Merge pull request #3321 from jflyper/bfdev-set-spi-cs-initial-high-2

Preset CS lines for SPI devices initial high

Makefile

@@ -681,6 +681,7 @@ COMMON_SRC = \
             drivers/bus_i2c_config.c \
             drivers/bus_i2c_soft.c \
             drivers/bus_spi.c \
+            drivers/bus_spi_config.c \
             drivers/bus_spi_soft.c \
             drivers/buttons.c \
             drivers/display.c \
@@ -901,6 +902,7 @@ SPEED_OPTIMISED_SRC := $(SPEED_OPTIMISED_SRC) \
 
 SIZE_OPTIMISED_SRC := $(SIZE_OPTIMISED_SRC) \
             drivers/bus_i2c_config.c \
+            drivers/bus_spi_config.c \
             drivers/serial_escserial.c \
             drivers/serial_pinconfig.c \
             drivers/serial_uart_init.c \
@@ -1027,9 +1029,10 @@ F7EXCLUDES = \
 
 SITLEXCLUDES = \
             drivers/adc.c \
-            drivers/bus_spi.c \
             drivers/bus_i2c.c \
             drivers/bus_i2c_config.c \
+            drivers/bus_spi.c \
+            drivers/bus_spi_config.c \
             drivers/dma.c \
             drivers/pwm_output.c \
             drivers/timer.c \

src/main/drivers/accgyro/accgyro_spi_bmi160.c

@@ -103,6 +103,7 @@ bool bmi160Detect(const busDevice_t *bus)
         return true;
     IOInit(bus->spi.csnPin, OWNER_MPU_CS, 0);
     IOConfigGPIO(bus->spi.csnPin, SPI_IO_CS_CFG);
+    IOHi(bus->spi.csnPin);
 
     spiSetDivisor(BMI160_SPI_INSTANCE, BMI160_SPI_DIVISOR);
 

src/main/drivers/accgyro/accgyro_spi_icm20689.c

@@ -69,6 +69,7 @@ static void icm20689SpiInit(const busDevice_t *bus)
 
     IOInit(bus->spi.csnPin, OWNER_MPU_CS, 0);
     IOConfigGPIO(bus->spi.csnPin, SPI_IO_CS_CFG);
+    IOHi(bus->spi.csnPin);
 
     spiSetDivisor(ICM20689_SPI_INSTANCE, SPI_CLOCK_STANDARD);
 

src/main/drivers/accgyro/accgyro_spi_mpu6000.c

@@ -155,6 +155,7 @@ bool mpu6000SpiDetect(const busDevice_t *bus)
 
     IOInit(bus->spi.csnPin, OWNER_MPU_CS, 0);
     IOConfigGPIO(bus->spi.csnPin, SPI_IO_CS_CFG);
+    IOHi(bus->spi.csnPin);
 
     spiSetDivisor(MPU6000_SPI_INSTANCE, SPI_CLOCK_INITIALIZATON);
 

src/main/drivers/accgyro/accgyro_spi_mpu6500.c

@@ -77,6 +77,7 @@ static void mpu6500SpiInit(const busDevice_t *bus)
 
     IOInit(bus->spi.csnPin, OWNER_MPU_CS, 0);
     IOConfigGPIO(bus->spi.csnPin, SPI_IO_CS_CFG);
+    IOHi(bus->spi.csnPin);
 
     spiSetDivisor(MPU6500_SPI_INSTANCE, SPI_CLOCK_FAST);
 

