text: /****************************************************************************
   *
   *   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 <px4_config.h>
  #include <px4_log.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 <up_arch.h>
  #include <chip.h>
  #include <stm32_gpio.h>
  #include "board_config.h"
  #include <systemlib/err.h>
  
  /****************************************************************************
   * Pre-Processor Definitions
   ****************************************************************************/
  
  /* Configuration ************************************************************/
  
  /* Debug ********************************************************************/
  
  /* Define CS GPIO array */
  static const uint32_t spi1selects_gpio[] = PX4_SENSOR_BUS_CS_GPIO;
  static const uint32_t spi2selects_gpio[] = PX4_MEMORY_BUS_CS_GPIO;
  #ifdef CONFIG_STM32F7_SPI3
  static const uint32_t spi3selects_gpio[] = {FIXME};
  #error Need to define SPI3 Usage
  #endif
  static const uint32_t spi4selects_gpio[] = PX4_BARO_BUS_CS_GPIO;
  //#ifdef CONFIG_STM32F7_SPI5
  static const uint32_t spi5selects_gpio[] = PX4_EXTERNAL1_BUS_CS_GPIO;
  //#endif
  static const uint32_t spi6selects_gpio[] = PX4_EXTERNAL2_BUS_CS_GPIO;
  
  
  /************************************************************************************
   * Public Functions
   ************************************************************************************/
  
  /************************************************************************************
   * Name: stm32_spiinitialize
   *
   * Description:
   *   Called to configure SPI chip select GPIO pins for the PX4FMU board.
   *
   ************************************************************************************/
  
  __EXPORT void stm32_spiinitialize(void)
  {
  #ifdef CONFIG_STM32F7_SPI1
  	board_gpio_init(spi1selects_gpio, arraySize(spi1selects_gpio));
  #endif
  
  #ifdef CONFIG_STM32F7_SPI2
  	board_gpio_init(spi2selects_gpio, arraySize(spi2selects_gpio));
  #endif
  #ifdef CONFIG_STM32F7_SPI3
  	board_gpio_init(spi3selects_gpio, arraySize(spi3selects_gpio));
  #endif
  #ifdef CONFIG_STM32F7_SPI4
  	board_gpio_init(spi4selects_gpio, arraySize(spi4selects_gpio));
  #endif
  #ifdef CONFIG_STM32F7_SPI5
  	board_gpio_init(spi5selects_gpio, arraySize(spi5selects_gpio));
  #endif
  #ifdef CONFIG_STM32F7_SPI6
  	board_gpio_init(spi6selects_gpio, arraySize(spi6selects_gpio));
  #endif
  
  }
  
  /************************************************************************************
   * Name: stm32_spi_bus_initialize
   *
   * Description:
   *   Called to configure SPI buses on PX4FMU board.
   *
   ************************************************************************************/
  static struct spi_dev_s *spi_sensors;
  static struct spi_dev_s *spi_memory;
  static struct spi_dev_s *spi_baro;
  static struct spi_dev_s *spi_ext;
  
  __EXPORT int stm32_spi_bus_initialize(void)
  {
  	/* Configure SPI-based devices */
  
  	/* Get the SPI port for the Sensors */
  
  	spi_sensors = stm32_spibus_initialize(PX4_SPI_BUS_SENSORS);
  
  	if (!spi_sensors) {
  		PX4_ERR("[boot] FAILED to initialize SPI port %d\n", PX4_SPI_BUS_SENSORS);
  		return -ENODEV;
  	}
  
  	/* Default PX4_SPI_BUS_SENSORS to 1MHz and de-assert the known chip selects. */
  
  	SPI_SETFREQUENCY(spi_sensors, 10000000);
  	SPI_SETBITS(spi_sensors, 8);
  	SPI_SETMODE(spi_sensors, SPIDEV_MODE3);
  
  	for (int cs = PX4_SENSORS_BUS_FIRST_CS; cs <= PX4_SENSORS_BUS_LAST_CS; cs++) {
  		SPI_SELECT(spi_sensors, cs, false);
  	}
  
  	/* Get the SPI port for the Memory */
  
  	spi_memory = stm32_spibus_initialize(PX4_SPI_BUS_MEMORY);
  
  	if (!spi_memory) {
  		PX4_ERR("[boot] FAILED to initialize SPI port %d\n", PX4_SPI_BUS_MEMORY);
  		return -ENODEV;
  	}
  
  	/* Default PX4_SPI_BUS_MEMORY to 12MHz and de-assert the known chip selects.
  	 */
  
