boards: ark fpv fix spi6

PX4 · Nov 2, 2024 · 0e06e4f · 0e06e4f
1 parent 108979c
commit 0e06e4f
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Showing 3 changed files with 16 additions and 4 deletions.
diff --git a/boards/ark/fpv/src/board_config.h b/boards/ark/fpv/src/board_config.h
@@ -105,6 +105,11 @@
 #  define GPIO_nARMED_INIT GPIO_TRACED3
 #endif
 
+/* SPI */
+
+#define SPI6_nRESET_EXTERNAL1       /* PF10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN10)
+#define SPI6_RESET(on_true)          px4_arch_gpiowrite(SPI6_nRESET_EXTERNAL1, !(on_true))
+
 /* I2C busses */
 
 /* Devices on the onboard buses.
@@ -327,6 +332,7 @@
 		GPIO_5V_ON_BATTERY,               \
 		GPIO_VDD_3V3_SD_CARD_EN,          \
 		GPIO_nARMED_INIT,                 \
+		SPI6_nRESET_EXTERNAL1,            \
 		GPIO_FMU_CH1,     	          \
 		GPIO_FMU_CH2,     	          \
 		GPIO_FMU_CH3,     	          \

diff --git a/boards/ark/fpv/src/init.c b/boards/ark/fpv/src/init.c
@@ -112,6 +112,7 @@ __EXPORT void board_peripheral_reset(int ms)
 
 	PAYLOAD_POWER_EN(false);
 	board_control_spi_sensors_power(false, 0xffff);
+	SPI6_RESET(true);
 
 	/* wait for the peripheral rail to reach GND */
 	usleep(ms * 1000);
@@ -122,6 +123,9 @@ __EXPORT void board_peripheral_reset(int ms)
 	/* switch the peripheral rail back on */
 	board_control_spi_sensors_power(true, 0xffff);
 	PAYLOAD_POWER_EN(true);
+
+	/* Release SPI6 Reset */
+	SPI6_RESET(false);
 }
 
 /************************************************************************************
@@ -206,6 +210,8 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	/* Power on Interfaces */
 	PAYLOAD_POWER_EN(true);
 
+	SPI6_RESET(false);
+
 	/* Need hrt running before using the ADC */
 
 	px4_platform_init();

diff --git a/boards/ark/fpv/src/spi.cpp b/boards/ark/fpv/src/spi.cpp
@@ -40,16 +40,16 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 		initSPIBus(SPI::Bus::SPI1, {
 			initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
 		}, {GPIO::PortI, GPIO::Pin11}),
-		initSPIBus(SPI::Bus::SPI6, {
-			initSPIDevice(DRV_DEVTYPE_UNUSED, SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11})
+		initSPIBusExternal(SPI::Bus::SPI6, {
+			initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11})
 		}),
 	}),
 	initSPIFmumID(ARKFPV_1, { // Placeholder
 		initSPIBus(SPI::Bus::SPI1, {
 			initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
 		}, {GPIO::PortI, GPIO::Pin11}),
-		initSPIBus(SPI::Bus::SPI6, {
-			initSPIDevice(DRV_DEVTYPE_UNUSED, SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11})
+		initSPIBusExternal(SPI::Bus::SPI6, {
+			initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11})
 		}),
 	}),
 };