src/main/drivers/bus_spi.c

@@ -72,14 +72,14 @@
 
 static spiDevice_t spiHardwareMap[] = {
 #if defined(STM32F1)
-    { .dev = SPI1, .nss = IO_TAG(SPI1_NSS_PIN), .sck = IO_TAG(SPI1_SCK_PIN), .miso = IO_TAG(SPI1_MISO_PIN), .mosi = IO_TAG(SPI1_MOSI_PIN), .rcc = RCC_APB2(SPI1), .af = 0, false },
+    { .dev = SPI1, .sck = IO_TAG(SPI1_SCK_PIN), .miso = IO_TAG(SPI1_MISO_PIN), .mosi = IO_TAG(SPI1_MOSI_PIN), .rcc = RCC_APB2(SPI1), .af = 0, false },
-    { .dev = SPI2, .nss = IO_TAG(SPI2_NSS_PIN), .sck = IO_TAG(SPI2_SCK_PIN), .miso = IO_TAG(SPI2_MISO_PIN), .mosi = IO_TAG(SPI2_MOSI_PIN), .rcc = RCC_APB1(SPI2), .af = 0, false },
+    { .dev = SPI2, .sck = IO_TAG(SPI2_SCK_PIN), .miso = IO_TAG(SPI2_MISO_PIN), .mosi = IO_TAG(SPI2_MOSI_PIN), .rcc = RCC_APB1(SPI2), .af = 0, false },
 #else
-    { .dev = SPI1, .nss = IO_TAG(SPI1_NSS_PIN), .sck = IO_TAG(SPI1_SCK_PIN), .miso = IO_TAG(SPI1_MISO_PIN), .mosi = IO_TAG(SPI1_MOSI_PIN), .rcc = RCC_APB2(SPI1), .af = GPIO_AF_SPI1, false },
+    { .dev = SPI1, .sck = IO_TAG(SPI1_SCK_PIN), .miso = IO_TAG(SPI1_MISO_PIN), .mosi = IO_TAG(SPI1_MOSI_PIN), .rcc = RCC_APB2(SPI1), .af = GPIO_AF_SPI1, false },
-    { .dev = SPI2, .nss = IO_TAG(SPI2_NSS_PIN), .sck = IO_TAG(SPI2_SCK_PIN), .miso = IO_TAG(SPI2_MISO_PIN), .mosi = IO_TAG(SPI2_MOSI_PIN), .rcc = RCC_APB1(SPI2), .af = GPIO_AF_SPI2, false },
+    { .dev = SPI2, .sck = IO_TAG(SPI2_SCK_PIN), .miso = IO_TAG(SPI2_MISO_PIN), .mosi = IO_TAG(SPI2_MOSI_PIN), .rcc = RCC_APB1(SPI2), .af = GPIO_AF_SPI2, false },
 #endif
 #if defined(STM32F3) || defined(STM32F4)
-    { .dev = SPI3, .nss = IO_TAG(SPI3_NSS_PIN), .sck = IO_TAG(SPI3_SCK_PIN), .miso = IO_TAG(SPI3_MISO_PIN), .mosi = IO_TAG(SPI3_MOSI_PIN), .rcc = RCC_APB1(SPI3), .af = GPIO_AF_SPI3, false }
+    { .dev = SPI3, .sck = IO_TAG(SPI3_SCK_PIN), .miso = IO_TAG(SPI3_MISO_PIN), .mosi = IO_TAG(SPI3_MOSI_PIN), .rcc = RCC_APB1(SPI3), .af = GPIO_AF_SPI3, false }
 #endif
 };
 
@@ -124,21 +124,11 @@ void spiInitDevice(SPIDevice device)
     IOConfigGPIOAF(IOGetByTag(spi->sck),  SPI_IO_AF_CFG, spi->af);
     IOConfigGPIOAF(IOGetByTag(spi->miso), SPI_IO_AF_CFG, spi->af);
     IOConfigGPIOAF(IOGetByTag(spi->mosi), SPI_IO_AF_CFG, spi->af);
-
-    if (spi->nss) {
-        IOInit(IOGetByTag(spi->nss), OWNER_SPI_CS, RESOURCE_INDEX(device));
-        IOConfigGPIOAF(IOGetByTag(spi->nss), SPI_IO_CS_CFG, spi->af);
-    }
 #endif
 #if defined(STM32F10X)
     IOConfigGPIO(IOGetByTag(spi->sck), SPI_IO_AF_SCK_CFG);
     IOConfigGPIO(IOGetByTag(spi->miso), SPI_IO_AF_MISO_CFG);
     IOConfigGPIO(IOGetByTag(spi->mosi), SPI_IO_AF_MOSI_CFG);
-
-    if (spi->nss) {
-        IOInit(IOGetByTag(spi->nss), OWNER_SPI_CS, RESOURCE_INDEX(device));
-        IOConfigGPIO(IOGetByTag(spi->nss), SPI_IO_CS_CFG);
-    }
 #endif
 
