_CHANNEL) | \
- (1 << ADC_HW_VER_SENSE_CHANNEL) | \
- (1 << ADC_HW_REV_SENSE_CHANNEL) | \
- (1 << ADC1_SPARE_1_CHANNEL))
-#endif
+ ((1 << ADC_BATTERY1_VOLTAGE_CHANNEL))
/* Define Battery 1 Voltage Divider and A per V
*/
@@ -247,7 +193,7 @@
/* PWM
*
- * 8 PWM outputs are configured.
+ * 9 PWM outputs are configured.
*
* Pins:
*
@@ -259,6 +205,7 @@
* FMU_CH6 : PI6 : TIM8_CH2
* FMU_CH7 : PF7 : TIM11_CH1
* FMU_CH8 : PF6 : TIM10_CH1
+ * FMU_CH9 : PF6 : TIM4_CH3
*
*/
#define GPIO_TIM1_CH1OUT /* PA8 T1C1 FMU1 */ GPIO_TIM1_CH1OUT_1
@@ -269,6 +216,7 @@
#define GPIO_TIM8_CH2OUT /* PI6 T8C2 FMU6 */ GPIO_TIM8_CH2IN_2
#define GPIO_TIM11_CH1OUT /* PF7 T11C1 FMU7 */ GPIO_TIM11_CH1OUT_2
#define GPIO_TIM10_CH1OUT /* PF6 T10C1 FMU8 */ GPIO_TIM10_CH1OUT_2
+#define GPIO_TIM4_CH3OUT /* PD14 T4C3 FMU9 */ GPIO_TIM4_CH3OUT_1
#define DIRECT_PWM_OUTPUT_CHANNELS 8
@@ -278,8 +226,9 @@
#define GPIO_TIM1_CH4IN /* PA11 T1C4 FMU4 */ GPIO_TIM1_CH4IN_1
#define GPIO_TIM2_CH4IN /* PA3 T2C4 FMU5 */ GPIO_TIM2_CH4IN_1
#define GPIO_TIM8_CH2IN /* PI6 T8C2 FMU6 */ GPIO_TIM8_CH2IN_2
-//#define GPIO_TIM11_CH1IN /* PF7 T11C1 FMU7 */ GPIO_TIM11_CH1IN_2
-//#define GPIO_TIM10_CH1IN /* PF6 T10C1 FMU8 */ GPIO_TIM10_CH1IN_2
+#define GPIO_TIM11_CH1IN /* PF7 T11C1 FMU7 */ GPIO_TIM11_CH1IN_2
+#define GPIO_TIM10_CH1IN /* PF6 T10C1 FMU8 */ GPIO_TIM10_CH1IN_2
+#define GPIO_TIM4_CH3IN /* PD14 T4C3 FMU9 */ GPIO_TIM4_CH3IN_1
#define DIRECT_INPUT_TIMER_CHANNELS 8
@@ -298,6 +247,7 @@
#define GPIO_GPIO5_INPUT /* PI6 T8C2 FMU6 */ _MK_GPIO_INPUT(GPIO_TIM8_CH2IN_2)
#define GPIO_GPIO6_INPUT /* PF7 T11C1 FMU7 */ _MK_GPIO_INPUT(GPIO_TIM11_CH1IN_2)
#define GPIO_GPIO7_INPUT /* PF6 T10C1 FMU8 */ _MK_GPIO_INPUT(GPIO_TIM10_CH1IN_2)
+#define GPIO_GPIO8_INPUT /* PD14 T4C3 FMU9 */ _MK_GPIO_INPUT(GPIO_TIM4_CH3IN_2)
#define _MK_GPIO_OUTPUT(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR))
@@ -309,6 +259,7 @@
#define GPIO_GPIO5_OUTPUT /* PI6 T8C2 FMU6 */ _MK_GPIO_OUTPUT(GPIO_TIM8_CH2OUT_2)
#define GPIO_GPIO6_OUTPUT /* PF7 T11C1 FMU7 */ _MK_GPIO_OUTPUT(GPIO_TIM11_CH1OUT_2)
#define GPIO_GPIO7_OUTPUT /* PF6 T10C1 FMU8 */ _MK_GPIO_OUTPUT(GPIO_TIM10_CH1OUT_2)
+#define GPIO_GPIO8_OUTPUT /* PF6 T10C1 FMU9 */ _MK_GPIO_OUTPUT(GPIO_TIM4_CH3OUT_2)
/* High-resolution timer */
#define HRT_TIMER 5 /* use timer5 for the HRT */
@@ -360,6 +311,7 @@
/* The list of GPIO that will be initialized */
#define PX4_GPIO_PWM_INIT_LIST { \
+ GPIO_GPIO8_INPUT, \
GPIO_GPIO7_INPUT, \
GPIO_GPIO6_INPUT, \
GPIO_GPIO5_INPUT, \
diff --git a/boards/av/x-v1/src/init.c b/boards/av/x-v1/src/init.c
index 36feaa6c9d..89b64561ec 100644
--- a/boards/av/x-v1/src/init.c
+++ b/boards/av/x-v1/src/init.c
@@ -45,9 +45,7 @@
* Included Files
****************************************************************************/
-#include <px4_config.h>
-#include <px4_tasks.h>
-#include <px4_log.h>
+#include "board_config.h"
#include <stdbool.h>
#include <stdio.h>
@@ -55,6 +53,7 @@
#include <debug.h>
#include <errno.h>
+#include <nuttx/config.h>
#include <nuttx/board.h>
#include <nuttx/spi/spi.h>
#include <nuttx/i2c/i2c_master.h>
@@ -62,24 +61,17 @@
#include <nuttx/mmcsd.h>
#include <nuttx/analog/adc.h>
#include <nuttx/mm/gran.h>
-
#include <chip.h>
-#include "board_config.h"
-
#include <stm32_uart.h>
-
#include <arch/board/board.h>
+#include "up_internal.h"
#include <drivers/drv_hrt.h>
#include <drivers/drv_board_led.h>
-
#include <systemlib/px4_macros.h>
-
#include <px4_init.h>
#include <px4_i2c.h>
-#include "up_internal.h"
-
