spi.cpp
3.36 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
/****************************************************************************
*
* Copyright (C) 2020 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.
*
****************************************************************************/
#include <px4_platform_common/px4_config.h>
#include <px4_platform/gpio.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 <nuttx/mmcsd.h>
#include <arm_arch.h>
#include <chip.h>
#include <stm32_gpio.h>
#include "board_config.h"
#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(SPIDEV_MMCSD(0), SPI::CS{GPIO::PortC, GPIO::Pin12}),
initSPIDevice(DRV_FLOW_DEVTYPE_PMW3901, SPI::CS{GPIO::PortB, GPIO::Pin4}),
initSPIDevice(DRV_DEVTYPE_UNUSED, SPI::CS{GPIO::PortB, GPIO::Pin5}),
}),
};
static constexpr bool unused = validateSPIConfig(px4_spi_buses);
/************************************************************************************
* Name: stm32_spi_bus_initialize
*
* Description:
* Called to configure SPI buses on PX4FMU board.
*
************************************************************************************/
static struct spi_dev_s *spi_expansion;
__EXPORT int stm32_spi_bus_initialize(void)
{
/* Configure SPI-based devices */
/* Get the external SPI port */
spi_expansion = stm32_spibus_initialize(1);
if (!spi_expansion) {
syslog(LOG_ERR, "[boot] FAILED to initialize SPI port %d\n", 1);
return -ENODEV;
}
#ifdef CONFIG_MMCSD
int ret = mmcsd_spislotinitialize(CONFIG_NSH_MMCSDMINOR, CONFIG_NSH_MMCSDSLOTNO, spi_expansion);
if (ret != OK) {
syslog(LOG_ERR, "[boot] FAILED to bind SPI port 1 to the MMCSD driver\n");
return -ENODEV;
}
#endif
return OK;
}