     // Init SPI hardware
@@ -168,11 +158,6 @@ void spiInitDevice(SPIDevice device)
 
     SPI_Init(spi->dev, &spiInit);
     SPI_Cmd(spi->dev, ENABLE);
-
-    if (spi->nss) {
-        // Drive NSS high to disable connected SPI device.
-        IOHi(IOGetByTag(spi->nss));
-    }
 }
 
 bool spiInit(SPIDevice device)

src/main/drivers/bus_spi.h

@@ -71,7 +71,6 @@ typedef enum SPIDevice {
 
 typedef struct SPIDevice_s {
     SPI_TypeDef *dev;
-    ioTag_t nss;
     ioTag_t sck;
     ioTag_t mosi;
     ioTag_t miso;
@@ -86,6 +85,7 @@ typedef struct SPIDevice_s {
 #endif
 } spiDevice_t;
 
+void spiPreInitCs(ioTag_t iotag);
 bool spiInit(SPIDevice device);
 void spiSetDivisor(SPI_TypeDef *instance, uint16_t divisor);
 uint8_t spiTransferByte(SPI_TypeDef *instance, uint8_t in);

src/main/drivers/bus_spi_config.c

@@ -0,0 +1,37 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdbool.h>
+#include <stdint.h>
+
+#include <platform.h>
+
+#include "drivers/bus_spi.h"
+#include "drivers/io.h"
+
+// Bring a pin for possible CS line to pull-up state in preparation for
+// sequential initialization by relevant drivers.
+// Note that the pin is set to input for safety at this point.
+
+void spiPreInitCs(ioTag_t iotag)
+{
+    IO_t io = IOGetByTag(iotag);
+    if (io) {
+        IOInit(io, OWNER_SPI_PREINIT, 0);
+        IOConfigGPIO(io, IOCFG_IPU);
+    }
+}

src/main/drivers/bus_spi_hal.c

@@ -70,10 +70,10 @@
 
 
 static spiDevice_t spiHardwareMap[] = {
-    { .dev = SPI1, .nss = IO_TAG(SPI1_NSS_PIN), .sck = IO_TAG(SPI1_SCK_PIN), .miso = IO_TAG(SPI1_MISO_PIN), .mosi = IO_TAG(SPI1_MOSI_PIN), .rcc = RCC_APB2(SPI1), .af = GPIO_AF5_SPI1, .leadingEdge = false, .dmaIrqHandler = DMA2_ST3_HANDLER },
+    { .dev = SPI1, .sck = IO_TAG(SPI1_SCK_PIN), .miso = IO_TAG(SPI1_MISO_PIN), .mosi = IO_TAG(SPI1_MOSI_PIN), .rcc = RCC_APB2(SPI1), .af = GPIO_AF5_SPI1, .leadingEdge = false, .dmaIrqHandler = DMA2_ST3_HANDLER },
-    { .dev = SPI2, .nss = IO_TAG(SPI2_NSS_PIN), .sck = IO_TAG(SPI2_SCK_PIN), .miso = IO_TAG(SPI2_MISO_PIN), .mosi = IO_TAG(SPI2_MOSI_PIN), .rcc = RCC_APB1(SPI2), .af = GPIO_AF5_SPI2, .leadingEdge = false, .dmaIrqHandler = DMA1_ST4_HANDLER },
+    { .dev = SPI2, .sck = IO_TAG(SPI2_SCK_PIN), .miso = IO_TAG(SPI2_MISO_PIN), .mosi = IO_TAG(SPI2_MOSI_PIN), .rcc = RCC_APB1(SPI2), .af = GPIO_AF5_SPI2, .leadingEdge = false, .dmaIrqHandler = DMA1_ST4_HANDLER },
-    { .dev = SPI3, .nss = IO_TAG(SPI3_NSS_PIN), .sck = IO_TAG(SPI3_SCK_PIN), .miso = IO_TAG(SPI3_MISO_PIN), .mosi = IO_TAG(SPI3_MOSI_PIN), .rcc = RCC_APB1(SPI3), .af = GPIO_AF6_SPI3, .leadingEdge = false, .dmaIrqHandler = DMA1_ST7_HANDLER },
+    { .dev = SPI3, .sck = IO_TAG(SPI3_SCK_PIN), .miso = IO_TAG(SPI3_MISO_PIN), .mosi = IO_TAG(SPI3_MOSI_PIN), .rcc = RCC_APB1(SPI3), .af = GPIO_AF6_SPI3, .leadingEdge = false, .dmaIrqHandler = DMA1_ST7_HANDLER },
-    { .dev = SPI4, .nss = IO_TAG(SPI4_NSS_PIN), .sck = IO_TAG(SPI4_SCK_PIN), .miso = IO_TAG(SPI4_MISO_PIN), .mosi = IO_TAG(SPI4_MOSI_PIN), .rcc = RCC_APB2(SPI4), .af = GPIO_AF5_SPI4, .leadingEdge = false, .dmaIrqHandler = DMA2_ST1_HANDLER }
+    { .dev = SPI4, .sck = IO_TAG(SPI4_SCK_PIN), .miso = IO_TAG(SPI4_MISO_PIN), .mosi = IO_TAG(SPI4_MOSI_PIN), .rcc = RCC_APB2(SPI4), .af = GPIO_AF5_SPI4, .leadingEdge = false, .dmaIrqHandler = DMA2_ST1_HANDLER }
 };
 
