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px4fmu v2 sensor init (again) and cleanup #9074

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merged 2 commits into from
Mar 14, 2018
+25 −138
Merged

px4fmu v2 sensor init (again) and cleanup #9074

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964af2c
px4fmu-v2 version detection and init cleanup
dagar Mar 13, 2018
222a1ce
px4fmu-v3 add missing lsm303d and sort
dagar Mar 14, 2018
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11 changes: 6 additions & 5 deletions cmake/configs/nuttx_px4fmu-v3_default.cmake
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Original file line number Diff line number Diff line change
Expand Up @@ -19,21 +19,22 @@ set(config_module_list
drivers/magnetometer
drivers/telemetry

drivers/imu/adis16448
drivers/airspeed
drivers/batt_smbus
drivers/blinkm
drivers/imu/bmi160
drivers/boards
drivers/camera_trigger
drivers/device
drivers/gps
drivers/irlock
drivers/imu/adis16448
drivers/imu/bmi160
drivers/imu/l3gd20
drivers/led
drivers/mkblctrl
drivers/imu/lsm303d
drivers/imu/mpu6000
drivers/imu/mpu9250
drivers/irlock
drivers/led
drivers/mkblctrl
drivers/oreoled
drivers/protocol_splitter
drivers/pwm_input
Expand Down
32 changes: 11 additions & 21 deletions src/drivers/boards/px4fmu-v2/init.c
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Original file line number Diff line number Diff line change
Expand Up @@ -119,11 +119,9 @@ __END_DECLS
/****************************************************************************
* Private Data
****************************************************************************/
#if defined(BOARD_HAS_SIMPLE_HW_VERSIONING)
static int hw_version = 0;
static int hw_revision = 0;
static char hw_type[4] = HW_VER_TYPE_INIT;
#endif

/************************************************************************************
* Name: board_peripheral_reset
Expand Down Expand Up @@ -213,6 +211,7 @@ __EXPORT void board_on_reset(int status)
* 10 00 - 0x8 FMUv2
* 11 10 - 0xE Cube AKA V2.0
* 10 10 - 0xA PixhawkMini
* 10 11 - 0xB FMUv2 questionable hardware (should be treated like regular FMUv2)
*
* This will return OK on success and -1 on not supported
*
Expand All @@ -224,7 +223,6 @@ __EXPORT void board_on_reset(int status)
*
************************************************************************************/

#if defined(BOARD_HAS_SIMPLE_HW_VERSIONING)
static int determin_hw_version(int *version, int *revision)
{
*revision = 0; /* default revision */
Expand Down Expand Up @@ -307,7 +305,6 @@ __EXPORT int board_get_hw_revision()
{
return hw_revision;
}
#endif // BOARD_HAS_SIMPLE_HW_VERSIONING

/************************************************************************************
* Name: stm32_boardinitialize
Expand Down Expand Up @@ -344,7 +341,6 @@ stm32_boardinitialize(void)
stm32_configgpio(GPIO_VDD_USB_VALID);
stm32_configgpio(GPIO_VDD_5V_HIPOWER_OC);
stm32_configgpio(GPIO_VDD_5V_PERIPH_OC);

}

/****************************************************************************
Expand Down Expand Up @@ -380,24 +376,18 @@ static struct sdio_dev_s *sdio;
__EXPORT int board_app_initialize(uintptr_t arg)
{
#if defined(CONFIG_HAVE_CXX) && defined(CONFIG_HAVE_CXXINITIALIZE)

/* run C++ ctors before we go any further */

up_cxxinitialize();

# if defined(CONFIG_EXAMPLES_NSH_CXXINITIALIZE)
# error CONFIG_EXAMPLES_NSH_CXXINITIALIZE Must not be defined! Use CONFIG_HAVE_CXX and CONFIG_HAVE_CXXINITIALIZE.
# endif