static int configure_switch(void);
/************************************************************************************
@@ -238,7 +230,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
/* configure the DMA allocator */
if (board_dma_alloc_init() < 0) {
- PX4_ERR("DMA alloc FAILED");
+ syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
}
/* set up the serial DMA polling */
@@ -260,27 +252,16 @@ __EXPORT int board_app_initialize(uintptr_t arg)
(void) board_hardfault_init(2, true);
-
-#ifdef CONFIG_SPI
- int ret = stm32_spi_bus_initialize();
-
- if (ret != OK) {
- PX4_ERR("SPI init failed");
- return ret;
- }
-
-#endif
-
#ifdef CONFIG_MMCSD
- ret = stm32_sdio_initialize();
+ int ret = stm32_sdio_initialize();
if (ret != OK) {
- PX4_ERR("SDIO init failed");
+ syslog(LOG_ERR, "[boot] SDIO init failed\n");
return ret;
}
-#endif
+#endif /* CONFIG_MMCSD */
configure_switch();
@@ -302,7 +283,7 @@ static int configure_switch(void)
struct i2c_master_s *i2c = px4_i2cbus_initialize(PX4_I2C_BUS_ONBOARD);
if (i2c == NULL) {
- PX4_ERR("I2C device not opened");
+ syslog(LOG_ERR, "[boot] I2C device not opened\n");
}
// ethernet switch enable
@@ -327,7 +308,7 @@ static int configure_switch(void)
break;
} else {
- PX4_ERR("ETH switch I2C fail: %d, retrying", ret);
+ syslog(LOG_ERR, "[boot] ETH switch I2C fail: %d, retrying\n", ret);
}
/* if we have already retried once, or we are going to give up, then reset the bus */
diff --git a/boards/av/x-v1/src/manifest.c b/boards/av/x-v1/src/manifest.c
index ff3d87b94d..a9e5898d8d 100644
--- a/boards/av/x-v1/src/manifest.c
+++ b/boards/av/x-v1/src/manifest.c
@@ -46,10 +46,11 @@
* Included Files
****************************************************************************/
-#include <px4_config.h>
+#include <nuttx/config.h>
+#include <board_config.h>
+
#include <stdbool.h>
#include "systemlib/px4_macros.h"
-#include "px4_log.h"
/************************************************************************************
* Name: board_rc_input
diff --git a/boards/av/x-v1/src/sdio.c b/boards/av/x-v1/src/sdio.c
index f7335c66bc..93e25a8f8a 100644
--- a/boards/av/x-v1/src/sdio.c
+++ b/boards/av/x-v1/src/sdio.c
@@ -36,8 +36,8 @@
* Included Files
****************************************************************************/
-#include <px4_config.h>
-#include <px4_log.h>
+#include <nuttx/config.h>
+#include <board_config.h>
#include <stdbool.h>
#include <stdio.h>
@@ -137,7 +137,7 @@ int stm32_sdio_initialize(void)
sdio_dev = sdio_initialize(SDIO_SLOTNO);
if (!sdio_dev) {
- PX4_ERR("[boot] Failed to initialize SDIO slot %d\n", SDIO_SLOTNO);
+ syslog(LOG_ERR, "[boot] Failed to initialize SDIO slot %d\n", SDIO_SLOTNO);
return -ENODEV;
}
@@ -148,7 +148,7 @@ int stm32_sdio_initialize(void)
ret = mmcsd_slotinitialize(SDIO_MINOR, sdio_dev);
if (ret != OK) {
- PX4_ERR("[boot] Failed to bind SDIO to the MMC/SD driver: %d\n", ret);
+ syslog(LOG_ERR, "[boot] Failed to bind SDIO to the MMC/SD driver: %d\n", ret);
return ret;
}
diff --git a/boards/av/x-v1/src/spi.c b/boards/av/x-v1/src/spi.c
deleted file mode 100644
index d1fe890255..0000000000
--- a/boards/av/x-v1/src/spi.c
+++ /dev/null
@@ -1,428 +0,0 @@
-/****************************************************************************
- *
- * Copyright (C) 2018 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.
- *
- ****************************************************************************/
-
-/**
- * @file px4fmu_spi.c
- *
- * Board-specific SPI functions.