  	SPI_SETFREQUENCY(spi_memory, 12 * 1000 * 1000);
  	SPI_SETBITS(spi_memory, 8);
  	SPI_SETMODE(spi_memory, SPIDEV_MODE3);
  
  	for (int cs = PX4_MEMORY_BUS_FIRST_CS; cs <= PX4_MEMORY_BUS_LAST_CS; cs++) {
  		SPI_SELECT(spi_memory, cs, false);
  	}
  
  	/* Get the SPI port for the BARO */
  
  	spi_baro = stm32_spibus_initialize(PX4_SPI_BUS_BARO);
  
  	if (!spi_baro) {
  		PX4_ERR("[boot] FAILED to initialize SPI port %d\n", PX4_SPI_BUS_BARO);
  		return -ENODEV;
  	}
  
  	/* MS5611 has max SPI clock speed of 20MHz
  	 */
  
  	SPI_SETFREQUENCY(spi_baro, 20 * 1000 * 1000);
  	SPI_SETBITS(spi_baro, 8);
  	SPI_SETMODE(spi_baro, SPIDEV_MODE3);
  
  	for (int cs = PX4_BARO_BUS_FIRST_CS; cs <= PX4_BARO_BUS_LAST_CS; cs++) {
  		SPI_SELECT(spi_baro, cs, false);
  	}
  
  	/* Get the SPI port for the PX4_SPI_EXTERNAL1 */
  
  	spi_ext = stm32_spibus_initialize(PX4_SPI_BUS_EXTERNAL1);
  	printf("SPI external init: %u\n",spi_ext);
  	if (!spi_ext) {
  		PX4_ERR("[boot] FAILED to initialize SPI port %d\n", PX4_SPI_BUS_EXTERNAL1);
  		return -ENODEV;
  	}
  
  	SPI_SETFREQUENCY(spi_ext, 2000000); //8 * 1000 * 1000);
  	SPI_SETBITS(spi_ext, 8);
  	SPI_SETMODE(spi_ext, SPIDEV_MODE0); //3
  
  	for (int cs = PX4_EXTERNAL1_BUS_FIRST_CS; cs <= PX4_EXTERNAL1_BUS_LAST_CS; cs++) {
  		SPI_SELECT(spi_ext, cs, false);
  	}
  
  	/* Get the SPI port for the PX4_SPI_EXTERNAL2 */
  
  	spi_ext = stm32_spibus_initialize(PX4_SPI_BUS_EXTERNAL2);
  
  	if (!spi_ext) {
  		PX4_ERR("[boot] FAILED to initialize SPI port %d\n", PX4_SPI_BUS_EXTERNAL2);
  		return -ENODEV;
  	}
  
  	SPI_SETFREQUENCY(spi_ext, 8 * 1000 * 1000);
  	SPI_SETBITS(spi_ext, 8);
  	SPI_SETMODE(spi_ext, SPIDEV_MODE3);
  
  	for (int cs = PX4_EXTERNAL2_BUS_FIRST_CS; cs <= PX4_EXTERNAL2_BUS_LAST_CS; cs++) {
  		SPI_SELECT(spi_ext, cs, false);
  	}
  
  	return OK;
  
  }
  
  /************************************************************************************
   * Name: stm32_spi1select and stm32_spi1status
   *
   * Description:
   *   Called by stm32 spi driver on bus 1.
   *
   ************************************************************************************/
  
  __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 */
  
  	int sel = (int) devid;
  	ASSERT(PX4_SPI_BUS_ID(sel) == PX4_SPI_BUS_SENSORS);
  
  	/* Making sure the other peripherals are not selected */
  
  	for (size_t cs = 0; arraySize(spi1selects_gpio) > 1 && cs < arraySize(spi1selects_gpio); cs++) {
  		if (spi1selects_gpio[cs] != 0) {
  			stm32_gpiowrite(spi1selects_gpio[cs], 1);
  		}
  	}
  
  	uint32_t gpio = spi1selects_gpio[PX4_SPI_DEV_ID(sel)];
  
  	if (gpio) {
  		stm32_gpiowrite(gpio, !selected);
  	}
  }
  
  __EXPORT uint8_t stm32_spi1status(FAR struct spi_dev_s *dev, uint32_t devid)
  {
  	return SPI_STATUS_PRESENT;
  }
  
  
  /************************************************************************************
   * Name: stm32_spi2select and stm32_spi2status
   *
   * Description:
   *   Called by stm32 spi driver on bus 2.
   *
   ************************************************************************************/
  