#else
# error platform is dependent on c++ both CONFIG_HAVE_CXX and CONFIG_HAVE_CXXINITIALIZE must be defined.
#endif

#if defined(BOARD_HAS_SIMPLE_HW_VERSIONING)
/* Ensure the power is on 1 ms before we drive the GPIO pins */
usleep(1000);

if (OK == determin_hw_version(&hw_version, & hw_revision)) {
switch (hw_version) {
default:
case 0x8:
break;

Expand All @@ -409,16 +399,17 @@ __EXPORT int board_app_initialize(uintptr_t arg)
case 0xA:
hw_type[2] = 'M';
break;

default:
// questionable px4fmu-v2 hardware, try forcing regular FMUv2 (not much else we can do)
message("bad version detected, forcing to fmu-v2\n");
hw_version = 0x8;
break;
}

PX4_INFO("Ver 0x%1X : Rev %x %s", hw_version, hw_revision, hw_type);
message("\nFMUv2 ver 0x%1X : Rev %x %s\n", hw_version, hw_revision, hw_type);
}

#endif // BOARD_HAS_SIMPLE_HW_VERSIONING

/* Ensure the power is on 1 ms before we drive the GPIO pins */
usleep(1000);

/* configure SPI interfaces */
stm32_spiinitialize();

Expand Down Expand Up @@ -646,8 +637,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
sdio = sdio_initialize(CONFIG_NSH_MMCSDSLOTNO);

if (!sdio) {
message("[boot] Failed to initialize SDIO slot %d\n",
CONFIG_NSH_MMCSDSLOTNO);
message("[boot] Failed to initialize SDIO slot %d\n", CONFIG_NSH_MMCSDSLOTNO);
return -ENODEV;
}

Expand Down
120 changes: 8 additions & 112 deletions src/drivers/boards/px4fmu-v2/spi.c
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Original file line number Diff line number Diff line change
Expand Up @@ -82,30 +82,20 @@ static void stm32_spi1_initialize(void)

stm32_configgpio(GPIO_SPI1_EXTI_DRDY_PD15);

# if !defined(BOARD_HAS_VERSIONING)
stm32_configgpio(GPIO_SPI1_EXTI_DRDY_PB0);
stm32_configgpio(GPIO_SPI1_EXTI_DRDY_PB1);
stm32_configgpio(GPIO_SPI1_EXTI_DRDY_PB4);
stm32_configgpio(GPIO_SPI1_CS_PC13);
stm32_configgpio(GPIO_SPI1_CS_PC15);
# else

if (HW_VER_FMUV2 == board_get_hw_version()) {
stm32_configgpio(GPIO_SPI1_EXTI_DRDY_PB0);
stm32_configgpio(GPIO_SPI1_EXTI_DRDY_PB1);
stm32_configgpio(GPIO_SPI1_EXTI_DRDY_PB4);
stm32_configgpio(GPIO_SPI1_CS_PC13);
stm32_configgpio(GPIO_SPI1_CS_PC15);

} else if (HW_VER_FMUV2MINI == board_get_hw_version()) {
if (HW_VER_FMUV2MINI == board_get_hw_version()) {
stm32_configgpio(GPIO_SPI1_EXTI_20608_DRDY_PC14);
stm32_configgpio(GPIO_SPI1_CS_PC15);

} else if (HW_VER_FMUV3 == board_get_hw_version()) {
stm32_configgpio(GPIO_SPI1_CS_PC1);
}

# endif
} else {
stm32_configgpio(GPIO_SPI1_EXTI_DRDY_PB0);
stm32_configgpio(GPIO_SPI1_EXTI_DRDY_PB1);
stm32_configgpio(GPIO_SPI1_EXTI_DRDY_PB4);
stm32_configgpio(GPIO_SPI1_CS_PC13);
stm32_configgpio(GPIO_SPI1_CS_PC15);
}
}
#endif // CONFIG_STM32_SPI1

