Skip to content
Snippets Groups Projects
Commit db5dbb25 authored by Daniel Agar's avatar Daniel Agar
Browse files

av/x-v1 board support cleanup and sync with fmu-v5

parent 56591954
No related branches found
No related tags found
No related merge requests found
Hide whitespace changes
Inline Side-by-side
Showing
with 426 additions and 131 deletions
boards/av/x-v1/default.cmake
+ 6
− 5
View file @ db5dbb25
...@@ -3,6 +3,7 @@ px4_add_board( ...@@ -3,6 +3,7 @@ px4_add_board(
PLATFORM nuttx PLATFORM nuttx
VENDOR av VENDOR av
MODEL x-v1 MODEL x-v1
LABEL default
TOOLCHAIN arm-none-eabi TOOLCHAIN arm-none-eabi
ARCHITECTURE cortex-m7 ARCHITECTURE cortex-m7
ROMFSROOT px4fmu_common ROMFSROOT px4fmu_common
...@@ -19,8 +20,8 @@ px4_add_board( ...@@ -19,8 +20,8 @@ px4_add_board(
DRIVERS DRIVERS
barometer # all available barometer drivers barometer # all available barometer drivers
batt_smbus batt_smbus
camera_trigger
camera_capture camera_capture
camera_trigger
differential_pressure # all available differential pressure drivers differential_pressure # all available differential pressure drivers
distance_sensor # all available distance sensor drivers distance_sensor # all available distance sensor drivers
gps gps
...@@ -31,21 +32,22 @@ px4_add_board( ...@@ -31,21 +32,22 @@ px4_add_board(
irlock irlock
lights/blinkm lights/blinkm
#lights/oreoled #lights/oreoled
#lights/pca8574
#lights/rgbled #lights/rgbled
#lights/rgbled_ncp5623c
#lights/rgbled_pwm #lights/rgbled_pwm
magnetometer # all available magnetometer drivers magnetometer # all available magnetometer drivers
#md25 #md25
mkblctrl mkblctrl
#lights/pca8574
pca9685 pca9685
#pmw3901 #pmw3901
protocol_splitter #protocol_splitter
#pwm_input #pwm_input
pwm_out_sim pwm_out_sim
px4flow px4flow
px4fmu px4fmu
rc_input rc_input
roboclaw #roboclaw
stm32 stm32
stm32/adc stm32/adc
stm32/armv7-m_dcache stm32/armv7-m_dcache
...@@ -104,7 +106,6 @@ px4_add_board( ...@@ -104,7 +106,6 @@ px4_add_board(
top top
topic_listener topic_listener
tune_control tune_control
#usb_connected
ver ver
EXAMPLES EXAMPLES
......
boards/av/x-v1/init/rc.board_sensors
+ 10
− 2
View file @ db5dbb25
...@@ -6,10 +6,18 @@ ...@@ -6,10 +6,18 @@
adis16477 -R 8 start adis16477 -R 8 start
#adis16497 start
lps22hb -S start lps22hb -S start
lsm303agr -R 4 start lsm303agr -R 4 start
ms4525_airspeed -T 4515 -b 3 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
boards/av/x-v1/src/CMakeLists.txt
+ 1
− 1
View file @ db5dbb25
...@@ -35,7 +35,7 @@ px4_add_library(drivers_board ...@@ -35,7 +35,7 @@ px4_add_library(drivers_board
init.c init.c
manifest.c manifest.c
sdio.c sdio.c
spi.c spi.cpp
timer_config.c timer_config.c
) )
target_link_libraries(drivers_board target_link_libraries(drivers_board
......
boards/av/x-v1/src/board_config.h
+ 11
− 59
View file @ db5dbb25
...@@ -54,11 +54,6 @@ ...@@ -54,11 +54,6 @@
#define BOARD_HAS_NBAT_V 1 // Only one Vbat to ADC #define BOARD_HAS_NBAT_V 1 // Only one Vbat to ADC
#define BOARD_HAS_NBAT_I 0 // No Ibat 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_SENSOR1 1
#define PX4_SPI_BUS_SENSOR2 2 #define PX4_SPI_BUS_SENSOR2 2
#define PX4_SPI_BUS_SENSOR4 4 #define PX4_SPI_BUS_SENSOR4 4
...@@ -130,27 +125,19 @@ ...@@ -130,27 +125,19 @@
/* SPI1 */ /* SPI1 */
#define PX4_SPIDEV_ADIS16477 PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSOR1,0) #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_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 */ /* SPI2 */
#define PX4_SPIDEV_ADIS16497 PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSOR2,0) #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_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 */ /* SPI4 */
#define PX4_SPIDEV_LPS22HB PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSOR4,0) #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_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 */ /* SPI5 */
#define PX4_SPIDEV_LSM303A_M PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSOR5,0) #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_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_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 */ /* I2C busses */
#define PX4_I2C_BUS_EXPANSION 2 #define PX4_I2C_BUS_EXPANSION 2
...@@ -190,50 +177,9 @@ ...@@ -190,50 +177,9 @@
/* Define Channel numbers must match above GPIO pin IN(n)*/ /* Define Channel numbers must match above GPIO pin IN(n)*/
#define ADC_BATTERY1_VOLTAGE_CHANNEL /* PA0 */ ADC1_CH(0) #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 \ #define ADC_CHANNELS \
((1 << ADC_BATTERY1_VOLTAGE_CHANNEL) | \ ((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
/* Define Battery 1 Voltage Divider and A per V /* Define Battery 1 Voltage Divider and A per V
*/ */
...@@ -247,7 +193,7 @@ ...@@ -247,7 +193,7 @@
/* PWM /* PWM
* *
* 8 PWM outputs are configured. * 9 PWM outputs are configured.