- */
-
-/************************************************************************************
- * Included Files
- ************************************************************************************/
-
-#include <px4_config.h>
-#include <px4_log.h>
-
-#include <stdint.h>
-#include <stdbool.h>
-#include <debug.h>
-#include <unistd.h>
-
-#include <nuttx/spi/spi.h>
-#include <arch/board/board.h>
-#include <systemlib/px4_macros.h>
-
-#include <up_arch.h>
-#include <chip.h>
-#include <stm32_gpio.h>
-#include "board_config.h"
-
-/****************************************************************************
- * Pre-Processor Definitions
- ****************************************************************************/
-
-/* Configuration ************************************************************/
-
-/* Debug ********************************************************************/
-
-/* Define CS GPIO array */
-static const uint32_t spi1selects_gpio[] = PX4_SENSOR1_BUS_CS_GPIO;
-static const uint32_t spi2selects_gpio[] = PX4_SENSOR2_BUS_CS_GPIO;
-static const uint32_t spi4selects_gpio[] = PX4_SENSOR4_BUS_CS_GPIO;
-static const uint32_t spi5selects_gpio[] = PX4_SENSOR5_BUS_CS_GPIO;
-
-
-/************************************************************************************
- * Public Functions
- ************************************************************************************/
-
-/************************************************************************************
- * Name: stm32_spiinitialize
- *
- * Description:
- * Called to configure SPI chip select GPIO pins for the PX4FMU board.
- *
- ************************************************************************************/
-
-__EXPORT void stm32_spiinitialize(void)
-{
- board_gpio_init(spi1selects_gpio, arraySize(spi1selects_gpio));
- board_gpio_init(spi2selects_gpio, arraySize(spi2selects_gpio));
- board_gpio_init(spi4selects_gpio, arraySize(spi4selects_gpio));
- board_gpio_init(spi5selects_gpio, arraySize(spi5selects_gpio));
-}
-
-/************************************************************************************
- * Name: stm32_spi_bus_initialize
- *
- * Description:
- * Called to configure SPI buses on PX4FMU board.
- *
- ************************************************************************************/
-static struct spi_dev_s *spi_sensor1;
-static struct spi_dev_s *spi_sensor2;
-static struct spi_dev_s *spi_sensor4;
-static struct spi_dev_s *spi_sensor5;
-
-__EXPORT int stm32_spi_bus_initialize(void)
-{
- /* Configure SPI-based devices */
-
-
- /* Get the SPI port for the Sensors */
- spi_sensor1 = stm32_spibus_initialize(PX4_SPI_BUS_SENSOR1);
-
- if (!spi_sensor1) {
- PX4_ERR("[boot] FAILED to initialize SPI port %d\n", PX4_SPI_BUS_SENSOR1);
- return -ENODEV;
- }
-
- /* Default PX4_SPI_BUS_SENSORS to 1MHz and de-assert the known chip selects. */
- SPI_SETFREQUENCY(spi_sensor1, 1000000);
- SPI_SETBITS(spi_sensor1, 16);
- SPI_SETMODE(spi_sensor1, SPIDEV_MODE3);
-
- for (int cs = PX4_SENSOR1_BUS_FIRST_CS; cs <= PX4_SENSOR1_BUS_LAST_CS; cs++) {
- SPI_SELECT(spi_sensor1, cs, false);
- }
-
-
- /* Get the SPI port for the Memory */
- spi_sensor2 = stm32_spibus_initialize(PX4_SPI_BUS_SENSOR2);
-
- if (!spi_sensor2) {
- PX4_ERR("[boot] FAILED to initialize SPI port %d\n", PX4_SPI_BUS_SENSOR2);
- return -ENODEV;
- }
-
- /* Default PX4_SPI_BUS_SENSOR2 to 1MHz and de-assert the known chip selects. */
- SPI_SETFREQUENCY(spi_sensor2, 1000000);
- SPI_SETBITS(spi_sensor2, 8);
- SPI_SETMODE(spi_sensor2, SPIDEV_MODE3);
-
- for (int cs = PX4_SENSOR2_BUS_FIRST_CS; cs <= PX4_SENSOR2_BUS_LAST_CS; cs++) {
- SPI_SELECT(spi_sensor2, cs, false);
- }
-
-
- /* Get the SPI port for the BARO */
- spi_sensor4 = stm32_spibus_initialize(PX4_SPI_BUS_SENSOR4);
-
- if (!spi_sensor4) {
- PX4_ERR("[boot] FAILED to initialize SPI port %d\n", PX4_SPI_BUS_SENSOR4);
- return -ENODEV;
- }
-
- SPI_SETFREQUENCY(spi_sensor4, 1 * 1000 * 1000);
- SPI_SETBITS(spi_sensor4, 8);
- SPI_SETMODE(spi_sensor4, SPIDEV_MODE3);
-
- for (int cs = PX4_SENSOR4_BUS_FIRST_CS; cs <= PX4_SENSOR4_BUS_LAST_CS; cs++) {
- SPI_SELECT(spi_sensor4, cs, false);
- }
-
-
- /* Get the SPI port for the PX4_SPI_EXTERNAL1 */
- spi_sensor5 = stm32_spibus_initialize(PX4_SPI_BUS_SENSOR5);
-
- if (!spi_sensor5) {
- PX4_ERR("[boot] FAILED to initialize SPI port %d\n", PX4_SPI_BUS_SENSOR5);
- return -ENODEV;
- }
-
- SPI_SETFREQUENCY(spi_sensor5, 1 * 1000 * 1000);
- SPI_SETBITS(spi_sensor5, 8);
- SPI_SETMODE(spi_sensor5, SPIDEV_MODE3);
-
- for (int cs = PX4_SENSOR5_BUS_FIRST_CS; cs <= PX4_SENSOR5_BUS_LAST_CS; cs++) {
- SPI_SELECT(spi_sensor5, cs, false);
- }
-
- return OK;
-}
-
-/************************************************************************************
- * Name: stm32_spi1select and stm32_spi1status
- *
- * Description:
- * Called by stm32 spi driver on bus 1.
