159 lines
5.2 KiB
C
159 lines
5.2 KiB
C
/****************************************************************************
|
|
* configs/px4fmu-v2_upstream/src/px4fmu_spi.c
|
|
*
|
|
* Copyright (C) 2012 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.
|
|
*
|
|
****************************************************************************/
|
|
|
|
/************************************************************************************
|
|
* Included Files
|
|
************************************************************************************/
|
|
|
|
#include <nuttx/config.h>
|
|
|
|
#include <stdint.h>
|
|
#include <stdbool.h>
|
|
#include <debug.h>
|
|
|
|
#include <nuttx/spi/spi.h>
|
|
#include <arch/board/board.h>
|
|
|
|
#include <up_arch.h>
|
|
#include <chip.h>
|
|
#include <stm32.h>
|
|
#include "board_config.h"
|
|
|
|
/************************************************************************************
|
|
* Public Functions
|
|
************************************************************************************/
|
|
|
|
/************************************************************************************
|
|
* Name: stm32_spiinitialize
|
|
*
|
|
* Description:
|
|
* Called to configure SPI chip select GPIO pins for the PX4FMU board.
|
|
*
|
|
************************************************************************************/
|
|
|
|
void weak_function stm32_spiinitialize(void)
|
|
{
|
|
#ifdef CONFIG_STM32_SPI1
|
|
stm32_configgpio(GPIO_SPI_CS_GYRO);
|
|
stm32_configgpio(GPIO_SPI_CS_ACCEL_MAG);
|
|
stm32_configgpio(GPIO_SPI_CS_BARO);
|
|
stm32_configgpio(GPIO_SPI_CS_MPU);
|
|
|
|
/* De-activate all peripherals, required for some peripheral state machines */
|
|
|
|
stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
|
|
stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
|
|
stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
|
|
stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
|
|
|
|
stm32_configgpio(GPIO_EXTI_GYRO_DRDY);
|
|
stm32_configgpio(GPIO_EXTI_MAG_DRDY);
|
|
stm32_configgpio(GPIO_EXTI_ACCEL_DRDY);
|
|
stm32_configgpio(GPIO_EXTI_MPU_DRDY);
|
|
#endif
|
|
|
|
#ifdef CONFIG_STM32_SPI2
|
|
stm32_configgpio(GPIO_SPI_CS_FRAM);
|
|
stm32_gpiowrite(GPIO_SPI_CS_FRAM, 1);
|
|
#endif
|
|
}
|
|
|
|
void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected)
|
|
{
|
|
/* SPI select is active low, so write !selected to select the device */
|
|
|
|
switch (devid)
|
|
{
|
|
case PX4_SPIDEV_GYRO:
|
|
/* Making sure the other peripherals are not selected */
|
|
|
|
stm32_gpiowrite(GPIO_SPI_CS_GYRO, !selected);
|
|
stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
|
|
stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
|
|
stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
|
|
break;
|
|
|
|
case PX4_SPIDEV_ACCEL_MAG:
|
|
/* Making sure the other peripherals are not selected */
|
|
|
|
stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
|
|
stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, !selected);
|
|
stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
|
|
stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
|
|
break;
|
|
|
|
case PX4_SPIDEV_BARO:
|
|
/* Making sure the other peripherals are not selected */
|
|
|
|
stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
|
|
stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
|
|
stm32_gpiowrite(GPIO_SPI_CS_BARO, !selected);
|
|
stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
|
|
break;
|
|
|
|
case PX4_SPIDEV_MPU:
|
|
/* Making sure the other peripherals are not selected */
|
|
|
|
stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
|
|
stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
|
|
stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
|
|
stm32_gpiowrite(GPIO_SPI_CS_MPU, !selected);
|
|
break;
|
|
|
|
default:
|
|
break;
|
|
}
|
|
}
|
|
|
|
uint8_t stm32_spi1status(FAR struct spi_dev_s *dev, enum spi_dev_e devid)
|
|
{
|
|
return SPI_STATUS_PRESENT;
|
|
}
|
|
|
|
#ifdef CONFIG_STM32_SPI2
|
|
void stm32_spi2select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected)
|
|
{
|
|
/* There can only be one device on this bus, so always select it */
|
|
|
|
stm32_gpiowrite(GPIO_SPI_CS_FRAM, !selected);
|
|
}
|
|
|
|
uint8_t stm32_spi2status(FAR struct spi_dev_s *dev, enum spi_dev_e devid)
|
|
{
|
|
/* FRAM is always present */
|
|
|
|
return SPI_STATUS_PRESENT;
|
|
}
|
|
#endif
|