spi.cpp 3.18 KB
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#include <px4_arch/spi_hw_description.h>
#include <drivers/drv_sensor.h>
#include <nuttx/spi/spi.h>

constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
	initSPIBus(SPI::Bus::SPI1, {
		initSPIDevice(DRV_IMU_DEVTYPE_ADIS16470, SPI::CS{GPIO::PortF, GPIO::Pin10}, SPI::DRDY{GPIO::PortE, GPIO::Pin7}),
		initSPIDevice(DRV_IMU_DEVTYPE_ICM20689, SPI::CS{GPIO::PortG, GPIO::Pin6}, SPI::DRDY{GPIO::PortJ, GPIO::Pin0}),
	}, {GPIO::PortE, GPIO::Pin3}),
	initSPIBus(SPI::Bus::SPI2, {
		initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortF, GPIO::Pin5}),
		initSPIDevice(DRV_MAG_DEVTYPE_RM3100, SPI::CS{GPIO::PortF, GPIO::Pin2}, SPI::DRDY{GPIO::PortE, GPIO::Pin4}),
	}),
	initSPIBus(SPI::Bus::SPI4, {
		initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortF, GPIO::Pin3}, SPI::DRDY{GPIO::PortB, GPIO::Pin15}),
		initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortF, GPIO::Pin4}, SPI::DRDY{GPIO::PortB, GPIO::Pin14}),
		initSPIDevice(DRV_BARO_DEVTYPE_MS5611, SPI::CS{GPIO::PortG, GPIO::Pin10}),
	}),
	initSPIBusExternal(SPI::Bus::SPI5, {
		initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin4}),
		initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}),
		initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin13}),
	}),
	initSPIBus(SPI::Bus::SPI6, {
		initSPIDevice(DRV_IMU_DEVTYPE_ICM20649, SPI::CS{GPIO::PortI, GPIO::Pin12}, SPI::DRDY{GPIO::PortH, GPIO::Pin5}),
		initSPIDevice(DRV_BARO_DEVTYPE_MS5611, SPI::CS{GPIO::PortI, GPIO::Pin8}),
	}),
};

static constexpr bool unused = validateSPIConfig(px4_spi_buses);