- *
- ************************************************************************************/
-
-__EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
-{
- /* SPI select is active low, so write !selected to select the device */
- int sel = (int) devid;
- ASSERT(PX4_SPI_BUS_ID(sel) == PX4_SPI_BUS_SENSOR1);
-
- /* Making sure the other peripherals are not selected */
- for (size_t cs = 0; arraySize(spi1selects_gpio) > 1 && cs < arraySize(spi1selects_gpio); cs++) {
- if (spi1selects_gpio[cs] != 0) {
- stm32_gpiowrite(spi1selects_gpio[cs], 1);
- }
- }
-
- uint32_t gpio = spi1selects_gpio[PX4_SPI_DEV_ID(sel)];
-
- if (gpio) {
- stm32_gpiowrite(gpio, !selected);
- }
-}
-
-__EXPORT uint8_t stm32_spi1status(FAR struct spi_dev_s *dev, uint32_t devid)
-{
- return SPI_STATUS_PRESENT;
-}
-
-
-/************************************************************************************
- * Name: stm32_spi2select and stm32_spi2status
- *
- * Description:
- * Called by stm32 spi driver on bus 2.
- *
- ************************************************************************************/
-
-__EXPORT void stm32_spi2select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
-{
- /* SPI select is active low, so write !selected to select the device */
- int sel = (int) devid;
- ASSERT(PX4_SPI_BUS_ID(sel) == PX4_SPI_BUS_SENSOR2);
-
- /* Making sure the other peripherals are not selected */
-
- for (int cs = 0; arraySize(spi2selects_gpio) > 1 && cs < arraySize(spi2selects_gpio); cs++) {
- if (spi2selects_gpio[cs] != 0) {
- stm32_gpiowrite(spi2selects_gpio[cs], 1);
- }
- }
-
- uint32_t gpio = spi2selects_gpio[PX4_SPI_DEV_ID(sel)];
-
- if (gpio) {
- stm32_gpiowrite(gpio, !selected);
- }
-}
-
-__EXPORT uint8_t stm32_spi2status(FAR struct spi_dev_s *dev, uint32_t devid)
-{
- return SPI_STATUS_PRESENT;
-}
-
-
-/************************************************************************************
- * Name: stm32_spi4select and stm32_spi4status
- *
- * Description:
- * Called by stm32 spi driver on bus 4.
- *
- ************************************************************************************/
-
-__EXPORT void stm32_spi4select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
-{
- int sel = (int) devid;
- ASSERT(PX4_SPI_BUS_ID(sel) == PX4_SPI_BUS_SENSOR4);
-
- /* Making sure the other peripherals are not selected */
- for (size_t cs = 0; arraySize(spi4selects_gpio) > 1 && cs < arraySize(spi4selects_gpio); cs++) {
- stm32_gpiowrite(spi4selects_gpio[cs], 1);
- }
-
- uint32_t gpio = spi4selects_gpio[PX4_SPI_DEV_ID(sel)];
-
- if (gpio) {
- stm32_gpiowrite(gpio, !selected);
- }
-}
-
-__EXPORT uint8_t stm32_spi4status(FAR struct spi_dev_s *dev, uint32_t devid)
-{
- return SPI_STATUS_PRESENT;
-}
-
-/************************************************************************************
- * Name: stm32_spi5select and stm32_spi5status
- *
- * Description:
- * Called by stm32 spi driver on bus 5.
