diff options
Diffstat (limited to 'src/drivers/boards/px4fmu-v2')
-rw-r--r-- | src/drivers/boards/px4fmu-v2/board_config.h | 34 | ||||
-rw-r--r-- | src/drivers/boards/px4fmu-v2/px4fmu2_init.c | 7 | ||||
-rw-r--r-- | src/drivers/boards/px4fmu-v2/px4fmu_spi.c | 18 |
3 files changed, 49 insertions, 10 deletions
diff --git a/src/drivers/boards/px4fmu-v2/board_config.h b/src/drivers/boards/px4fmu-v2/board_config.h index ec8dde499..a19ed9d24 100644 --- a/src/drivers/boards/px4fmu-v2/board_config.h +++ b/src/drivers/boards/px4fmu-v2/board_config.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Copyright (c) 2013, 2014 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 @@ -34,7 +34,7 @@ /** * @file board_config.h * - * PX4FMU internal definitions + * PX4FMUv2 internal definitions */ #pragma once @@ -79,17 +79,37 @@ __BEGIN_DECLS #define GPIO_EXTI_GYRO_DRDY (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN0) #define GPIO_EXTI_MAG_DRDY (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN1) #define GPIO_EXTI_ACCEL_DRDY (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN4) +#define GPIO_EXTI_MPU_DRDY (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN15) + +/* Data ready pins off */ +#define GPIO_GYRO_DRDY_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTB|GPIO_PIN0) +#define GPIO_MAG_DRDY_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTB|GPIO_PIN1) +#define GPIO_ACCEL_DRDY_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTB|GPIO_PIN4) +#define GPIO_EXTI_MPU_DRDY (GPIO_INPUT|GPIO_PULLDOWN|GPIO_EXTI|GPIO_PORTD|GPIO_PIN15) + +/* SPI1 off */ +#define GPIO_SPI1_SCK_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN5) +#define GPIO_SPI1_MISO_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN6) +#define GPIO_SPI1_MOSI_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN7) + +/* SPI1 chip selects off */ +#define GPIO_SPI_CS_GYRO_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN13) +#define GPIO_SPI_CS_ACCEL_MAG_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN15) +#define GPIO_SPI_CS_BARO_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTD|GPIO_PIN7) +#define GPIO_SPI_CS_MPU (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN2) /* SPI chip selects */ -#define GPIO_SPI_CS_GYRO (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN13) -#define GPIO_SPI_CS_ACCEL_MAG (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN15) -#define GPIO_SPI_CS_BARO (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN7) -#define GPIO_SPI_CS_FRAM (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN10) +#define GPIO_SPI_CS_GYRO (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN13) +#define GPIO_SPI_CS_ACCEL_MAG (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN15) +#define GPIO_SPI_CS_BARO (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN7) +#define GPIO_SPI_CS_FRAM (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN10) +#define GPIO_SPI_CS_MPU (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN2) /* Use these in place of the spi_dev_e enumeration to select a specific SPI device on SPI1 */ #define PX4_SPIDEV_GYRO 1 #define PX4_SPIDEV_ACCEL_MAG 2 #define PX4_SPIDEV_BARO 3 +#define PX4_SPIDEV_MPU 4 /* I2C busses */ #define PX4_I2C_BUS_EXPANSION 1 @@ -157,7 +177,7 @@ __BEGIN_DECLS * * PA9 OTG_FS_VBUS VBUS sensing (also connected to the green LED) */ -#define GPIO_OTGFS_VBUS (GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_100MHz|GPIO_OPENDRAIN|GPIO_PORTA|GPIO_PIN9) +#define GPIO_OTGFS_VBUS (GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_100MHz|GPIO_OPENDRAIN|GPIO_PORTA|GPIO_PIN9) /* High-resolution timer */ #define HRT_TIMER 8 /* use timer8 for the HRT */ diff --git a/src/drivers/boards/px4fmu-v2/px4fmu2_init.c b/src/drivers/boards/px4fmu-v2/px4fmu2_init.c index ae2a645f7..269ec238e 100644 --- a/src/drivers/boards/px4fmu-v2/px4fmu2_init.c +++ b/src/drivers/boards/px4fmu-v2/px4fmu2_init.c @@ -215,9 +215,9 @@ __EXPORT int nsh_archinitialize(void) stm32_configgpio(GPIO_ADC1_IN2); /* BATT_VOLTAGE_SENS */ stm32_configgpio(GPIO_ADC1_IN3); /* BATT_CURRENT_SENS */ stm32_configgpio(GPIO_ADC1_IN4); /* VDD_5V_SENS */ - stm32_configgpio(GPIO_ADC1_IN10); /* unrouted */ - stm32_configgpio(GPIO_ADC1_IN11); /* unrouted */ - stm32_configgpio(GPIO_ADC1_IN12); /* unrouted */ + // stm32_configgpio(GPIO_ADC1_IN10); /* used by VBUS valid */ + // stm32_configgpio(GPIO_ADC1_IN11); /* unused */ + // stm32_configgpio(GPIO_ADC1_IN12); /* used by MPU6000 CS */ stm32_configgpio(GPIO_ADC1_IN13); /* FMU_AUX_ADC_1 */ stm32_configgpio(GPIO_ADC1_IN14); /* FMU_AUX_ADC_2 */ stm32_configgpio(GPIO_ADC1_IN15); /* PRESSURE_SENS */ @@ -279,6 +279,7 @@ __EXPORT int nsh_archinitialize(void) SPI_SELECT(spi1, PX4_SPIDEV_GYRO, false); SPI_SELECT(spi1, PX4_SPIDEV_ACCEL_MAG, false); SPI_SELECT(spi1, PX4_SPIDEV_BARO, false); + SPI_SELECT(spi1, PX4_SPIDEV_MPU, false); up_udelay(20); message("[boot] Successfully initialized SPI port 1\n"); diff --git a/src/drivers/boards/px4fmu-v2/px4fmu_spi.c b/src/drivers/boards/px4fmu-v2/px4fmu_spi.c index 09838d02f..c66c490a7 100644 --- a/src/drivers/boards/px4fmu-v2/px4fmu_spi.c +++ b/src/drivers/boards/px4fmu-v2/px4fmu_spi.c @@ -73,6 +73,7 @@ __EXPORT void weak_function stm32_spiinitialize(void) 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 @@ -81,6 +82,12 @@ __EXPORT void weak_function stm32_spiinitialize(void) 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 @@ -99,6 +106,7 @@ __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, 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: @@ -106,6 +114,7 @@ __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, 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: @@ -113,6 +122,15 @@ __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, 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: |