  __EXPORT void stm32_spi2select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
  {
  	/* SPI select is active low, so write !selected to select the device */
  
  	int sel = (int) devid;
  
  	if (devid == SPIDEV_FLASH(0)) {
  		sel = PX4_SPIDEV_MEMORY;
  	}
  
  	ASSERT(PX4_SPI_BUS_ID(sel) == PX4_SPI_BUS_MEMORY);
  
  	/* Making sure the other peripherals are not selected */
  
  	for (int cs = 0;  arraySize(spi2selects_gpio) > 1 && cs < arraySize(spi2selects_gpio); cs++) {
  		if (spi2selects_gpio[cs] != 0) {
  			stm32_gpiowrite(spi2selects_gpio[cs], 1);
  		}
  	}
  
  	uint32_t gpio = spi2selects_gpio[PX4_SPI_DEV_ID(sel)];
  
  	if (gpio) {
  		stm32_gpiowrite(gpio, !selected);
  	}
  }
  
  __EXPORT uint8_t stm32_spi2status(FAR struct spi_dev_s *dev, uint32_t devid)
  {
  	return SPI_STATUS_PRESENT;
  }
  
  /************************************************************************************
   * Name: stm32_spi3select and stm32_spi2status
   *
   * Description:
   *   Called by stm32 spi driver on bus 3.
   *
   ************************************************************************************/
  
  #ifdef CONFIG_STM32F7_SPI3
  __EXPORT void stm32_spi3select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
  {
  	/* SPI select is active low, so write !selected to select the device */
  
  	int sel = (int) devid;
  	ASSERT(PX4_SPI_BUS_ID(sel) == FIXME);
  
  	/* Making sure the other peripherals are not selected */
  
  	for (int cs = 0;  arraySize(spi3selects_gpio) > 1 && cs < arraySize(spi3selects_gpio); cs++) {
  		if (spi3selects_gpio[cs] != 0) {
  			stm32_gpiowrite(spi3selects_gpio[cs], 1);
  		}
  	}
  
  	uint32_t gpio = spi3selects_gpio[PX4_SPI_DEV_ID(sel)];
  
  	if (gpio) {
  		stm32_gpiowrite(gpio, !selected);
  	}
  }
  
  __EXPORT uint8_t stm32_spi3status(FAR struct spi_dev_s *dev, uint32_t devid)
  {
  	return SPI_STATUS_PRESENT;
  }
  #endif
  /************************************************************************************
   * Name: stm32_spi4select and stm32_spi4status
   *
   * Description:
   *   Called by stm32 spi driver on bus 4.
   *
   ************************************************************************************/
  
  __EXPORT void stm32_spi4select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
  {
  	int sel = (int) devid;
  
  	ASSERT(PX4_SPI_BUS_ID(sel) == PX4_SPI_BUS_BARO);
  
  	/* Making sure the other peripherals are not selected */
  	for (size_t cs = 0; arraySize(spi4selects_gpio) > 1 && cs < arraySize(spi4selects_gpio); cs++) {
  		stm32_gpiowrite(spi4selects_gpio[cs], 1);
  	}
  
  	uint32_t gpio = spi4selects_gpio[PX4_SPI_DEV_ID(sel)];
  
  	if (gpio) {
  		stm32_gpiowrite(gpio, !selected);
  	}
  }
  
  __EXPORT uint8_t stm32_spi4status(FAR struct spi_dev_s *dev, uint32_t devid)
  {
  	return SPI_STATUS_PRESENT;
  }
  
  /************************************************************************************
   * Name: stm32_spi5select and stm32_spi5status
   *
   * Description:
   *   Called by stm32 spi driver on bus 5.
   *
   ************************************************************************************/
  
  #ifdef CONFIG_STM32F7_SPI5
  __EXPORT void stm32_spi5select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
  {
  	/* SPI select is active low, so write !selected to select the device */
  
  	int sel = (int) devid;
  	printf("Failure here! %u",sel);
  	//ASSERT(PX4_SPI_BUS_ID(sel) == PX4_SPI_BUS_EXTERNAL1);
  
  	/* Making sure the other peripherals are not selected */
  	for (size_t cs = 0; arraySize(spi5selects_gpio) > 1 && cs < arraySize(spi5selects_gpio); cs++) {
  		stm32_gpiowrite(spi5selects_gpio[cs], 1);
  	}
  
  	uint32_t gpio = spi5selects_gpio[PX4_SPI_DEV_ID(sel)];
  
  	if (gpio) {
  		stm32_gpiowrite(gpio, !selected);
  	}
  }
  
  __EXPORT uint8_t stm32_spi5status(FAR struct spi_dev_s *dev, uint32_t devid)
  {
  	return SPI_STATUS_PRESENT;
  }
  #endif
  