Expand All @@ -119,10 +109,6 @@ static void stm32_spi4_initialize(void)
{
stm32_configgpio(GPIO_SPI4_NSS_PE4);

# if !defined(BOARD_HAS_VERSIONING)
stm32_configgpio(GPIO_SPI4_GPIO_PC14);
# else

if (HW_VER_FMUV3 == board_get_hw_version()) {
stm32_configgpio(GPIO_SPI4_EXTI_DRDY_PB0);
stm32_configgpio(GPIO_SPI4_CS_PB1);
Expand All @@ -133,8 +119,6 @@ static void stm32_spi4_initialize(void)
if (HW_VER_FMUV2MINI != board_get_hw_version()) {
stm32_configgpio(GPIO_SPI4_GPIO_PC14);
}

# endif
}
#endif //CONFIG_STM32_SPI4

Expand All @@ -157,52 +141,6 @@ __EXPORT void stm32_spiinitialize(void)
__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 */

# if !defined(BOARD_HAS_VERSIONING)
switch (devid) {
case PX4_SPIDEV_GYRO:
/* Making sure the other peripherals are not selected */
stm32_gpiowrite(GPIO_SPI1_CS_PC13, !selected);
stm32_gpiowrite(GPIO_SPI1_CS_PC15, 1);
stm32_gpiowrite(GPIO_SPI1_CS_PD7, 1);
stm32_gpiowrite(GPIO_SPI1_CS_PC2, 1);
break;

# if defined(PX4_SPIDEV_ICM_20608)

case PX4_SPIDEV_ICM_20608:
# endif
case PX4_SPIDEV_ACCEL_MAG:
/* Making sure the other peripherals are not selected */
stm32_gpiowrite(GPIO_SPI1_CS_PC13, 1);
stm32_gpiowrite(GPIO_SPI1_CS_PC15, !selected);
stm32_gpiowrite(GPIO_SPI1_CS_PD7, 1);
stm32_gpiowrite(GPIO_SPI1_CS_PC2, 1);
break;

case PX4_SPIDEV_BARO:
/* Making sure the other peripherals are not selected */
stm32_gpiowrite(GPIO_SPI1_CS_PC13, 1);
stm32_gpiowrite(GPIO_SPI1_CS_PC15, 1);
stm32_gpiowrite(GPIO_SPI1_CS_PD7, !selected);
stm32_gpiowrite(GPIO_SPI1_CS_PC2, 1);
break;

case PX4_SPIDEV_MPU:
/* Making sure the other peripherals are not selected */
stm32_gpiowrite(GPIO_SPI1_CS_PC13, 1);
stm32_gpiowrite(GPIO_SPI1_CS_PC15, 1);
stm32_gpiowrite(GPIO_SPI1_CS_PD7, 1);
stm32_gpiowrite(GPIO_SPI1_CS_PC2, !selected);
break;

default:
break;
}

# else // defined(BOARD_HAS_VERSIONING)

/* SPI select is active low, so write !selected to select the device */
/* Verification
* PA5 PA6 PA7 PB0 PB1 PB4 PC1 PC2 PC13 PC14 PC15 PD7 PD15 PE2 PE4 PE5 PE6
* driver X X X X X X
Expand Down Expand Up @@ -230,10 +168,7 @@ __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, uint32_t devid, bool s

break;

# if defined(PX4_SPIDEV_ICM_20608)

case PX4_SPIDEV_ICM_20608:
# endif
case PX4_SPIDEV_ACCEL_MAG:

/* Making sure the other peripherals are not selected */
Expand Down Expand Up @@ -315,8 +250,6 @@ __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, uint32_t devid, bool s
default:
break;
}

# endif // defined(BOARD_HAS_VERSIONING)
}

__EXPORT uint8_t stm32_spi1status(FAR struct spi_dev_s *dev, uint32_t devid)
Expand Down Expand Up @@ -344,28 +277,6 @@ __EXPORT uint8_t stm32_spi2status(FAR struct spi_dev_s *dev, uint32_t devid)
__EXPORT void stm32_spi4select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
{
/* SPI select is active low, so write !selected to select the device */