- *
- ************************************************************************************/
-
-__EXPORT void stm32_spi5select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
-{
- /* SPI select is active low, so write !selected to select the device */
- int sel = (int) devid;
- ASSERT(PX4_SPI_BUS_ID(sel) == PX4_SPI_BUS_SENSOR5);
-
- /* Making sure the other peripherals are not selected */
- for (size_t cs = 0; arraySize(spi5selects_gpio) > 1 && cs < arraySize(spi5selects_gpio); cs++) {
- stm32_gpiowrite(spi5selects_gpio[cs], 1);
- }
-
- uint32_t gpio = spi5selects_gpio[PX4_SPI_DEV_ID(sel)];
-
- if (gpio) {
- stm32_gpiowrite(gpio, !selected);
- }
-}
-
-__EXPORT uint8_t stm32_spi5status(FAR struct spi_dev_s *dev, uint32_t devid)
-{
- return SPI_STATUS_PRESENT;
-}
-
-
-/************************************************************************************
- * Name: board_spi_reset
- *
- * Description:
- *
- *
- ************************************************************************************/
-
-__EXPORT void board_spi_reset(int ms)
-{
- /* disable SPI bus */
-
- // SPI1
- for (size_t cs = 0; arraySize(spi1selects_gpio) > 1 && cs < arraySize(spi1selects_gpio); cs++) {
- if (spi1selects_gpio[cs] != 0) {
- stm32_configgpio(_PIN_OFF(spi1selects_gpio[cs]));
- }
- }
-
- stm32_configgpio(GPIO_SPI1_SCK_OFF);
- stm32_configgpio(GPIO_SPI1_MISO_OFF);
- stm32_configgpio(GPIO_SPI1_MOSI_OFF);
-
- // SPI2
- for (size_t cs = 0; arraySize(spi2selects_gpio) > 1 && cs < arraySize(spi2selects_gpio); cs++) {
- if (spi2selects_gpio[cs] != 0) {
- stm32_configgpio(_PIN_OFF(spi2selects_gpio[cs]));
- }
- }
-
- stm32_configgpio(GPIO_SPI2_SCK_OFF);
- stm32_configgpio(GPIO_SPI2_MISO_OFF);
- stm32_configgpio(GPIO_SPI2_MOSI_OFF);
-
- // SPI4
- for (size_t cs = 0; arraySize(spi4selects_gpio) > 1 && cs < arraySize(spi4selects_gpio); cs++) {
- if (spi4selects_gpio[cs] != 0) {
- stm32_configgpio(_PIN_OFF(spi4selects_gpio[cs]));
- }
- }
-
- stm32_configgpio(GPIO_SPI4_SCK_OFF);
- stm32_configgpio(GPIO_SPI4_MISO_OFF);
- stm32_configgpio(GPIO_SPI4_MOSI_OFF);
-
- // SPI5
- for (size_t cs = 0; arraySize(spi5selects_gpio) > 1 && cs < arraySize(spi5selects_gpio); cs++) {
- if (spi5selects_gpio[cs] != 0) {
- stm32_configgpio(_PIN_OFF(spi5selects_gpio[cs]));
- }
- }
-
- stm32_configgpio(GPIO_SPI5_SCK_OFF);
- stm32_configgpio(GPIO_SPI5_MISO_OFF);
- stm32_configgpio(GPIO_SPI5_MOSI_OFF);
-
-
- /* wait for the sensor rail to reach GND */
- usleep(ms * 1000);
- PX4_INFO("reset done, %d ms", ms);
-
- /* re-enable power */
-
- /* wait a bit before starting SPI, different times didn't influence results */
- usleep(100);
-
- /* reconfigure the SPI pins */
-
- // SPI1
- for (size_t cs = 0; arraySize(spi1selects_gpio) > 1 && cs < arraySize(spi1selects_gpio); cs++) {
- if (spi1selects_gpio[cs] != 0) {
- stm32_configgpio(spi1selects_gpio[cs]);
- }
- }
-
- stm32_configgpio(GPIO_SPI1_SCK);
- stm32_configgpio(GPIO_SPI1_MISO);
- stm32_configgpio(GPIO_SPI1_MOSI);
-
- // SPI2
- for (size_t cs = 0; arraySize(spi2selects_gpio) > 1 && cs < arraySize(spi2selects_gpio); cs++) {
- if (spi2selects_gpio[cs] != 0) {
- stm32_configgpio(spi2selects_gpio[cs]);
- }
- }
-
- stm32_configgpio(GPIO_SPI2_SCK);
- stm32_configgpio(GPIO_SPI2_MISO);
- stm32_configgpio(GPIO_SPI2_MOSI);
-
- // SPI4
- for (size_t cs = 0; arraySize(spi4selects_gpio) > 1 && cs < arraySize(spi4selects_gpio); cs++) {
- if (spi4selects_gpio[cs] != 0) {
- stm32_configgpio(spi4selects_gpio[cs]);
- }
- }
-
- stm32_configgpio(GPIO_SPI4_SCK);
- stm32_configgpio(GPIO_SPI4_MISO);
- stm32_configgpio(GPIO_SPI4_MOSI);
-
- // SPI5
- for (size_t cs = 0; arraySize(spi5selects_gpio) > 1 && cs < arraySize(spi5selects_gpio); cs++) {
- if (spi5selects_gpio[cs] != 0) {
- stm32_configgpio(spi5selects_gpio[cs]);
- }
- }
-
- stm32_configgpio(GPIO_SPI5_SCK);
- stm32_configgpio(GPIO_SPI5_MISO);
- stm32_configgpio(GPIO_SPI5_MOSI);
-
-}
diff --git a/boards/av/x-v1/src/spi.cpp b/boards/av/x-v1/src/spi.cpp
new file mode 100644
index 0000000000..23ca949222
--- /dev/null
+++ b/boards/av/x-v1/src/spi.cpp
@@ -0,0 +1,336 @@
+/****************************************************************************
+ *
+ * Copyright (C) 2018 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file px4fmu_spi.c
+ *
+ * Board-specific SPI functions.