* *
* Pins: * Pins:
* *
...@@ -259,6 +205,7 @@ ...@@ -259,6 +205,7 @@
* FMU_CH6 : PI6 : TIM8_CH2 * FMU_CH6 : PI6 : TIM8_CH2
* FMU_CH7 : PF7 : TIM11_CH1 * FMU_CH7 : PF7 : TIM11_CH1
* FMU_CH8 : PF6 : TIM10_CH1 * FMU_CH8 : PF6 : TIM10_CH1
* FMU_CH9 : PF6 : TIM4_CH3
* *
*/ */
#define GPIO_TIM1_CH1OUT /* PA8 T1C1 FMU1 */ GPIO_TIM1_CH1OUT_1 #define GPIO_TIM1_CH1OUT /* PA8 T1C1 FMU1 */ GPIO_TIM1_CH1OUT_1
...@@ -269,6 +216,7 @@ ...@@ -269,6 +216,7 @@
#define GPIO_TIM8_CH2OUT /* PI6 T8C2 FMU6 */ GPIO_TIM8_CH2IN_2 #define GPIO_TIM8_CH2OUT /* PI6 T8C2 FMU6 */ GPIO_TIM8_CH2IN_2
#define GPIO_TIM11_CH1OUT /* PF7 T11C1 FMU7 */ GPIO_TIM11_CH1OUT_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_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 #define DIRECT_PWM_OUTPUT_CHANNELS 8
...@@ -278,8 +226,9 @@ ...@@ -278,8 +226,9 @@
#define GPIO_TIM1_CH4IN /* PA11 T1C4 FMU4 */ GPIO_TIM1_CH4IN_1 #define GPIO_TIM1_CH4IN /* PA11 T1C4 FMU4 */ GPIO_TIM1_CH4IN_1
#define GPIO_TIM2_CH4IN /* PA3 T2C4 FMU5 */ GPIO_TIM2_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_TIM8_CH2IN /* PI6 T8C2 FMU6 */ GPIO_TIM8_CH2IN_2
//#define GPIO_TIM11_CH1IN /* PF7 T11C1 FMU7 */ GPIO_TIM11_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_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 #define DIRECT_INPUT_TIMER_CHANNELS 8
...@@ -298,6 +247,7 @@ ...@@ -298,6 +247,7 @@
#define GPIO_GPIO5_INPUT /* PI6 T8C2 FMU6 */ _MK_GPIO_INPUT(GPIO_TIM8_CH2IN_2) #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_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_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)) #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 @@ ...@@ -309,6 +259,7 @@
#define GPIO_GPIO5_OUTPUT /* PI6 T8C2 FMU6 */ _MK_GPIO_OUTPUT(GPIO_TIM8_CH2OUT_2) #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_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_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 */ /* High-resolution timer */
#define HRT_TIMER 5 /* use timer5 for the HRT */ #define HRT_TIMER 5 /* use timer5 for the HRT */
...@@ -360,6 +311,7 @@ ...@@ -360,6 +311,7 @@
/* The list of GPIO that will be initialized */ /* The list of GPIO that will be initialized */
#define PX4_GPIO_PWM_INIT_LIST { \ #define PX4_GPIO_PWM_INIT_LIST { \
GPIO_GPIO8_INPUT, \
GPIO_GPIO7_INPUT, \ GPIO_GPIO7_INPUT, \
GPIO_GPIO6_INPUT, \ GPIO_GPIO6_INPUT, \
GPIO_GPIO5_INPUT, \ GPIO_GPIO5_INPUT, \
......