 SPIDevice spiDeviceByInstance(SPI_TypeDef *instance)
@@ -159,21 +159,11 @@ void spiInitDevice(SPIDevice device)
         IOConfigGPIOAF(IOGetByTag(spi->sck), SPI_IO_AF_SCK_CFG_HIGH, spi->af);
     IOConfigGPIOAF(IOGetByTag(spi->miso), SPI_IO_AF_MISO_CFG, spi->af);
     IOConfigGPIOAF(IOGetByTag(spi->mosi), SPI_IO_AF_CFG, spi->af);
-
-    if (spi->nss) {
-        IOInit(IOGetByTag(spi->nss), OWNER_SPI_CS, RESOURCE_INDEX(device));
-        IOConfigGPIO(IOGetByTag(spi->nss), SPI_IO_CS_CFG);
-    }
 #endif
 #if defined(STM32F10X)
     IOConfigGPIO(IOGetByTag(spi->sck), SPI_IO_AF_SCK_CFG);
     IOConfigGPIO(IOGetByTag(spi->miso), SPI_IO_AF_MISO_CFG);
     IOConfigGPIO(IOGetByTag(spi->mosi), SPI_IO_AF_MOSI_CFG);
-
-    if (spi->nss) {
-        IOInit(IOGetByTag(spi->nss), OWNER_SPI_CS, RESOURCE_INDEX(device));
-        IOConfigGPIO(IOGetByTag(spi->nss), SPI_IO_CS_CFG);
-    }
 #endif
     spiHardwareMap[device].hspi.Instance = spi->dev;
     // Init SPI hardware
@@ -198,11 +188,7 @@ void spiInitDevice(SPIDevice device)
         spiHardwareMap[device].hspi.Init.CLKPhase = SPI_PHASE_2EDGE;
     }
 
-    if (HAL_SPI_Init(&spiHardwareMap[device].hspi) == HAL_OK)
+    if (HAL_SPI_Init(&spiHardwareMap[device].hspi) == HAL_OK) {
-    {
-        if (spi->nss) {
-            IOHi(IOGetByTag(spi->nss));
-        }
     }
 }
 

src/main/drivers/max7456.c

@@ -397,6 +397,7 @@ void max7456Init(const vcdProfile_t *pVcdProfile)
 #endif
     IOInit(max7456CsPin, OWNER_OSD_CS, 0);
     IOConfigGPIO(max7456CsPin, SPI_IO_CS_CFG);
+    IOHi(max7456CsPin);
 
     spiSetDivisor(MAX7456_SPI_INSTANCE, SPI_CLOCK_STANDARD);
     // force soft reset on Max7456

src/main/drivers/resource.c

@@ -61,6 +61,7 @@ const char * const ownerNames[OWNER_TOTAL_COUNT] = {
     "LED_STRIP",
     "TRANSPONDER",
     "VTX",
-    "COMPASS_CS"
+    "COMPASS_CS",
+    "SPI_PREINIT",
 };
 