+ */
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include <board_config.h>
+
+#include <stdint.h>
+#include <stdbool.h>
+#include <debug.h>
+#include <unistd.h>
+
+#include <nuttx/spi/spi.h>
+#include <arch/board/board.h>
+#include <systemlib/px4_macros.h>
+
+#include <up_arch.h>
+#include <chip.h>
+#include <stm32_gpio.h>
+
+/* 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 spi4selects_gpio[] = PX4_SENSOR4_BUS_CS_GPIO;
+static constexpr uint32_t spi5selects_gpio[] = PX4_SENSOR5_BUS_CS_GPIO;
+
+/************************************************************************************
+ * Name: stm32_spiinitialize
+ *
+ * Description:
+ * Called to configure SPI chip select GPIO pins for the PX4FMU board.
+ *
+ ************************************************************************************/
+
+__EXPORT void stm32_spiinitialize()
+{
+#ifdef CONFIG_STM32F7_SPI1
+
+ for (auto gpio : spi1selects_gpio) {
+ px4_arch_configgpio(gpio);
+ }
+
+#endif // CONFIG_STM32F7_SPI1
+
+
+#if defined(CONFIG_STM32F7_SPI2)
+
+ for (auto gpio : spi2selects_gpio) {
+ px4_arch_configgpio(gpio);
+ }
+
+#endif // CONFIG_STM32F7_SPI2
+
+
+#ifdef CONFIG_STM32F7_SPI4
+
+ for (auto gpio : spi4selects_gpio) {
+ px4_arch_configgpio(gpio);
+ }
+
+#endif // CONFIG_STM32F7_SPI4
+
+
+#ifdef CONFIG_STM32F7_SPI5
+
+ for (auto gpio : spi5selects_gpio) {
+ px4_arch_configgpio(gpio);
+ }
+
+#endif // CONFIG_STM32F7_SPI5
+}
+
+/************************************************************************************
+ * Name: stm32_spi1select and stm32_spi1status
+ *
+ * Description:
+ * Called by stm32 spi driver on bus 1.
+ *
+ ************************************************************************************/
+#ifdef CONFIG_STM32F7_SPI1
+__EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
+{
+ ASSERT(PX4_SPI_BUS_ID(devid) == PX4_SPI_BUS_SENSOR1);
+
+ // Making sure the other peripherals are not selected
+ for (auto cs : spi1selects_gpio) {
+ stm32_gpiowrite(cs, 1);
+ }
+
+ // SPI select is active low, so write !selected to select the device
+ stm32_gpiowrite(spi1selects_gpio[PX4_SPI_DEV_ID(devid)], !selected);
+}
+
+__EXPORT uint8_t stm32_spi1status(FAR struct spi_dev_s *dev, uint32_t devid)
+{
+ return SPI_STATUS_PRESENT;
+}
+#endif // CONFIG_STM32F7_SPI1
+
+/************************************************************************************
+ * Name: stm32_spi2select and stm32_spi2status
+ *
+ * Description:
+ * Called by stm32 spi driver on bus 2.
+ *
+ ************************************************************************************/
+#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);
+
+ // Making sure the other peripherals are not selected
+ for (auto cs : spi2selects_gpio) {
+ stm32_gpiowrite(cs, 1);
+ }
+
+ // SPI select is active low, so write !selected to select the device
+ stm32_gpiowrite(spi2selects_gpio[PX4_SPI_DEV_ID(devid)], !selected);
+}
+
+__EXPORT uint8_t stm32_spi2status(FAR struct spi_dev_s *dev, uint32_t devid)
+{
+ return SPI_STATUS_PRESENT;
+}
+#endif // CONFIG_STM32F7_SPI2
+
+/************************************************************************************
+ * Name: stm32_spi4select and stm32_spi4status
+ *
+ * Description:
+ * Called by stm32 spi driver on bus 4.
+ *
+ ************************************************************************************/
+#ifdef CONFIG_STM32F7_SPI4
+__EXPORT void stm32_spi4select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
+{
+ ASSERT(PX4_SPI_BUS_ID(devid) == PX4_SPI_BUS_SENSOR4);
+
+ // Making sure the other peripherals are not selected
+ for (auto cs : spi4selects_gpio) {
+ stm32_gpiowrite(cs, 1);
+ }
+
+ // SPI select is active low, so write !selected to select the device
+ stm32_gpiowrite(spi4selects_gpio[PX4_SPI_DEV_ID(devid)], !selected);
+}
+
+__EXPORT uint8_t stm32_spi4status(FAR struct spi_dev_s *dev, uint32_t devid)
+{
+ return SPI_STATUS_PRESENT;
+}
+#endif // CONFIG_STM32F7_SPI4
+
+/************************************************************************************
+ * Name: stm32_spi5select and stm32_spi5status
+ *
+ * Description:
+ * Called by stm32 spi driver on bus 5.