boards/av/x-v1/src/init.c
+ 9
− 28
View file @ db5dbb25
...@@ -45,9 +45,7 @@ ...@@ -45,9 +45,7 @@
* Included Files * Included Files
****************************************************************************/ ****************************************************************************/
#include <px4_config.h> #include "board_config.h"
#include <px4_tasks.h>
#include <px4_log.h>
#include <stdbool.h> #include <stdbool.h>
#include <stdio.h> #include <stdio.h>
...@@ -55,6 +53,7 @@ ...@@ -55,6 +53,7 @@
#include <debug.h> #include <debug.h>
#include <errno.h> #include <errno.h>
#include <nuttx/config.h>
#include <nuttx/board.h> #include <nuttx/board.h>
#include <nuttx/spi/spi.h> #include <nuttx/spi/spi.h>
#include <nuttx/i2c/i2c_master.h> #include <nuttx/i2c/i2c_master.h>
...@@ -62,24 +61,17 @@ ...@@ -62,24 +61,17 @@
#include <nuttx/mmcsd.h> #include <nuttx/mmcsd.h>
#include <nuttx/analog/adc.h> #include <nuttx/analog/adc.h>
#include <nuttx/mm/gran.h> #include <nuttx/mm/gran.h>
#include <chip.h> #include <chip.h>
#include "board_config.h"
#include <stm32_uart.h> #include <stm32_uart.h>
#include <arch/board/board.h> #include <arch/board/board.h>
#include "up_internal.h"
#include <drivers/drv_hrt.h> #include <drivers/drv_hrt.h>
#include <drivers/drv_board_led.h> #include <drivers/drv_board_led.h>
#include <systemlib/px4_macros.h> #include <systemlib/px4_macros.h>
#include <px4_init.h> #include <px4_init.h>
#include <px4_i2c.h> #include <px4_i2c.h>
#include "up_internal.h"
static int configure_switch(void); static int configure_switch(void);
/************************************************************************************ /************************************************************************************
...@@ -238,7 +230,7 @@ __EXPORT int board_app_initialize(uintptr_t arg) ...@@ -238,7 +230,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
/* configure the DMA allocator */ /* configure the DMA allocator */
if (board_dma_alloc_init() < 0) { 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 */ /* set up the serial DMA polling */
...@@ -260,27 +252,16 @@ __EXPORT int board_app_initialize(uintptr_t arg) ...@@ -260,27 +252,16 @@ __EXPORT int board_app_initialize(uintptr_t arg)
(void) board_hardfault_init(2, true); (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 #ifdef CONFIG_MMCSD
ret = stm32_sdio_initialize(); int ret = stm32_sdio_initialize();
if (ret != OK) { if (ret != OK) {
PX4_ERR("SDIO init failed"); syslog(LOG_ERR, "[boot] SDIO init failed\n");
return ret; return ret;
} }
#endif #endif /* CONFIG_MMCSD */
configure_switch(); configure_switch();
...@@ -302,7 +283,7 @@ static int configure_switch(void) ...@@ -302,7 +283,7 @@ static int configure_switch(void)
struct i2c_master_s *i2c = px4_i2cbus_initialize(PX4_I2C_BUS_ONBOARD); struct i2c_master_s *i2c = px4_i2cbus_initialize(PX4_I2C_BUS_ONBOARD);
if (i2c == NULL) { if (i2c == NULL) {
PX4_ERR("I2C device not opened"); syslog(LOG_ERR, "[boot] I2C device not opened\n");
} }
// ethernet switch enable // ethernet switch enable
...@@ -327,7 +308,7 @@ static int configure_switch(void) ...@@ -327,7 +308,7 @@ static int configure_switch(void)
break; break;
} else { } 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 */ /* if we have already retried once, or we are going to give up, then reset the bus */
......
boards/av/x-v1/src/manifest.c
+ 3
− 2
View file @ db5dbb25
...@@ -46,10 +46,11 @@ ...@@ -46,10 +46,11 @@
* Included Files * Included Files
****************************************************************************/ ****************************************************************************/
#include <px4_config.h> #include <nuttx/config.h>
#include <board_config.h>
#include <stdbool.h> #include <stdbool.h>
#include "systemlib/px4_macros.h" #include "systemlib/px4_macros.h"
#include "px4_log.h"
/************************************************************************************ /************************************************************************************
* Name: board_rc_input * Name: board_rc_input
......
boards/av/x-v1/src/sdio.c
+ 4
− 4
View file @ db5dbb25
...@@ -36,8 +36,8 @@ ...@@ -36,8 +36,8 @@
* Included Files * Included Files
****************************************************************************/ ****************************************************************************/
#include <px4_config.h> #include <nuttx/config.h>
#include <px4_log.h> #include <board_config.h>
#include <stdbool.h> #include <stdbool.h>
#include <stdio.h> #include <stdio.h>
...@@ -137,7 +137,7 @@ int stm32_sdio_initialize(void) ...@@ -137,7 +137,7 @@ int stm32_sdio_initialize(void)
sdio_dev = sdio_initialize(SDIO_SLOTNO); sdio_dev = sdio_initialize(SDIO_SLOTNO);
if (!sdio_dev) { 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; return -ENODEV;
} }
...@@ -148,7 +148,7 @@ int stm32_sdio_initialize(void) ...@@ -148,7 +148,7 @@ int stm32_sdio_initialize(void)
ret = mmcsd_slotinitialize(SDIO_MINOR, sdio_dev); ret = mmcsd_slotinitialize(SDIO_MINOR, sdio_dev);
if (ret != OK) { 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; return ret;
} }
......