# if !defined(BOARD_HAS_VERSIONING)
switch (devid) {
case PX4_SPIDEV_EXT_MPU:
/* Making sure the other peripherals are not selected */
stm32_gpiowrite(GPIO_SPI4_NSS_PE4, !selected);
stm32_gpiowrite(GPIO_SPI4_GPIO_PC14, 1);
break;

case PX4_SPIDEV_EXT_BARO:
/* Making sure the other peripherals are not selected */
stm32_gpiowrite(GPIO_SPI4_NSS_PE4, 1);
stm32_gpiowrite(GPIO_SPI4_GPIO_PC14, !selected);
break;

default:
break;

}

# else // defined(BOARD_HAS_VERSIONING)
/* SPI select is active low, so write !selected to select the device */
/* Verification
* PA5 PA6 PA7 PB0 PB1 PB4 PC1 PC2 PC13 PC14 PC15 PD7 PD15 PE2 PE4 PE5 PE6
* driver X X X X X X
Expand Down Expand Up @@ -403,10 +314,7 @@ __EXPORT void stm32_spi4select(FAR struct spi_dev_s *dev, uint32_t devid, bool s

break;

# if defined(PX4_SPIDEV_ICM_20608)

case PX4_SPIDEV_ICM_20608:
# endif
case PX4_SPIDEV_EXT_ACCEL_MAG:
/* Making sure the other peripherals are not selected */
stm32_gpiowrite(GPIO_SPI4_NSS_PE4, 1);
Expand Down Expand Up @@ -442,9 +350,6 @@ __EXPORT void stm32_spi4select(FAR struct spi_dev_s *dev, uint32_t devid, bool s
break;

}

# endif // defined(BOARD_HAS_VERSIONING)

}
__EXPORT uint8_t stm32_spi4status(FAR struct spi_dev_s *dev, uint32_t devid)
{
Expand Down Expand Up @@ -489,8 +394,6 @@ __EXPORT void board_spi_reset(int ms)
stm32_gpiowrite(_PIN_OFF(GPIO_SPI1_EXTI_DRDY_PB4), 0);
stm32_gpiowrite(_PIN_OFF(GPIO_SPI1_EXTI_DRDY_PD15), 0);

#if defined(BOARD_HAS_VERSIONING)

if (HW_VER_FMUV2 != board_get_hw_version()) {
stm32_configgpio(_PIN_OFF(GPIO_SPI4_CS_PC14));
stm32_gpiowrite(_PIN_OFF(GPIO_SPI4_CS_PC14), 0);
Expand All @@ -510,11 +413,8 @@ __EXPORT void board_spi_reset(int ms)
stm32_gpiowrite(_PIN_OFF(GPIO_SPI4_SCK), 0);
stm32_gpiowrite(_PIN_OFF(GPIO_SPI4_MISO), 0);
stm32_gpiowrite(_PIN_OFF(GPIO_SPI4_MOSI), 0);

}

#endif

/* set the sensor rail off */
stm32_configgpio(GPIO_VDD_3V3_SENSORS_EN);
stm32_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, 0);
Expand All @@ -536,17 +436,13 @@ __EXPORT void board_spi_reset(int ms)
stm32_configgpio(GPIO_SPI1_MISO);
stm32_configgpio(GPIO_SPI1_MOSI);

#if defined(BOARD_HAS_VERSIONING)

if (HW_VER_FMUV3 == board_get_hw_version()) {
stm32_configgpio(GPIO_SPI4_SCK);
stm32_configgpio(GPIO_SPI4_MISO);
stm32_configgpio(GPIO_SPI4_MOSI);
stm32_spi4_initialize();
}

#endif

stm32_spi1_initialize();
}

Expand Down