+ *
+ ************************************************************************************/
+#ifdef CONFIG_STM32F7_SPI5
+__EXPORT void stm32_spi5select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
+{
+ ASSERT(PX4_SPI_BUS_ID(devid) == PX4_SPI_BUS_SENSOR5);
+
+ // Making sure the other peripherals are not selected
+ for (auto cs : spi5selects_gpio) {
+ stm32_gpiowrite(cs, 1);
+ }
+
+ // SPI select is active low, so write !selected to select the device
+ stm32_gpiowrite(spi5selects_gpio[PX4_SPI_DEV_ID(devid)], !selected);
+}
+
+__EXPORT uint8_t stm32_spi5status(FAR struct spi_dev_s *dev, uint32_t devid)
+{
+ return SPI_STATUS_PRESENT;
+}
+#endif // CONFIG_STM32F7_SPI5
+
+/************************************************************************************
+ * Name: board_spi_reset
+ *
+ * Description:
+ *
+ *
+ ************************************************************************************/
+
+__EXPORT void board_spi_reset(int ms)
+{
+#ifdef CONFIG_STM32F7_SPI1
+
+ // disable SPI1
+ for (auto cs : spi1selects_gpio) {
+ stm32_configgpio(_PIN_OFF(cs));
+ }
+
+ stm32_configgpio(GPIO_SPI1_SCK_OFF);
+ stm32_configgpio(GPIO_SPI1_MISO_OFF);
+ stm32_configgpio(GPIO_SPI1_MOSI_OFF);
+#endif // CONFIG_STM32F7_SPI1
+
+#ifdef CONFIG_STM32F7_SPI2
+
+ // disable SPI2
+ for (auto cs : spi2selects_gpio) {
+ stm32_configgpio(_PIN_OFF(cs));
+ }
+
+ stm32_configgpio(GPIO_SPI2_SCK_OFF);
+ stm32_configgpio(GPIO_SPI2_MISO_OFF);
+ stm32_configgpio(GPIO_SPI2_MOSI_OFF);
+#endif // CONFIG_STM32F7_SPI2
+
+#ifdef CONFIG_STM32F7_SPI4
+
+ // disable SPI4
+ for (auto cs : spi4selects_gpio) {
+ stm32_configgpio(_PIN_OFF(cs));
+ }
+
+ stm32_configgpio(GPIO_SPI4_SCK_OFF);
+ stm32_configgpio(GPIO_SPI4_MISO_OFF);
+ stm32_configgpio(GPIO_SPI4_MOSI_OFF);
+#endif // CONFIG_STM32F7_SPI4
+
+#ifdef CONFIG_STM32F7_SPI5
+
+ // disable SPI5
+ for (auto cs : spi5selects_gpio) {
+ stm32_configgpio(_PIN_OFF(cs));
+ }
+
+ stm32_configgpio(GPIO_SPI5_SCK_OFF);
+ stm32_configgpio(GPIO_SPI5_MISO_OFF);
+ stm32_configgpio(GPIO_SPI5_MOSI_OFF);
+#endif // CONFIG_STM32F7_SPI5
+
+
+ /* wait for the sensor rail to reach GND */
+ usleep(ms * 1000);
+ syslog(LOG_DEBUG, "reset done, %d ms\n", ms);
+
+ /* re-enable power */
+
+ /* wait a bit before starting SPI, different times didn't influence results */
+ usleep(100);
+
+ /* reconfigure the SPI pins */
+
+#ifdef CONFIG_STM32F7_SPI1
+
+ // re-enable SPI1
+ for (auto cs : spi1selects_gpio) {
+ stm32_configgpio(cs);
+ }
+
+ stm32_configgpio(GPIO_SPI1_SCK);
+ stm32_configgpio(GPIO_SPI1_MISO);
+ stm32_configgpio(GPIO_SPI1_MOSI);
+#endif // CONFIG_STM32F7_SPI1
+
+#ifdef CONFIG_STM32F7_SPI2
+
+ // re-enable SPI2
+ for (auto cs : spi2selects_gpio) {
+ stm32_configgpio(cs);
+ }
+
+ stm32_configgpio(GPIO_SPI2_SCK);
+ stm32_configgpio(GPIO_SPI2_MISO);
+ stm32_configgpio(GPIO_SPI2_MOSI);
+#endif // CONFIG_STM32F7_SPI2
+
+#ifdef CONFIG_STM32F7_SPI4
+
+ // re-enable SPI4
+ for (auto cs : spi4selects_gpio) {
+ stm32_configgpio(cs);
+ }
+
+ stm32_configgpio(GPIO_SPI4_SCK);
+ stm32_configgpio(GPIO_SPI4_MISO);
+ stm32_configgpio(GPIO_SPI4_MOSI);
+#endif // CONFIG_STM32F7_SPI4
+
+#ifdef CONFIG_STM32F7_SPI5
+
+ // re-enable SPI5
+ for (auto cs : spi5selects_gpio) {
+ stm32_configgpio(cs);
+ }
+
+ stm32_configgpio(GPIO_SPI5_SCK);
+ stm32_configgpio(GPIO_SPI5_MISO);
+ stm32_configgpio(GPIO_SPI5_MOSI);
+#endif // CONFIG_STM32F7_SPI5
+}