boards/av/x-v1/src/spi.c → boards/av/x-v1/src/spi.cpp
+ 336
− 0
View file @ db5dbb25
...@@ -41,8 +41,7 @@ ...@@ -41,8 +41,7 @@
* Included Files * Included Files
************************************************************************************/ ************************************************************************************/
#include <px4_config.h> #include <board_config.h>
#include <px4_log.h>
#include <stdint.h> #include <stdint.h>
#include <stdbool.h> #include <stdbool.h>
...@@ -56,26 +55,12 @@ ...@@ -56,26 +55,12 @@
#include <up_arch.h> #include <up_arch.h>
#include <chip.h> #include <chip.h>
#include <stm32_gpio.h> #include <stm32_gpio.h>
#include "board_config.h"
/****************************************************************************
* Pre-Processor Definitions
****************************************************************************/
/* Configuration ************************************************************/
/* Debug ********************************************************************/
/* Define CS GPIO array */ /* Define CS GPIO array */
static const uint32_t spi1selects_gpio[] = PX4_SENSOR1_BUS_CS_GPIO; static constexpr uint32_t spi1selects_gpio[] = PX4_SENSOR1_BUS_CS_GPIO;
static const uint32_t spi2selects_gpio[] = PX4_SENSOR2_BUS_CS_GPIO; static constexpr uint32_t spi2selects_gpio[] = PX4_SENSOR2_BUS_CS_GPIO;
static const uint32_t spi4selects_gpio[] = PX4_SENSOR4_BUS_CS_GPIO; static constexpr uint32_t spi4selects_gpio[] = PX4_SENSOR4_BUS_CS_GPIO;
static const uint32_t spi5selects_gpio[] = PX4_SENSOR5_BUS_CS_GPIO; static constexpr uint32_t spi5selects_gpio[] = PX4_SENSOR5_BUS_CS_GPIO;
/************************************************************************************
* Public Functions
************************************************************************************/
/************************************************************************************ /************************************************************************************
* Name: stm32_spiinitialize * Name: stm32_spiinitialize
...@@ -85,101 +70,42 @@ static const uint32_t spi5selects_gpio[] = PX4_SENSOR5_BUS_CS_GPIO; ...@@ -85,101 +70,42 @@ static const uint32_t spi5selects_gpio[] = PX4_SENSOR5_BUS_CS_GPIO;
* *
************************************************************************************/ ************************************************************************************/
__EXPORT void stm32_spiinitialize(void) __EXPORT void stm32_spiinitialize()
{ {
board_gpio_init(spi1selects_gpio, arraySize(spi1selects_gpio)); #ifdef CONFIG_STM32F7_SPI1
board_gpio_init(spi2selects_gpio, arraySize(spi2selects_gpio));
board_gpio_init(spi4selects_gpio, arraySize(spi4selects_gpio));
board_gpio_init(spi5selects_gpio, arraySize(spi5selects_gpio));
}
/************************************************************************************ for (auto gpio : spi1selects_gpio) {
* Name: stm32_spi_bus_initialize px4_arch_configgpio(gpio);
*
* 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. */ #endif // CONFIG_STM32F7_SPI1
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);
}
#if defined(CONFIG_STM32F7_SPI2)
/* Get the SPI port for the Memory */ for (auto gpio : spi2selects_gpio) {
spi_sensor2 = stm32_spibus_initialize(PX4_SPI_BUS_SENSOR2); px4_arch_configgpio(gpio);
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);
} }
#endif // CONFIG_STM32F7_SPI2
/* 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); #ifdef CONFIG_STM32F7_SPI4
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++) { for (auto gpio : spi4selects_gpio) {
SPI_SELECT(spi_sensor4, cs, false); px4_arch_configgpio(gpio);
} }
#endif // CONFIG_STM32F7_SPI4
/* Get the SPI port for the PX4_SPI_EXTERNAL1 */