  /************************************************************************************
   * Name: stm32_spi6select and stm32_spi6status
   *
   * Description:
   *   Called by stm32 spi driver on bus 6.
   *
   ************************************************************************************/
  
  __EXPORT void stm32_spi6select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
  {
  	/* SPI select is active low, so write !selected to select the device */
  
  	int sel = (int) devid;
  
  	ASSERT(PX4_SPI_BUS_ID(sel) == PX4_SPI_BUS_EXTERNAL2);
  
  	/* Making sure the other peripherals are not selected */
  	for (size_t cs = 0; arraySize(spi6selects_gpio) > 1 && cs < arraySize(spi6selects_gpio); cs++) {
  		stm32_gpiowrite(spi6selects_gpio[cs], 1);
  	}
  
  	uint32_t gpio = spi6selects_gpio[PX4_SPI_DEV_ID(sel)];
  
  	if (gpio) {
  		stm32_gpiowrite(gpio, !selected);
  	}
  }
  
  __EXPORT uint8_t stm32_spi6status(FAR struct spi_dev_s *dev, uint32_t devid)
  {
  	return SPI_STATUS_PRESENT;
  }
  
  /************************************************************************************
   * Name: board_spi_reset
   *
   * Description:
   *
   *
   ************************************************************************************/
  
  __EXPORT void board_spi_reset(int ms)
  {
  	/* disable SPI bus */
  	for (size_t cs = 0;  arraySize(spi1selects_gpio) > 1 && cs < arraySize(spi1selects_gpio); cs++) {
  		if (spi1selects_gpio[cs] != 0) {
  			stm32_configgpio(_PIN_OFF(spi1selects_gpio[cs]));
  		}
  	}
  
  	stm32_configgpio(GPIO_SPI1_SCK_OFF);
  	stm32_configgpio(GPIO_SPI1_MISO_OFF);
  	stm32_configgpio(GPIO_SPI1_MOSI_OFF);
  
  
  #if BOARD_USE_DRDY
  	stm32_configgpio(GPIO_DRDY_OFF_SPI1_DRDY1_ICM20689);
  	stm32_configgpio(GPIO_DRDY_OFF_SPI1_DRDY2_BMI055_GYRO);
  	stm32_configgpio(GPIO_DRDY_OFF_SPI1_DRDY3_BMI055_ACC);
  	stm32_configgpio(GPIO_DRDY_OFF_SPI1_DRDY4_ICM20602);
  	stm32_configgpio(GPIO_DRDY_OFF_SPI1_DRDY5_BMI055_GYRO);
  	stm32_configgpio(GPIO_DRDY_OFF_SPI1_DRDY6_BMI055_ACC);
  #endif
  	/* set the sensor rail off */
  	stm32_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, 0);
  
  	/* wait for the sensor rail to reach GND */
  	usleep(ms * 1000);
  	warnx("reset done, %d ms", ms);
  
  	/* re-enable power */
  
  	/* switch the sensor rail back on */
  	stm32_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, 1);
  
  	/* wait a bit before starting SPI, different times didn't influence results */
  	usleep(100);
  
  	/* reconfigure the SPI pins */
  	for (size_t cs = 0; arraySize(spi1selects_gpio) > 1 && cs < arraySize(spi1selects_gpio); cs++) {
  		if (spi1selects_gpio[cs] != 0) {
  			stm32_configgpio(spi1selects_gpio[cs]);
  		}
  	}
  
  	stm32_configgpio(GPIO_SPI1_SCK);
  	stm32_configgpio(GPIO_SPI1_MISO);
  	stm32_configgpio(GPIO_SPI1_MOSI);
  
  #if BOARD_USE_DRDY
  	stm32_configgpio(GPIO_SPI1_DRDY1_ICM20689);
  	stm32_configgpio(GPIO_SPI1_DRDY2_BMI055_GYRO);
  	stm32_configgpio(GPIO_SPI1_DRDY3_BMI055_ACC);
  	stm32_configgpio(GPIO_SPI1_DRDY4_ICM20602);
  	stm32_configgpio(GPIO_SPI1_DRDY5_BMI055_GYRO);
  	stm32_configgpio(GPIO_SPI1_DRDY6_BMI055_ACC);
  #endif
  
  }
  