diff --git a/boards/av/x-v1/src/timer_config.c b/boards/av/x-v1/src/timer_config.c
index bb76bd303f..e13e4924b7 100644
--- a/boards/av/x-v1/src/timer_config.c
+++ b/boards/av/x-v1/src/timer_config.c
@@ -60,35 +60,34 @@ __EXPORT const io_timers_t io_timers[MAX_IO_TIMERS] = {
.last_channel_index = 3,
.handler = io_timer_handler0,
.vectorno = STM32_IRQ_TIM1CC,
-
},
{
.base = STM32_TIM2_BASE,
.clock_register = STM32_RCC_APB1ENR,
.clock_bit = RCC_APB1ENR_TIM2EN,
.clock_freq = STM32_APB1_TIM2_CLKIN,
- .first_channel_index = 3,
- .last_channel_index = 3,
+ .first_channel_index = 4,
+ .last_channel_index = 4,
.handler = io_timer_handler1,
.vectorno = STM32_IRQ_TIM2,
},
{
.base = STM32_TIM8_BASE,
- .clock_register = STM32_RCC_APB1ENR,
+ .clock_register = STM32_RCC_APB2ENR,
.clock_bit = RCC_APB2ENR_TIM10EN,
.clock_freq = STM32_APB2_TIM8_CLKIN,
- .first_channel_index = 3,
- .last_channel_index = 3,
+ .first_channel_index = 5,
+ .last_channel_index = 5,
.handler = io_timer_handler2,
- .vectorno = STM32_IRQ_TIM8CC, // REVIEW
+ .vectorno = STM32_IRQ_TIM8CC,
},
{
.base = STM32_TIM11_BASE,
- .clock_register = STM32_RCC_APB1ENR,
+ .clock_register = STM32_RCC_APB2ENR,
.clock_bit = RCC_APB2ENR_TIM11EN,
.clock_freq = STM32_APB2_TIM11_CLKIN,
- .first_channel_index = 2,
- .last_channel_index = 2,
+ .first_channel_index = 6,
+ .last_channel_index = 6,
.handler = io_timer_handler3,
.vectorno = STM32_IRQ_TIM11,
},
@@ -97,12 +96,21 @@ __EXPORT const io_timers_t io_timers[MAX_IO_TIMERS] = {
.clock_register = STM32_RCC_APB2ENR,
.clock_bit = RCC_APB2ENR_TIM10EN,
.clock_freq = STM32_APB2_TIM10_CLKIN,
- .first_channel_index = 0,
- .last_channel_index = 0,
+ .first_channel_index = 7,
+ .last_channel_index = 7,
.handler = io_timer_handler4,
.vectorno = STM32_IRQ_TIM10,
-
- }
+ },
+ // {
+ // .base = STM32_TIM4_BASE,
+ // .clock_register = STM32_RCC_APB1ENR,
+ // .clock_bit = RCC_APB1ENR_TIM4EN,
+ // .clock_freq = STM32_APB1_TIM4_CLKIN,
+ // .first_channel_index = 8,
+ // .last_channel_index = 8,
+ // .handler = io_timer_handler5,
+ // .vectorno = STM32_IRQ_TIM4,
+ // }
};
__EXPORT const timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
@@ -154,20 +162,28 @@ __EXPORT const timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
.ccr_offset = STM32_GTIM_CCR2_OFFSET,
.masks = GTIM_SR_CC2IF | GTIM_SR_CC2OF
},
-// {
-// .gpio_out = GPIO_TIM11_CH1OUT,
-// .gpio_in = GPIO_TIM11_CH1IN,
-// .timer_index = 3,
-// .timer_channel = 1,
-// .ccr_offset = STM32_GTIM_CCR1_OFFSET,
-// .masks = GTIM_SR_CC1IF | GTIM_SR_CC1F
-// },
-// {
-// .gpio_out = GPIO_TIM10_CH1OUT,
-// .gpio_in = GPIO_TIM10_CH1IN,
-// .timer_index = 4,
-// .timer_channel = 1,
-// .ccr_offset = STM32_GTIM_CCR1_OFFSET,
-// .masks = GTIM_SR_CC1IF | GTIM_SR_CC1OF
-// }
+ {
+ .gpio_out = GPIO_TIM11_CH1OUT,
+ .gpio_in = GPIO_TIM11_CH1IN,
+ .timer_index = 3,
+ .timer_channel = 1,
+ .ccr_offset = STM32_GTIM_CCR1_OFFSET,
+ .masks = GTIM_SR_CC1IF | GTIM_SR_CC1OF
+ },
+ {
+ .gpio_out = GPIO_TIM10_CH1OUT,
+ .gpio_in = GPIO_TIM10_CH1IN,
+ .timer_index = 4,
+ .timer_channel = 1,
+ .ccr_offset = STM32_GTIM_CCR1_OFFSET,
+ .masks = GTIM_SR_CC1IF | GTIM_SR_CC1OF
+ },
+ // {
+ // .gpio_out = GPIO_TIM4_CH3OUT,
+ // .gpio_in = GPIO_TIM4_CH3IN,
+ // .timer_index = 5,
+ // .timer_channel = 3,
+ // .ccr_offset = STM32_GTIM_CCR3_OFFSET,
+ // .masks = GTIM_SR_CC3IF | GTIM_SR_CC3OF
+ // }
};
--
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