spi_sensor5 = stm32_spibus_initialize(PX4_SPI_BUS_SENSOR5);
if (!spi_sensor5) { #ifdef CONFIG_STM32F7_SPI5
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++) { for (auto gpio : spi5selects_gpio) {
SPI_SELECT(spi_sensor5, cs, false); px4_arch_configgpio(gpio);
} }
return OK; #endif // CONFIG_STM32F7_SPI5
} }
/************************************************************************************ /************************************************************************************
...@@ -189,32 +115,25 @@ __EXPORT int stm32_spi_bus_initialize(void) ...@@ -189,32 +115,25 @@ __EXPORT int stm32_spi_bus_initialize(void)
* Called by stm32 spi driver on bus 1. * 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) __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 */ ASSERT(PX4_SPI_BUS_ID(devid) == PX4_SPI_BUS_SENSOR1);
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)]; // Making sure the other peripherals are not selected
for (auto cs : spi1selects_gpio) {
if (gpio) { stm32_gpiowrite(cs, 1);
stm32_gpiowrite(gpio, !selected);
} }
// 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) __EXPORT uint8_t stm32_spi1status(FAR struct spi_dev_s *dev, uint32_t devid)
{ {
return SPI_STATUS_PRESENT; return SPI_STATUS_PRESENT;
} }
#endif // CONFIG_STM32F7_SPI1
/************************************************************************************ /************************************************************************************
* Name: stm32_spi2select and stm32_spi2status * Name: stm32_spi2select and stm32_spi2status
...@@ -223,33 +142,25 @@ __EXPORT uint8_t stm32_spi1status(FAR struct spi_dev_s *dev, uint32_t devid) ...@@ -223,33 +142,25 @@ __EXPORT uint8_t stm32_spi1status(FAR struct spi_dev_s *dev, uint32_t devid)
* Called by stm32 spi driver on bus 2. * 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) __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 */ ASSERT(PX4_SPI_BUS_ID(devid) == PX4_SPI_BUS_SENSOR2);
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++) { // Making sure the other peripherals are not selected
if (spi2selects_gpio[cs] != 0) { for (auto cs : spi2selects_gpio) {
stm32_gpiowrite(spi2selects_gpio[cs], 1); stm32_gpiowrite(cs, 1);
}
} }
uint32_t gpio = spi2selects_gpio[PX4_SPI_DEV_ID(sel)]; // SPI select is active low, so write !selected to select the device
stm32_gpiowrite(spi2selects_gpio[PX4_SPI_DEV_ID(devid)], !selected);
if (gpio) {
stm32_gpiowrite(gpio, !selected);
}
} }
__EXPORT uint8_t stm32_spi2status(FAR struct spi_dev_s *dev, uint32_t devid) __EXPORT uint8_t stm32_spi2status(FAR struct spi_dev_s *dev, uint32_t devid)
{ {
return SPI_STATUS_PRESENT; return SPI_STATUS_PRESENT;
} }
#endif // CONFIG_STM32F7_SPI2
/************************************************************************************ /************************************************************************************
* Name: stm32_spi4select and stm32_spi4status * Name: stm32_spi4select and stm32_spi4status
...@@ -258,28 +169,25 @@ __EXPORT uint8_t stm32_spi2status(FAR struct spi_dev_s *dev, uint32_t devid) ...@@ -258,28 +169,25 @@ __EXPORT uint8_t stm32_spi2status(FAR struct spi_dev_s *dev, uint32_t devid)
* Called by stm32 spi driver on bus 4. * 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) __EXPORT void stm32_spi4select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
{ {
int sel = (int) devid; ASSERT(PX4_SPI_BUS_ID(devid) == PX4_SPI_BUS_SENSOR4);
ASSERT(PX4_SPI_BUS_ID(sel) == PX4_SPI_BUS_SENSOR4);
/* Making sure the other peripherals are not selected */ // Making sure the other peripherals are not selected
for (size_t cs = 0; arraySize(spi4selects_gpio) > 1 && cs < arraySize(spi4selects_gpio); cs++) { for (auto cs : spi4selects_gpio) {