src/main/drivers/resource.h

@@ -62,6 +62,7 @@ typedef enum {
     OWNER_TRANSPONDER,
     OWNER_VTX,
     OWNER_COMPASS_CS,
+    OWNER_SPI_PREINIT,
     OWNER_TOTAL_COUNT
 } resourceOwner_e;
 

src/main/fc/fc_init.c

@@ -185,6 +185,61 @@ static IO_t busSwitchResetPin        = IO_NONE;
 }
 #endif
 
+#ifdef USE_SPI
+// Pre-initialize all CS pins to input with pull-up.
+// It's sad that we can't do this with an initialized array,
+// since we will be taking care of configurable CS pins shortly.
+
+void spiPreInit(void)
+{
+#ifdef USE_ACC_SPI_MPU6000
+    spiPreInitCs(IO_TAG(MPU6000_CS_PIN));
+#endif
+#ifdef USE_ACC_SPI_MPU6500
+    spiPreInitCs(IO_TAG(MPU6500_CS_PIN));
+#endif
+#ifdef USE_GYRO_SPI_MPU9250
+    spiPreInitCs(IO_TAG(MPU9250_CS_PIN));
+#endif
+#ifdef USE_GYRO_SPI_ICM20689
+    spiPreInitCs(IO_TAG(ICM20689_CS_PIN));
+#endif
+#ifdef USE_ACCGYRO_BMI160
+    spiPreInitCs(IO_TAG(BMI160_CS_PIN));
+#endif
+#ifdef USE_GYRO_L3GD20
+    spiPreInitCs(IO_TAG(L3GD20_CS_PIN));
+#endif
+#ifdef USE_MAX7456
+    spiPreInitCs(IO_TAG(MAX7456_SPI_CS_PIN));
+#endif
+#ifdef USE_SDCARD
+    spiPreInitCs(IO_TAG(SDCARD_SPI_CS_PIN));
+#endif
+#ifdef USE_BARO_SPI_BMP280
+    spiPreInitCs(IO_TAG(BMP280_CS_PIN));
+#endif
+#ifdef USE_BARO_SPI_MS5611
+    spiPreInitCs(IO_TAG(MS5611_CS_PIN));
+#endif
+#ifdef USE_MAG_SPI_HMC5883
+    spiPreInitCs(IO_TAG(HMC5883_CS_PIN));
+#endif
+#ifdef USE_MAG_SPI_AK8963
+    spiPreInitCs(IO_TAG(AK8963_CS_PIN));
+#endif
+#ifdef RTC6705_CS_PIN // XXX VTX_RTC6705? Should use USE_ format.
+    spiPreInitCs(IO_TAG(RTC6705_CS_PIN));
+#endif
+#ifdef M25P16_CS_PIN // XXX Should use USE_ format.
+    spiPreInitCs(IO_TAG(M25P16_CS_PIN));
+#endif
+#if defined(USE_RX_SPI) && !defined(USE_RX_SOFTSPI)
+    spiPreInitCs(IO_TAG(RX_NSS_PIN));
+#endif
+}
+#endif
+
 void init(void)
 {
 #ifdef USE_HAL_DRIVER
@@ -352,6 +407,9 @@ void init(void)
 #else
 
 #ifdef USE_SPI
+    // Initialize CS lines and keep them high
+    spiPreInit();
+
 #ifdef USE_SPI_DEVICE_1
     spiInit(SPIDEV_1);
 #endif

src/main/target/CJMCU/initialisation.c

@@ -24,9 +24,12 @@
 #include "drivers/bus_spi.h"
 #include "io/serial.h"
 
+extern void spiPreInit(void); // XXX In fc/fc_init.c
+
 void targetBusInit(void)
 {
 #if defined(USE_SPI) && defined(USE_SPI_DEVICE_1)
+    spiPreInit();
     spiInit(SPIDEV_1);
 #endif
 

src/main/target/NAZE/initialisation.c

@@ -25,9 +25,12 @@
 #include "io/serial.h"
 #include "hardware_revision.h"
 
+extern void spiPreInit(void); // XXX In fc/fc_init.c
+
 void targetBusInit(void)
 {
 #ifdef USE_SPI
+    spiPreInit();
 #ifdef USE_SPI_DEVICE_2
     spiInit(SPIDEV_2);
 #endif