diff options
Diffstat (limited to 'src/drivers/boards/px4fmu/px4fmu_spi.c')
| -rw-r--r-- | src/drivers/boards/px4fmu/px4fmu_spi.c | 154 |
1 files changed, 154 insertions, 0 deletions
diff --git a/src/drivers/boards/px4fmu/px4fmu_spi.c b/src/drivers/boards/px4fmu/px4fmu_spi.c new file mode 100644 index 000000000..b5d00eac0 --- /dev/null +++ b/src/drivers/boards/px4fmu/px4fmu_spi.c @@ -0,0 +1,154 @@ +/**************************************************************************** + * + * 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. + * + ****************************************************************************/ + +/** + * @file px4fmu_spi.c + * + * Board-specific SPI functions. + */ + +/************************************************************************************ + * Included Files + ************************************************************************************/ + +#include <nuttx/config.h> + +#include <stdint.h> +#include <stdbool.h> +#include <debug.h> + +#include <nuttx/spi.h> +#include <arch/board/board.h> + +#include "up_arch.h" +#include "chip.h" +#include "stm32_internal.h" +#include "px4fmu_internal.h" + +/************************************************************************************ + * Public Functions + ************************************************************************************/ + +/************************************************************************************ + * Name: stm32_spiinitialize + * + * Description: + * Called to configure SPI chip select GPIO pins for the PX4FMU board. + * + ************************************************************************************/ + +__EXPORT void weak_function stm32_spiinitialize(void) +{ + stm32_configgpio(GPIO_SPI_CS_GYRO); + stm32_configgpio(GPIO_SPI_CS_ACCEL); + stm32_configgpio(GPIO_SPI_CS_MPU); + stm32_configgpio(GPIO_SPI_CS_SDCARD); + + /* De-activate all peripherals, + * required for some peripheral + * state machines + */ + stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1); + stm32_gpiowrite(GPIO_SPI_CS_ACCEL, 1); + stm32_gpiowrite(GPIO_SPI_CS_MPU, 1); + stm32_gpiowrite(GPIO_SPI_CS_SDCARD, 1); +} + +__EXPORT 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_MPU, 1); + stm32_gpiowrite(GPIO_SPI_CS_ACCEL, 1); + break; + + case PX4_SPIDEV_ACCEL: + /* Making sure the other peripherals are not selected */ + stm32_gpiowrite(GPIO_SPI_CS_ACCEL, !selected); + stm32_gpiowrite(GPIO_SPI_CS_MPU, 1); + stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1); + break; + + case PX4_SPIDEV_MPU: + /* Making sure the other peripherals are not selected */ + stm32_gpiowrite(GPIO_SPI_CS_ACCEL, 1); + stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1); + stm32_gpiowrite(GPIO_SPI_CS_MPU, !selected); + break; + + default: + break; + + } +} + +__EXPORT uint8_t stm32_spi1status(FAR struct spi_dev_s *dev, enum spi_dev_e devid) +{ + return SPI_STATUS_PRESENT; +} + +__EXPORT void stm32_spi2select(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) { + break; + + default: + break; + + } +} + +__EXPORT uint8_t stm32_spi2status(FAR struct spi_dev_s *dev, enum spi_dev_e devid) +{ + return SPI_STATUS_PRESENT; +} + + +__EXPORT void stm32_spi3select(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_SDCARD, !selected); +} + +__EXPORT uint8_t stm32_spi3status(FAR struct spi_dev_s *dev, enum spi_dev_e devid) +{ + /* this is actually bogus, but PX4 has no way to sense the presence of an SD card */ + return SPI_STATUS_PRESENT; +} + |