stm32_gpiowrite(spi4selects_gpio[cs], 1); stm32_gpiowrite(cs, 1);
} }
uint32_t gpio = spi4selects_gpio[PX4_SPI_DEV_ID(sel)]; // SPI select is active low, so write !selected to select the device
stm32_gpiowrite(spi4selects_gpio[PX4_SPI_DEV_ID(devid)], !selected);
if (gpio) {
stm32_gpiowrite(gpio, !selected);
}
} }
__EXPORT uint8_t stm32_spi4status(FAR struct spi_dev_s *dev, uint32_t devid) __EXPORT uint8_t stm32_spi4status(FAR struct spi_dev_s *dev, uint32_t devid)
{ {
return SPI_STATUS_PRESENT; return SPI_STATUS_PRESENT;
} }
#endif // CONFIG_STM32F7_SPI4
/************************************************************************************ /************************************************************************************
* Name: stm32_spi5select and stm32_spi5status * Name: stm32_spi5select and stm32_spi5status
...@@ -288,30 +196,25 @@ __EXPORT uint8_t stm32_spi4status(FAR struct spi_dev_s *dev, uint32_t devid) ...@@ -288,30 +196,25 @@ __EXPORT uint8_t stm32_spi4status(FAR struct spi_dev_s *dev, uint32_t devid)
* Called by stm32 spi driver on bus 5. * 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) __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 */ ASSERT(PX4_SPI_BUS_ID(devid) == PX4_SPI_BUS_SENSOR5);
int sel = (int) devid;
ASSERT(PX4_SPI_BUS_ID(sel) == PX4_SPI_BUS_SENSOR5);
/* Making sure the other peripherals are not selected */ // Making sure the other peripherals are not selected
for (size_t cs = 0; arraySize(spi5selects_gpio) > 1 && cs < arraySize(spi5selects_gpio); cs++) { for (auto cs : spi5selects_gpio) {
stm32_gpiowrite(spi5selects_gpio[cs], 1); stm32_gpiowrite(cs, 1);
} }
uint32_t gpio = spi5selects_gpio[PX4_SPI_DEV_ID(sel)]; // SPI select is active low, so write !selected to select the device
stm32_gpiowrite(spi5selects_gpio[PX4_SPI_DEV_ID(devid)], !selected);
if (gpio) {
stm32_gpiowrite(gpio, !selected);
}
} }
__EXPORT uint8_t stm32_spi5status(FAR struct spi_dev_s *dev, uint32_t devid) __EXPORT uint8_t stm32_spi5status(FAR struct spi_dev_s *dev, uint32_t devid)
{ {
return SPI_STATUS_PRESENT; return SPI_STATUS_PRESENT;
} }
#endif // CONFIG_STM32F7_SPI5
/************************************************************************************ /************************************************************************************
* Name: board_spi_reset * Name: board_spi_reset
...@@ -323,56 +226,58 @@ __EXPORT uint8_t stm32_spi5status(FAR struct spi_dev_s *dev, uint32_t devid) ...@@ -323,56 +226,58 @@ __EXPORT uint8_t stm32_spi5status(FAR struct spi_dev_s *dev, uint32_t devid)
__EXPORT void board_spi_reset(int ms) __EXPORT void board_spi_reset(int ms)
{ {
/* disable SPI bus */ #ifdef CONFIG_STM32F7_SPI1
// SPI1 // disable SPI1
for (size_t cs = 0; arraySize(spi1selects_gpio) > 1 && cs < arraySize(spi1selects_gpio); cs++) { for (auto cs : spi1selects_gpio) {
if (spi1selects_gpio[cs] != 0) { stm32_configgpio(_PIN_OFF(cs));
stm32_configgpio(_PIN_OFF(spi1selects_gpio[cs]));
}
} }
stm32_configgpio(GPIO_SPI1_SCK_OFF); stm32_configgpio(GPIO_SPI1_SCK_OFF);
stm32_configgpio(GPIO_SPI1_MISO_OFF); stm32_configgpio(GPIO_SPI1_MISO_OFF);
stm32_configgpio(GPIO_SPI1_MOSI_OFF); stm32_configgpio(GPIO_SPI1_MOSI_OFF);
#endif // CONFIG_STM32F7_SPI1
#ifdef CONFIG_STM32F7_SPI2
// SPI2 // disable SPI2
for (size_t cs = 0; arraySize(spi2selects_gpio) > 1 && cs < arraySize(spi2selects_gpio); cs++) { for (auto cs : spi2selects_gpio) {
if (spi2selects_gpio[cs] != 0) { stm32_configgpio(_PIN_OFF(cs));
stm32_configgpio(_PIN_OFF(spi2selects_gpio[cs]));
}
} }
stm32_configgpio(GPIO_SPI2_SCK_OFF); stm32_configgpio(GPIO_SPI2_SCK_OFF);
stm32_configgpio(GPIO_SPI2_MISO_OFF); stm32_configgpio(GPIO_SPI2_MISO_OFF);
