Aspirin works with Chibios on Lisa MX (paparazzi#1829)

libing403 · Jul 27, 2016 · 032c454 · 032c454
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commit 032c454
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Showing 3 changed files with 27 additions and 24 deletions.
diff --git a/conf/airframes/AGGIEAIR/aggieair_rp3_lia.xml b/conf/airframes/AGGIEAIR/aggieair_rp3_lia.xml
@@ -9,7 +9,7 @@ RP3 Lisa MX
   <firmware name="fixedwing">
     <define name="CONTROL_FREQUENCY" value="100"/>
     <configure name="PERIODIC_FREQUENCY" value="100"/>
-    <target name="ap" board="lisa_mx_2.0">
+    <target name="ap" board="lisa_mx_2.1_chibios">
       <module name="radio_control" type="sbus">
         <configure name="SBUS_PORT" value="UART5"/>
       </module>

diff --git a/conf/firmwares/subsystems/shared/imu_aspirin_v2_common.makefile b/conf/firmwares/subsystems/shared/imu_aspirin_v2_common.makefile
@@ -57,7 +57,8 @@ include $(CFG_SHARED)/spi_master.makefile
 ifeq ($(ARCH), lpc21)
 ASPIRIN_2_SPI_DEV ?= spi1
 ASPIRIN_2_SPI_SLAVE_IDX ?= SPI_SLAVE0
-else ifeq ($(ARCH), stm32)
+#else ifeq ($(ARCH), stm32)
+else ifeq ($(ARCH),$(filter $(ARCH),stm32 chibios))
 # Slave select configuration
 # SLAVE2 is on PB12 (NSS) (MPU600 CS)
 ASPIRIN_2_SPI_DEV ?= spi2

diff --git a/sw/airborne/boards/lisa_mx/chibios/v2.1/board.h b/sw/airborne/boards/lisa_mx/chibios/v2.1/board.h
@@ -1388,29 +1388,31 @@
 /**
  * SPI Config
  */
-#define SPI1_GPIO_AF GPIO_AF5
-#define SPI1_GPIO_PORT_MISO GPIOA
-#define SPI1_GPIO_MISO GPIO6
-#define SPI1_GPIO_PORT_MOSI GPIOA
-#define SPI1_GPIO_MOSI GPIO7
-#define SPI1_GPIO_PORT_SCK GPIOA
-#define SPI1_GPIO_SCK GPIO5
-
-// SLAVE0 on SPI connector
-#define SPI_SELECT_SLAVE0_PORT GPIOB
-#define SPI_SELECT_SLAVE0_PIN 9
-// SLAVE1 on AUX1
-#define SPI_SELECT_SLAVE1_PORT GPIOB
-#define SPI_SELECT_SLAVE1_PIN 1
-// SLAVE2 on AUX2
-#define SPI_SELECT_SLAVE2_PORT GPIOC
-#define SPI_SELECT_SLAVE2_PIN 5
-// SLAVE3 on AUX3
+#define SPI_SELECT_SLAVE0_PORT GPIOA
+#define SPI_SELECT_SLAVE0_PIN GPIO15
+
+#define SPI_SELECT_SLAVE1_PORT GPIOA
+#define SPI_SELECT_SLAVE1_PIN GPIO4
+
+#define SPI_SELECT_SLAVE2_PORT GPIOB
+#define SPI_SELECT_SLAVE2_PIN GPIO12
+
 #define SPI_SELECT_SLAVE3_PORT GPIOC
-#define SPI_SELECT_SLAVE3_PIN 4
-// SLAVE4 on AUX4
-#define SPI_SELECT_SLAVE4_PORT GPIOB
-#define SPI_SELECT_SLAVE4_PIN 5
+#define SPI_SELECT_SLAVE3_PIN GPIO13
+
+#define SPI_SELECT_SLAVE4_PORT GPIOC
+#define SPI_SELECT_SLAVE4_PIN GPIO12
+
+#define SPI_SELECT_SLAVE5_PORT GPIOC
+#define SPI_SELECT_SLAVE5_PIN GPIO4
+
+#define SPI1_GPIO_PORT_NSS GPIOA
+#define SPI1_GPIO_NSS GPIO4
+
+#define SPI2_GPIO_PORT_NSS GPIOB
+#define SPI2_GPIO_NSS GPIO12
+
+#define SPI3_GPIO_PORT_NSS GPIO
 
 /**
  * Baro