stm32_configgpio(GPIO_SPI2_MOSI_OFF); stm32_configgpio(GPIO_SPI2_MOSI_OFF);
#endif // CONFIG_STM32F7_SPI2
#ifdef CONFIG_STM32F7_SPI4
// SPI4 // disable SPI4
for (size_t cs = 0; arraySize(spi4selects_gpio) > 1 && cs < arraySize(spi4selects_gpio); cs++) { for (auto cs : spi4selects_gpio) {
if (spi4selects_gpio[cs] != 0) { stm32_configgpio(_PIN_OFF(cs));
stm32_configgpio(_PIN_OFF(spi4selects_gpio[cs]));
}
} }
stm32_configgpio(GPIO_SPI4_SCK_OFF); stm32_configgpio(GPIO_SPI4_SCK_OFF);
stm32_configgpio(GPIO_SPI4_MISO_OFF); stm32_configgpio(GPIO_SPI4_MISO_OFF);
stm32_configgpio(GPIO_SPI4_MOSI_OFF); stm32_configgpio(GPIO_SPI4_MOSI_OFF);
#endif // CONFIG_STM32F7_SPI4
// SPI5 #ifdef CONFIG_STM32F7_SPI5
for (size_t cs = 0; arraySize(spi5selects_gpio) > 1 && cs < arraySize(spi5selects_gpio); cs++) {
if (spi5selects_gpio[cs] != 0) { // disable SPI5
stm32_configgpio(_PIN_OFF(spi5selects_gpio[cs])); for (auto cs : spi5selects_gpio) {
} stm32_configgpio(_PIN_OFF(cs));
} }
stm32_configgpio(GPIO_SPI5_SCK_OFF); stm32_configgpio(GPIO_SPI5_SCK_OFF);
stm32_configgpio(GPIO_SPI5_MISO_OFF); stm32_configgpio(GPIO_SPI5_MISO_OFF);
stm32_configgpio(GPIO_SPI5_MOSI_OFF); stm32_configgpio(GPIO_SPI5_MOSI_OFF);
#endif // CONFIG_STM32F7_SPI5
/* wait for the sensor rail to reach GND */ /* wait for the sensor rail to reach GND */
usleep(ms * 1000); usleep(ms * 1000);
PX4_INFO("reset done, %d ms", ms); syslog(LOG_DEBUG, "reset done, %d ms\n", ms);
/* re-enable power */ /* re-enable power */
...@@ -381,48 +286,51 @@ __EXPORT void board_spi_reset(int ms) ...@@ -381,48 +286,51 @@ __EXPORT void board_spi_reset(int ms)
/* reconfigure the SPI pins */ /* reconfigure the SPI pins */
// SPI1 #ifdef CONFIG_STM32F7_SPI1
for (size_t cs = 0; arraySize(spi1selects_gpio) > 1 && cs < arraySize(spi1selects_gpio); cs++) {
if (spi1selects_gpio[cs] != 0) { // re-enable SPI1
stm32_configgpio(spi1selects_gpio[cs]); for (auto cs : spi1selects_gpio) {
} stm32_configgpio(cs);
} }
stm32_configgpio(GPIO_SPI1_SCK); stm32_configgpio(GPIO_SPI1_SCK);
stm32_configgpio(GPIO_SPI1_MISO); stm32_configgpio(GPIO_SPI1_MISO);
stm32_configgpio(GPIO_SPI1_MOSI); stm32_configgpio(GPIO_SPI1_MOSI);
#endif // CONFIG_STM32F7_SPI1
#ifdef CONFIG_STM32F7_SPI2
// SPI2 // re-enable SPI2
for (size_t cs = 0; arraySize(spi2selects_gpio) > 1 && cs < arraySize(spi2selects_gpio); cs++) { for (auto cs : spi2selects_gpio) {
if (spi2selects_gpio[cs] != 0) { stm32_configgpio(cs);
stm32_configgpio(spi2selects_gpio[cs]);
}
} }
stm32_configgpio(GPIO_SPI2_SCK); stm32_configgpio(GPIO_SPI2_SCK);
stm32_configgpio(GPIO_SPI2_MISO); stm32_configgpio(GPIO_SPI2_MISO);
stm32_configgpio(GPIO_SPI2_MOSI); stm32_configgpio(GPIO_SPI2_MOSI);
#endif // CONFIG_STM32F7_SPI2
// SPI4 #ifdef CONFIG_STM32F7_SPI4
for (size_t cs = 0; arraySize(spi4selects_gpio) > 1 && cs < arraySize(spi4selects_gpio); cs++) {
if (spi4selects_gpio[cs] != 0) { // re-enable SPI4
stm32_configgpio(spi4selects_gpio[cs]); for (auto cs : spi4selects_gpio) {
} stm32_configgpio(cs);
} }
stm32_configgpio(GPIO_SPI4_SCK); stm32_configgpio(GPIO_SPI4_SCK);
stm32_configgpio(GPIO_SPI4_MISO); stm32_configgpio(GPIO_SPI4_MISO);
stm32_configgpio(GPIO_SPI4_MOSI); stm32_configgpio(GPIO_SPI4_MOSI);
#endif // CONFIG_STM32F7_SPI4
#ifdef CONFIG_STM32F7_SPI5
// SPI5 // re-enable SPI5
for (size_t cs = 0; arraySize(spi5selects_gpio) > 1 && cs < arraySize(spi5selects_gpio); cs++) { for (auto cs : spi5selects_gpio) {
if (spi5selects_gpio[cs] != 0) { stm32_configgpio(cs);
stm32_configgpio(spi5selects_gpio[cs]);
}
} }
stm32_configgpio(GPIO_SPI5_SCK); stm32_configgpio(GPIO_SPI5_SCK);
stm32_configgpio(GPIO_SPI5_MISO); stm32_configgpio(GPIO_SPI5_MISO);
stm32_configgpio(GPIO_SPI5_MOSI); stm32_configgpio(GPIO_SPI5_MOSI);
#endif // CONFIG_STM32F7_SPI5
} }
boards/av/x-v1/src/timer_config.c
+ 46
− 30
View file @ db5dbb25
...@@ -60,35 +60,34 @@ __EXPORT const io_timers_t io_timers[MAX_IO_TIMERS] = { ...@@ -60,35 +60,34 @@ __EXPORT const io_timers_t io_timers[MAX_IO_TIMERS] = {
.last_channel_index = 3, .last_channel_index = 3,
.handler = io_timer_handler0, .handler = io_timer_handler0,
.vectorno = STM32_IRQ_TIM1CC, .vectorno = STM32_IRQ_TIM1CC,
}, },
{ {
.base = STM32_TIM2_BASE, .base = STM32_TIM2_BASE,
.clock_register = STM32_RCC_APB1ENR, .clock_register = STM32_RCC_APB1ENR,
.clock_bit = RCC_APB1ENR_TIM2EN, .clock_bit = RCC_APB1ENR_TIM2EN,
.clock_freq = STM32_APB1_TIM2_CLKIN, .clock_freq = STM32_APB1_TIM2_CLKIN,
.first_channel_index = 3, .first_channel_index = 4,
.last_channel_index = 3, .last_channel_index = 4,
.handler = io_timer_handler1, .handler = io_timer_handler1,
.vectorno = STM32_IRQ_TIM2, .vectorno = STM32_IRQ_TIM2,
}, },
{ {
.base = STM32_TIM8_BASE, .base = STM32_TIM8_BASE,
.clock_register = STM32_RCC_APB1ENR, .clock_register = STM32_RCC_APB2ENR,
.clock_bit = RCC_APB2ENR_TIM10EN, .clock_bit = RCC_APB2ENR_TIM10EN,
.clock_freq = STM32_APB2_TIM8_CLKIN, .clock_freq = STM32_APB2_TIM8_CLKIN,
.first_channel_index = 3, .first_channel_index = 5,
.last_channel_index = 3, .last_channel_index = 5,
.handler = io_timer_handler2, .handler = io_timer_handler2,
.vectorno = STM32_IRQ_TIM8CC, // REVIEW .vectorno = STM32_IRQ_TIM8CC,
}, },
{ {
.base = STM32_TIM11_BASE, .base = STM32_TIM11_BASE,
.clock_register = STM32_RCC_APB1ENR, .clock_register = STM32_RCC_APB2ENR,
.clock_bit = RCC_APB2ENR_TIM11EN, .clock_bit = RCC_APB2ENR_TIM11EN,
.clock_freq = STM32_APB2_TIM11_CLKIN, .clock_freq = STM32_APB2_TIM11_CLKIN,
.first_channel_index = 2, .first_channel_index = 6,
.last_channel_index = 2, .last_channel_index = 6,
.handler = io_timer_handler3, .handler = io_timer_handler3,
.vectorno = STM32_IRQ_TIM11, .vectorno = STM32_IRQ_TIM11,
}, },
...@@ -97,12 +96,21 @@ __EXPORT const io_timers_t io_timers[MAX_IO_TIMERS] = { ...@@ -97,12 +96,21 @@ __EXPORT const io_timers_t io_timers[MAX_IO_TIMERS] = {
.clock_register = STM32_RCC_APB2ENR, .clock_register = STM32_RCC_APB2ENR,
.clock_bit = RCC_APB2ENR_TIM10EN, .clock_bit = RCC_APB2ENR_TIM10EN,
.clock_freq = STM32_APB2_TIM10_CLKIN, .clock_freq = STM32_APB2_TIM10_CLKIN,
.first_channel_index = 0, .first_channel_index = 7,
.last_channel_index = 0, .last_channel_index = 7,
.handler = io_timer_handler4, .handler = io_timer_handler4,
.vectorno = STM32_IRQ_TIM10, .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] = { __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] = { ...@@ -154,20 +162,28 @@ __EXPORT const timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
.ccr_offset = STM32_GTIM_CCR2_OFFSET, .ccr_offset = STM32_GTIM_CCR2_OFFSET,
.masks = GTIM_SR_CC2IF | GTIM_SR_CC2OF .masks = GTIM_SR_CC2IF | GTIM_SR_CC2OF
}, },
// { {
// .gpio_out = GPIO_TIM11_CH1OUT, .gpio_out = GPIO_TIM11_CH1OUT,
// .gpio_in = GPIO_TIM11_CH1IN, .gpio_in = GPIO_TIM11_CH1IN,
// .timer_index = 3, .timer_index = 3,
// .timer_channel = 1, .timer_channel = 1,
// .ccr_offset = STM32_GTIM_CCR1_OFFSET, .ccr_offset = STM32_GTIM_CCR1_OFFSET,
// .masks = GTIM_SR_CC1IF | GTIM_SR_CC1F .masks = GTIM_SR_CC1IF | GTIM_SR_CC1OF
// }, },
// { {
// .gpio_out = GPIO_TIM10_CH1OUT, .gpio_out = GPIO_TIM10_CH1OUT,
// .gpio_in = GPIO_TIM10_CH1IN, .gpio_in = GPIO_TIM10_CH1IN,
// .timer_index = 4, .timer_index = 4,
// .timer_channel = 1, .timer_channel = 1,
// .ccr_offset = STM32_GTIM_CCR1_OFFSET, .ccr_offset = STM32_GTIM_CCR1_OFFSET,
// .masks = GTIM_SR_CC1IF | GTIM_SR_CC1OF .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
// }
}; };
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment